+ python -m lidar_slam --no-model /working/90974db6-3605-4c98-972d-ab7450a59c8c Lidar SLAM 0.0.12 ===================================================== The recording path: /working/90974db6-3605-4c98-972d-ab7450a59c8c 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 0.028623853 Adjusted end_distance from 9.223372036854776e+18 to 309.218623853 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.028623853 meters 0.8361586840648249 Centerline is valid? [0, False] SLAMing on 0.058623853000000004 meters 0.7934536734182487 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999997e-01 -2.31807108e-05 -7.01808479e-05 5.42953170e-04] [ 2.31779510e-05 9.99999999e-01 -3.93247389e-05 2.60267223e-04] [ 7.01817594e-05 3.93231122e-05 9.99999997e-01 -3.88234772e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.088623853 meters 0.8105371598629458 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999987e-01 -6.99232462e-05 -1.44072125e-04 1.14439194e-03] [ 6.99060166e-05 9.99999990e-01 -1.19591646e-04 7.78948163e-04] [ 1.44080486e-04 1.19581573e-04 9.99999982e-01 -8.49287072e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11862385300000002 meters 0.8180097904178635 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999967e-01 -1.63143752e-04 -2.00098313e-04 1.54825462e-03] [ 1.63089342e-04 9.99999950e-01 -2.71904912e-04 1.73796257e-03] [ 2.00142663e-04 2.71872269e-04 9.99999943e-01 -1.10691619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.148623853 meters 0.8369803190835877 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999936e-01 -2.33318712e-04 -2.72939270e-04 2.17528014e-03] [ 2.33211814e-04 9.99999896e-01 -3.91619625e-04 2.49623654e-03] [ 2.73030614e-04 3.91555947e-04 9.99999886e-01 -1.54969750e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17862385300000003 meters 0.9582943181814454 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999932e-01 -1.67306216e-04 -3.29566031e-04 2.61887637e-03] [ 1.67211330e-04 9.99999945e-01 -2.87917380e-04 1.87378258e-03] [ 3.29614183e-04 2.87862253e-04 9.99999904e-01 -1.84669723e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20862385300000003 meters 0.8290302176110964 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999929e-01 -1.24111946e-04 -3.54950712e-04 3.13584189e-03] [ 1.24031539e-04 9.99999967e-01 -2.26542850e-04 1.55277081e-03] [ 3.54978817e-04 2.26498809e-04 9.99999911e-01 -2.46209666e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.23862385300000002 meters 0.8050607398117187 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999897e-01 -2.22767088e-04 -3.96398476e-04 3.42503152e-03] [ 2.22614716e-04 9.99999901e-01 -3.84394531e-04 2.54752941e-03] [ 3.96484067e-04 3.84306247e-04 9.99999848e-01 -2.63234397e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.268623853 meters 0.8198890445212852 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999863e-01 -2.61572307e-04 -4.54232925e-04 3.85611591e-03] [ 2.61367480e-04 9.99999864e-01 -4.50931694e-04 2.98298036e-03] [ 4.54350814e-04 4.50812911e-04 9.99999795e-01 -2.89299376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.298623853 meters 1.042392137655597 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999870e-01 1.65593138e-06 -5.09765694e-04 4.49843446e-03] [-1.67053624e-06 1.00000000e+00 -2.86497074e-05 3.61340930e-04] [ 5.09765646e-04 2.86505553e-05 9.99999870e-01 -3.51208589e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.328623853 meters 1.0468557916840795 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999837e-01 1.08491618e-04 -5.59854818e-04 4.93800639e-03] [-1.08411865e-04 9.99999984e-01 1.42482566e-04 -6.93560277e-04] [ 5.59870268e-04 -1.42421848e-04 9.99999833e-01 -3.84884881e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.358623853 meters 0.8992653609071702 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 9.99999799e-01 1.32089277e-04 -6.20808648e-04 5.45923728e-03] [-1.31979022e-04 9.99999976e-01 1.77635749e-04 -8.96950453e-04] [ 6.20832097e-04 -1.77553779e-04 9.99999792e-01 -4.25241378e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.388623853 meters 1.0875245040568389 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 9.99999732e-01 1.85209005e-04 -7.07785593e-04 6.10665394e-03] [-1.85024782e-04 9.99999949e-01 2.60337402e-04 -1.38879083e-03] [ 7.07833773e-04 -2.60206375e-04 9.99999716e-01 -4.64701244e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.418623853 meters 1.0655354501230792 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.01 [[ 9.99999616e-01 3.85631745e-04 -7.87290513e-04 6.94706002e-03] [-3.85175829e-04 9.99999758e-01 5.79164215e-04 -3.38017538e-03] [ 7.87513666e-04 -5.78860747e-04 9.99999522e-01 -5.40318071e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.448623853 meters 1.0807852848529236 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.01 [[ 9.99999575e-01 3.89766789e-04 -8.35144952e-04 7.37682282e-03] [-3.89279325e-04 9.99999754e-01 5.83770587e-04 -3.39118856e-03] [ 8.35372281e-04 -5.83445235e-04 9.99999481e-01 -5.73301357e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.478623853 meters 0.8965930525133935 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.01 [[ 9.99999541e-01 3.36173100e-04 -8.97333841e-04 7.88872924e-03] [-3.35731960e-04 9.99999823e-01 4.91717584e-04 -2.78173259e-03] [ 8.97498985e-04 -4.91416095e-04 9.99999477e-01 -6.02484687e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.508623853 meters 0.9221266561258102 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.01 [[ 9.99999467e-01 4.12050376e-04 -9.46938001e-04 8.28481009e-03] [-4.11467494e-04 9.99999726e-01 6.15657141e-04 -3.55544020e-03] [ 9.47191424e-04 -6.15267178e-04 9.99999362e-01 -6.28689334e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.538623853 meters 0.8892943386402085 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.01 [[ 9.99999348e-01 5.32446160e-04 -1.01014467e-03 8.77646731e-03] [-5.31627680e-04 9.99999530e-01 8.10355150e-04 -4.77720097e-03] [ 1.01057567e-03 -8.09817601e-04 9.99999161e-01 -6.60186059e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5686238530000001 meters 0.8872546601040411 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99999248e-01 5.93962388e-04 -1.07258328e-03 9.27997398e-03] [-5.92987460e-04 9.99999411e-01 9.09042922e-04 -5.38615715e-03] [ 1.07312259e-03 -9.08406210e-04 9.99999012e-01 -6.93234946e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5986238530000001 meters 0.8971121250612815 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99999139e-01 6.57778147e-04 -1.13591755e-03 9.87728423e-03] [-6.56632091e-04 9.99999275e-01 1.00900384e-03 -6.00157324e-03] [ 1.13658042e-03 -1.00825709e-03 9.99998846e-01 -7.35200337e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6286238530000001 meters 0.9053629320302875 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99999025e-01 7.21665536e-04 -1.19541673e-03 1.03241220e-02] [-7.20336144e-04 9.99999122e-01 1.11213170e-03 -6.64758535e-03] [ 1.19621827e-03 -1.11126952e-03 9.99998667e-01 -7.59614274e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.658623853 meters 0.900785645937057 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99998938e-01 7.61434764e-04 -1.24306393e-03 1.07194603e-02] [-7.59973127e-04 9.99999020e-01 1.17588311e-03 -7.04495951e-03] [ 1.24395807e-03 -1.17493717e-03 9.99998536e-01 -7.85608077e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6886238530000001 meters 0.8789748889026057 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99998871e-01 7.61878718e-04 -1.29486597e-03 1.10588489e-02] [-7.60354481e-04 9.99999018e-01 1.17722343e-03 -7.05171829e-03] [ 1.29576160e-03 -1.17623755e-03 9.99998469e-01 -7.98445455e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7186238530000001 meters 0.9177079460759248 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99998731e-01 8.22852805e-04 -1.36400660e-03 1.16630517e-02] [-8.21113053e-04 9.99998849e-01 1.27554200e-03 -7.66927520e-03] [ 1.36505461e-03 -1.27442037e-03 9.99998256e-01 -8.36945855e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7486238530000001 meters 1.022853142368791 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99998517e-01 9.07603717e-04 -1.46336832e-03 1.27555989e-02] [-9.05535956e-04 9.99998592e-01 1.41305842e-03 -8.55965799e-03] [ 1.46464876e-03 -1.41173119e-03 9.99997931e-01 -9.32058445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7786238530000001 meters 0.8940228768030656 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99998405e-01 8.99187598e-04 -1.54298939e-03 1.34265163e-02] [-8.97029027e-04 9.99998619e-01 1.39907639e-03 -8.45522866e-03] [ 1.54424530e-03 -1.39769005e-03 9.99997831e-01 -9.75708624e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8086238530000001 meters 0.8940228768030656 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99998405e-01 8.99187598e-04 -1.54298939e-03 1.34265163e-02] [-8.97029027e-04 9.99998619e-01 1.39907639e-03 -8.45522866e-03] [ 1.54424530e-03 -1.39769005e-03 9.99997831e-01 -9.75708624e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8386238530000001 meters 0.8998318267188098 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99998298e-01 9.11001796e-04 -1.60442488e-03 1.38946572e-02] [-9.08725009e-04 9.99998580e-01 1.41922518e-03 -8.57896578e-03] [ 1.60571552e-03 -1.41776478e-03 9.99997706e-01 -9.97471436e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8686238530000001 meters 0.9115343452330005 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99998104e-01 9.60806802e-04 -1.69358608e-03 1.44076924e-02] [-9.58269805e-04 9.99998419e-01 1.49817850e-03 -9.07406633e-03] [ 1.69502286e-03 -1.49655275e-03 9.99997444e-01 -1.00491751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8986238530000001 meters 0.8970738472406997 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 0.99999783 0.00115161 -0.00173695 0.01478914] [-0.00114846 0.9999977 0.00181126 -0.01115317] [ 0.00173904 -0.00180926 0.99999685 -0.01024691] [ 0. 0. 0. 1. ]] SLAMing on 0.928623853 meters 0.9213832132125052 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.01 [[ 0.99999761 0.00119843 -0.00182678 0.01540084] [-0.00119498 0.9999975 0.0018886 -0.01165023] [ 0.00182904 -0.00188641 0.99999655 -0.01044701] [ 0. 0. 0. 1. ]] SLAMing on 0.9586238530000001 meters 0.9264896484446673 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.01 [[ 0.99999738 0.00121971 -0.00193926 0.01623762] [-0.00121598 0.99999741 0.00192206 -0.01185939] [ 0.0019416 -0.0019197 0.99999627 -0.01083377] [ 0. 0. 0. 1. ]] SLAMing on 0.9886238530000001 meters 0.9233001774198941 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.01 [[ 0.99999675 0.00142933 -0.00211122 0.01777487] [-0.00142447 0.99999634 0.00230006 -0.01440963] [ 0.0021145 -0.00229705 0.99999513 -0.0118752 ] [ 0. 0. 0. 1. ]] SLAMing on 1.018623853 meters 0.9303178069413156 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.01 [[ 0.99999629 0.0016103 -0.00219806 0.01851684] [-0.00160459 0.99999534 0.0025968 -0.01633315] [ 0.00220224 -0.00259327 0.99999421 -0.01229597] [ 0. 0. 0. 1. ]] SLAMing on 1.048623853 meters 0.918262539345254 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.01 [[ 0.99999581 0.00178955 -0.00227724 0.01903019] [-0.00178297 0.99999424 0.00288829 -0.01821843] [ 0.0022824 -0.00288422 0.99999324 -0.01242762] [ 0. 0. 0. 1. ]] SLAMing on 1.078623853 meters 0.9257698693255207 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.01 [[ 0.99999486 0.00212235 -0.00240137 0.02003518] [-0.00211402 0.99999176 0.00346643 -0.02206231] [ 0.00240871 -0.00346134 0.99999111 -0.01293284] [ 0. 0. 0. 1. ]] SLAMing on 1.108623853 meters 0.880306389906945 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.01 [[ 0.99999414 0.00233986 -0.00249819 0.02058225] [-0.0023303 0.99998998 0.00382208 -0.02437903] [ 0.00250711 -0.00381624 0.99998958 -0.01297026] [ 0. 0. 0. 1. ]] SLAMing on 1.1386238530000001 meters 0.9035490511339932 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.03, Z:-0.01 [[ 0.99999338 0.00254348 -0.00260239 0.02119032] [-0.00253266 0.99998816 0.00415523 -0.02653828] [ 0.00261293 -0.00414861 0.99998798 -0.01302205] [ 0. 0. 0. 1. ]] SLAMing on 1.1686238530000002 meters 0.8232452840154197 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.03, Z:-0.01 [[ 0.99999262 0.00274903 -0.00268458 0.02185944] [-0.00273698 0.99998622 0.00448092 -0.02873595] [ 0.00269686 -0.00447354 0.99998636 -0.01327377] [ 0. 0. 0. 1. ]] SLAMing on 1.1986238530000002 meters 0.9010169041599425 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.01 [[ 9.99994253e-01 -1.89668122e-03 -2.81003197e-03 2.26653907e-02] [ 1.89473682e-03 9.99997964e-01 -6.94449548e-04 -2.27644279e-02] [ 2.81134339e-03 6.89121286e-04 9.99995811e-01 -1.34068377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2286238530000002 meters 0.8718494872872584 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.03, Z:-0.01 [[ 9.99994692e-01 -1.52965155e-03 -2.87672422e-03 2.32146222e-02] [ 1.52932045e-03 9.99998824e-01 -1.17293459e-04 -2.66821144e-02] [ 2.87690026e-03 1.12893403e-04 9.99995855e-01 -1.35624169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2586238530000002 meters 0.864642959125216 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.03, Z:-0.01 [[ 9.99994686e-01 -1.41574306e-03 -2.93664997e-03 2.36945744e-02] [ 1.41594687e-03 9.99998995e-01 6.73227837e-05 -2.78886853e-02] [ 2.93655170e-03 -7.14805663e-05 9.99995686e-01 -1.36940218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.288623853 meters 0.8505458703936513 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.03, Z:-0.01 [[ 9.99994468e-01 -1.38383058e-03 -3.02477861e-03 2.40586325e-02] [ 1.38419563e-03 9.99999035e-01 1.18596675e-04 -2.82254664e-02] [ 3.02461157e-03 -1.22782904e-04 9.99995418e-01 -1.34809024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.318623853 meters 0.8704227162349124 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.03, Z:-0.01 [[ 9.99994366e-01 -1.31936222e-03 -3.08661220e-03 2.43393142e-02] [ 1.32005381e-03 9.99999104e-01 2.22035862e-04 -2.88962943e-02] [ 3.08631649e-03 -2.26109106e-04 9.99995212e-01 -1.33576998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.348623853 meters 0.9214282769680259 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:-0.01 [[ 9.99994424e-01 -1.01266488e-03 -3.18221453e-03 2.51794049e-02] [ 1.01494250e-03 9.99999230e-01 7.14200674e-04 -3.22769380e-02] [ 3.18148884e-03 -7.17426457e-04 9.99994682e-01 -1.37317276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3786238530000001 meters 0.8922423076483815 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:-0.01 [[ 9.99994262e-01 -7.90322275e-04 -3.29412437e-03 2.60061009e-02] [ 7.93880275e-04 9.99999103e-01 1.07893757e-03 -3.46834612e-02] [ 3.29326870e-03 -1.08154652e-03 9.99993992e-01 -1.40038703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4086238530000001 meters 0.8771169368146682 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:-0.01 [[ 9.99994082e-01 -5.54229668e-04 -3.39538965e-03 2.67385143e-02] [ 5.59192877e-04 9.99998776e-01 1.46097453e-03 -3.71958409e-02] [ 3.39457578e-03 -1.46286456e-03 9.99993168e-01 -1.42583551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4386238530000002 meters 0.8897578903578923 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:-0.01 [[ 9.99993710e-01 -4.28394608e-04 -3.52080959e-03 2.76704867e-02] [ 4.34281838e-04 9.99998509e-01 1.67152943e-03 -3.85910588e-02] [ 3.52008826e-03 -1.67304794e-03 9.99992405e-01 -1.46289813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4686238530000002 meters 0.812336293241888 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:-0.02 [[ 9.99993152e-01 -4.66069634e-04 -3.67141176e-03 2.90392062e-02] [ 4.71937062e-04 9.99998613e-01 1.59743538e-03 -3.81382329e-02] [ 3.67066215e-03 -1.59915711e-03 9.99991984e-01 -1.54955834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4986238530000002 meters 0.8069975649626555 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:-0.02 [[ 9.99992663e-01 -5.71240995e-04 -3.78784399e-03 2.98562657e-02] [ 5.76644727e-04 9.99998817e-01 1.42565995e-03 -3.70187444e-02] [ 3.78702511e-03 -1.42783373e-03 9.99991810e-01 -1.57208988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5286238530000003 meters 0.8648950995875421 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:-0.02 [[ 9.99992254e-01 -6.37718045e-04 -3.88395289e-03 3.05265691e-02] [ 6.42832791e-04 9.99998928e-01 1.31578573e-03 -3.62888402e-02] [ 3.88310962e-03 -1.31827227e-03 9.99991592e-01 -1.58666585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.558623853 meters 0.513063429117361 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:-0.02 [[ 9.99991918e-01 -7.41364101e-04 -3.95151382e-03 3.11162179e-02] [ 7.45841871e-04 9.99999081e-01 1.13182507e-03 -3.50723329e-02] [ 3.95067109e-03 -1.13476312e-03 9.99991552e-01 -1.61191863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.588623853 meters 0.5129770638845996 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:-0.02 [[ 9.99991602e-01 -7.26779048e-04 -4.03333348e-03 3.14947649e-02] [ 7.31457696e-04 9.99999061e-01 1.15864169e-03 -3.52602651e-02] [ 4.03248761e-03 -1.16158217e-03 9.99991195e-01 -1.59531866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6186238530000001 meters 0.5083495793663511 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:-0.02 [[ 9.99991330e-01 -6.03373006e-04 -4.12019135e-03 3.20918263e-02] [ 6.08984063e-04 9.99998889e-01 1.36072496e-03 -3.66129057e-02] [ 4.11936575e-03 -1.36322229e-03 9.99990586e-01 -1.60619766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6486238530000001 meters 0.7632101095819447 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:-0.02 [[ 9.99991156e-01 -4.76730070e-04 -4.17867420e-03 3.26437139e-02] [ 4.83303696e-04 9.99998647e-01 1.57226829e-03 -3.80273160e-02] [ 4.17791900e-03 -1.57427395e-03 9.99990033e-01 -1.63369857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6786238530000002 meters 0.5208495918589136 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:-0.02 [[ 9.99990897e-01 -3.90121777e-04 -4.24887460e-03 3.30484881e-02] [ 3.97427626e-04 9.99998444e-01 1.71877008e-03 -3.90060555e-02] [ 4.24819746e-03 -1.72044306e-03 9.99989496e-01 -1.62870859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7086238530000002 meters 0.5152680229387845 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:-0.02 [[ 9.99990600e-01 -3.24063592e-04 -4.32382546e-03 3.34085284e-02] [ 3.31988439e-04 9.99998266e-01 1.83224041e-03 -3.97550252e-02] [ 4.32322420e-03 -1.83365864e-03 9.99988974e-01 -1.61423534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7386238530000002 meters 0.8109464544836428 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:-0.02 [[ 9.99990191e-01 -1.84529006e-04 -4.42544808e-03 3.40405562e-02] [ 1.93719856e-04 9.99997825e-01 2.07647933e-03 -4.13746838e-02] [ 4.42505528e-03 -2.07731626e-03 9.99988052e-01 -1.61361103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7686238530000002 meters 0.6531058576295575 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:-0.01 [[ 0.99999221 -0.00134321 -0.00371022 0.02805507] [ 0.00135062 0.9999971 0.00199643 -0.04493817] [ 0.00370753 -0.00200143 0.99999112 -0.01192219] [ 0. 0. 0. 1. ]] SLAMing on 1.7986238530000003 meters 0.7680083609161884 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.05, Z:-0.01 [[ 0.99999223 -0.00110024 -0.00378648 0.02850076] [ 0.00110944 0.99999643 0.00242918 -0.04776164] [ 0.0037838 -0.00243336 0.99998988 -0.01185388] [ 0. 0. 0. 1. ]] SLAMing on 1.828623853 meters 0.7385926156445162 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.05, Z:-0.01 [[ 9.99992061e-01 -9.16483853e-04 -3.87779094e-03 2.91167409e-02] [ 9.27182360e-04 9.99995767e-01 2.75802031e-03 -4.99299128e-02] [ 3.87524684e-03 -2.76159384e-03 9.99988678e-01 -1.18636432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.858623853 meters 0.7921218178433286 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.05, Z:-0.01 [[ 9.99991924e-01 -5.89983088e-04 -3.97529001e-03 2.96737694e-02] [ 6.03798116e-04 9.99993780e-01 3.47492168e-03 -5.48598954e-02] [ 3.97321514e-03 -3.47729389e-03 9.99986061e-01 -1.17917081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8886238530000001 meters 0.5309565251469365 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:-0.01 [[ 9.99991794e-01 -3.75737367e-04 -4.03363767e-03 2.99393372e-02] [ 3.91182057e-04 9.99992593e-01 3.82886738e-03 -5.72111301e-02] [ 4.03216915e-03 -3.83041385e-03 9.99984535e-01 -1.16282283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9186238530000002 meters 0.5242801463971234 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:-0.01 [[ 9.99991519e-01 -1.00833285e-04 -4.11734460e-03 3.02705357e-02] [ 1.18514978e-04 9.99990772e-01 4.29442277e-03 -6.03473463e-02] [ 4.11687358e-03 -4.29487432e-03 9.99982303e-01 -1.13603050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9486238530000002 meters 0.5209996909465966 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:-0.01 [[ 9.99991224e-01 7.69224492e-05 -4.18882838e-03 3.06008815e-02] [-5.77006271e-05 9.99989470e-01 4.58875772e-03 -6.22945697e-02] [ 4.18913725e-03 -4.58847575e-03 9.99980698e-01 -1.12343524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9786238530000002 meters 0.9936484171896314 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:-0.01 [[ 9.99990841e-01 3.33532897e-04 -4.26692584e-03 3.11339979e-02] [-3.12096184e-04 9.99987333e-01 5.02360423e-03 -6.52181649e-02] [ 4.26854733e-03 -5.02222652e-03 9.99978278e-01 -1.13095030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.008623853 meters 0.5432643970861866 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:-0.01 [[ 9.99982386e-01 -4.00698266e-03 -4.37854788e-03 3.21836975e-02] [ 4.00984760e-03 9.99991752e-01 6.45728987e-04 -6.48998396e-02] [ 4.37592434e-03 -6.63274923e-04 9.99990206e-01 -1.18018188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0386238530000003 meters 0.9561186077039538 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:-0.01 [[ 0.99998307 -0.00374691 -0.00445189 0.03251132] [ 0.00375178 0.99999237 0.00108496 -0.06781639] [ 0.00444779 -0.00110164 0.9999895 -0.01163674] [ 0. 0. 0. 1. ]] SLAMing on 2.068623853 meters 0.5024894789523903 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:-0.01 [[ 0.99998361 -0.00350573 -0.00452603 0.03288757] [ 0.00351251 0.99999272 0.0014915 -0.07051385] [ 0.00452077 -0.00150737 0.99998865 -0.01156705] [ 0. 0. 0. 1. ]] SLAMing on 2.0986238530000003 meters 0.9734447859360136 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:-0.01 [[ 0.99998416 -0.00324965 -0.00459579 0.03337246] [ 0.00325853 0.99999283 0.00192686 -0.07341661] [ 0.00458949 -0.00194181 0.99998758 -0.0116359 ] [ 0. 0. 0. 1. ]] SLAMing on 2.128623853 meters 0.9591606546758844 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.08, Z:-0.01 [[ 0.99998445 -0.00304386 -0.00467209 0.03381488] [ 0.00305451 0.99999275 0.00227403 -0.07571295] [ 0.00466513 -0.00228826 0.9999865 -0.01165946] [ 0. 0. 0. 1. ]] SLAMing on 2.1586238530000004 meters 0.5310518529828757 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.08, Z:-0.01 [[ 0.99998496 -0.00271127 -0.00476803 0.03455265] [ 0.00272489 0.99999222 0.00285087 -0.07959981] [ 0.00476026 -0.00286382 0.99998457 -0.01200135] [ 0. 0. 0. 1. ]] SLAMing on 2.188623853 meters 0.51146073203161 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.08, Z:-0.01 [[ 0.99998518 -0.00250294 -0.00483531 0.03487389] [ 0.00251843 0.99999171 0.00320014 -0.08191275] [ 0.00482726 -0.00321227 0.99998319 -0.01191108] [ 0. 0. 0. 1. ]] SLAMing on 2.2186238530000004 meters 0.8937029961891464 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.09, Z:-0.01 [[ 0.99998556 -0.00212902 -0.00493328 0.03550513] [ 0.00214805 0.99999026 0.00385535 -0.08632801] [ 0.00492503 -0.00386589 0.9999804 -0.01205724] [ 0. 0. 0. 1. ]] SLAMing on 2.2486238530000002 meters 1.0219345897412888 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.09, Z:-0.01 [[ 0.99998536 -0.00203385 -0.005015 0.03599259] [ 0.00205404 0.9999898 0.00402344 -0.08746532] [ 0.00500676 -0.00403368 0.99997933 -0.01205805] [ 0. 0. 0. 1. ]] SLAMing on 2.278623853 meters 1.012305356202522 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.09, Z:-0.01 [[ 0.9999853 -0.0019194 -0.00507047 0.03611057] [ 0.0019408 0.99998922 0.0042189 -0.08876454] [ 0.00506231 -0.00422868 0.99997825 -0.0117281 ] [ 0. 0. 0. 1. ]] SLAMing on 2.3086238530000003 meters 0.5289127330866259 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.09, Z:-0.01 [[ 0.99998524 -0.00180931 -0.00512225 0.03630716] [ 0.00183192 0.99998859 0.00441173 -0.0900711 ] [ 0.00511421 -0.00442105 0.99997715 -0.01152746] [ 0. 0. 0. 1. ]] SLAMing on 2.338623853 meters 0.5684276901399061 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.09, Z:-0.01 [[ 0.9999852 -0.00166871 -0.00517921 0.03647686] [ 0.00169281 0.99998775 0.00465184 -0.09165124] [ 0.00517138 -0.00466054 0.99997577 -0.01121379] [ 0. 0. 0. 1. ]] SLAMing on 2.3686238530000003 meters 0.5708045211846285 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.09, Z:-0.01 [[ 0.99998489 -0.0015829 -0.00526503 0.03678085] [ 0.0016082 0.99998717 0.00480405 -0.09265594] [ 0.00525736 -0.00481244 0.9999746 -0.01093218] [ 0. 0. 0. 1. ]] SLAMing on 2.398623853 meters 0.5654523243670324 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.09, Z:-0.01 [[ 0.99998478 -0.00145453 -0.00532121 0.0370524 ] [ 0.00148128 0.99998627 0.00502589 -0.09411225] [ 0.00531383 -0.00503369 0.99997321 -0.01086146] [ 0. 0. 0. 1. ]] SLAMing on 2.4286238530000004 meters 0.6064611465882834 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.10, Z:-0.01 [[ 0.99998445 -0.00128234 -0.00542716 0.03780424] [ 0.00131136 0.99998485 0.00534682 -0.09626401] [ 0.00542022 -0.00535386 0.99997098 -0.01112357] [ 0. 0. 0. 1. ]] SLAMing on 2.458623853 meters 0.6289588270657241 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.10, Z:-0.01 [[ 0.99998413 -0.00126213 -0.00549113 0.03818467] [ 0.00129172 0.99998465 0.00538837 -0.09655494] [ 0.00548425 -0.00539538 0.99997041 -0.01112925] [ 0. 0. 0. 1. ]] SLAMing on 2.4886238530000004 meters 0.5905748928717515 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.10, Z:-0.02 [[ 0.99999241 0.00320675 -0.00221193 0.01951038] [-0.00319692 0.99998506 0.00443417 -0.09928132] [ 0.00222612 -0.00442707 0.99998772 -0.0162727 ] [ 0. 0. 0. 1. ]] SLAMing on 2.5186238530000002 meters 0.6077499286550123 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.10, Z:-0.02 [[ 0.9999924 0.0031636 -0.00227796 0.01995086] [-0.00315364 0.99998552 0.00436085 -0.09882939] [ 0.00229172 -0.00435363 0.9999879 -0.01641185] [ 0. 0. 0. 1. ]] SLAMing on 2.548623853 meters 0.6062904056413035 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:-0.01 [[ 9.99998936e-01 1.84740141e-04 -1.44693807e-03 1.35465347e-02] [-1.84365863e-04 9.99999950e-01 2.58798034e-04 -9.52161645e-02] [ 1.44698581e-03 -2.58530992e-04 9.99998920e-01 -1.17456830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5786238530000003 meters 0.6088448985408534 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:-0.01 [[ 9.99998838e-01 2.21815481e-04 -1.50848445e-03 1.38267734e-02] [-2.21322828e-04 9.99999922e-01 3.26747300e-04 -9.56571132e-02] [ 1.50855681e-03 -3.26413058e-04 9.99998809e-01 -1.16880166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.608623853 meters 0.6061338833499651 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:-0.01 [[ 9.99998766e-01 1.98590613e-04 -1.55846336e-03 1.40649699e-02] [-1.98166011e-04 9.99999943e-01 2.72599278e-04 -9.53168284e-02] [ 1.55851740e-03 -2.72290107e-04 9.99998748e-01 -1.16344435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6386238530000004 meters 0.6305337714934639 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.09, Z:-0.01 [[ 9.99998676e-01 6.79606042e-05 -1.62584652e-03 1.43690719e-02] [-6.79166386e-05 9.99999997e-01 2.70968185e-05 -9.37509464e-02] [ 1.62584836e-03 -2.69863606e-05 9.99998678e-01 -1.15433312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.668623853 meters 0.598849835686851 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.09, Z:-0.01 [[ 9.99998608e-01 -6.35119336e-05 -1.66705543e-03 1.44136008e-02] [ 6.31291613e-05 9.99999972e-01 -2.29661442e-04 -9.21049521e-02] [ 1.66706997e-03 2.29555883e-04 9.99998584e-01 -1.12809804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6986238530000004 meters 0.6162891162332794 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.09, Z:-0.01 [[ 9.99998447e-01 -2.30921802e-04 -1.74700344e-03 1.48309714e-02] [ 2.29896857e-04 9.99999801e-01 -5.86865455e-04 -8.98412709e-02] [ 1.74713861e-03 5.86462913e-04 9.99998302e-01 -1.12727033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.728623853 meters 0.6162891162332794 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.09, Z:-0.01 [[ 9.99998447e-01 -2.30921802e-04 -1.74700344e-03 1.48309714e-02] [ 2.29896857e-04 9.99999801e-01 -5.86865455e-04 -8.98412709e-02] [ 1.74713861e-03 5.86462913e-04 9.99998302e-01 -1.12727033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7586238530000005 meters 0.6450106806356899 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.09, Z:-0.01 [[ 9.99998326e-01 -3.33545087e-04 -1.79930849e-03 1.51652467e-02] [ 3.32147598e-04 9.99999643e-01 -7.76923986e-04 -8.86572790e-02] [ 1.79956699e-03 7.76325049e-04 9.99998079e-01 -1.13715670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7886238530000003 meters 0.6457537007184501 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.09, Z:-0.01 [[ 9.99998215e-01 -4.00421088e-04 -1.84679391e-03 1.53868100e-02] [ 3.98752154e-04 9.99999512e-01 -9.03972363e-04 -8.78509420e-02] [ 1.84715498e-03 9.03234336e-04 9.99997886e-01 -1.13454242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.818623853 meters 0.657250271361713 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.09, Z:-0.01 [[ 9.99998041e-01 -4.77595476e-04 -1.92110414e-03 1.56964977e-02] [ 4.75565127e-04 9.99999328e-01 -1.05718338e-03 -8.68735483e-02] [ 1.92160775e-03 1.05626770e-03 9.99997596e-01 -1.12725766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8486238530000003 meters 0.6313457352582181 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.09, Z:-0.01 [[ 9.99997892e-01 -6.09920932e-04 -1.96052616e-03 1.58490180e-02] [ 6.07347441e-04 9.99998954e-01 -1.31298047e-03 -8.52595018e-02] [ 1.96132493e-03 1.31178698e-03 9.99997216e-01 -1.12055111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.878623853 meters 0.6451402806233806 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.08, Z:-0.01 [[ 9.99997644e-01 -7.86775300e-04 -2.02289164e-03 1.61689740e-02] [ 7.83426345e-04 9.99998322e-01 -1.65578846e-03 -8.31173798e-02] [ 2.02419098e-03 1.65419977e-03 9.99996583e-01 -1.12067458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9086238530000004 meters 0.6483270695131139 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.08, Z:-0.01 [[ 9.99997445e-01 -8.96790392e-04 -2.07502750e-03 1.63640271e-02] [ 8.92912839e-04 9.99997855e-01 -1.86884788e-03 -8.17890973e-02] [ 2.07669902e-03 1.86699029e-03 9.99996101e-01 -1.10931187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.938623853 meters 0.6539081902079245 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.08, Z:-0.01 [[ 9.99997257e-01 -9.52246543e-04 -2.14011209e-03 1.64357509e-02] [ 9.48024132e-04 9.99997604e-01 -1.97313471e-03 -8.11484266e-02] [ 2.14198587e-03 1.97110042e-03 9.99995763e-01 -1.06606847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9686238530000004 meters 0.6714126560571699 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.08, Z:-0.01 [[ 0.99999706 -0.00104327 -0.0021891 0.01661048] [ 0.00103857 0.99999715 -0.00214797 -0.08005669] [ 0.00219134 0.00214569 0.9999953 -0.01052688] [ 0. 0. 0. 1. ]] SLAMing on 2.9986238530000002 meters 0.9887610529890414 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.08, Z:-0.01 [[ 0.99999681 -0.00118582 -0.00222983 0.01665081] [ 0.00118039 0.99999635 -0.00243167 -0.07828596] [ 0.0022327 0.00242903 0.99999456 -0.01024932] [ 0. 0. 0. 1. ]] SLAMing on 3.0286238530000005 meters 0.6858579768099575 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.08, Z:-0.01 [[ 0.99999642 -0.00137014 -0.00230018 0.01657571] [ 0.0013637 0.99999516 -0.00279733 -0.0760095 ] [ 0.00230401 0.00279418 0.99999344 -0.00953574] [ 0. 0. 0. 1. ]] SLAMing on 3.0586238530000003 meters 0.6913807740514359 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.08, Z:-0.01 [[ 0.99999619 -0.00141885 -0.00236578 0.01673281] [ 0.001412 0.99999481 -0.0028975 -0.07538387] [ 0.00236987 0.00289415 0.999993 -0.00927677] [ 0. 0. 0. 1. ]] SLAMing on 3.088623853 meters 0.7009551875254381 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.07, Z:-0.01 [[ 0.99999597 -0.00149866 -0.00241008 0.01688006] [ 0.00149128 0.9999942 -0.00306095 -0.07437895] [ 0.00241466 0.00305735 0.99999241 -0.00918382] [ 0. 0. 0. 1. ]] SLAMing on 3.1186238530000003 meters 0.6274908602503527 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.07, Z:-0.01 [[ 0.9999957 -0.00158848 -0.0024643 0.01710521] [ 0.00158047 0.99999347 -0.0032507 -0.07325004] [ 0.00246945 0.00324679 0.99999168 -0.00915528] [ 0. 0. 0. 1. ]] SLAMing on 3.148623853 meters 0.6484698905395879 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.07, Z:-0.01 [[ 0.99999556 -0.00157843 -0.00252686 0.01735252] [ 0.00157027 0.99999356 -0.00322578 -0.07340818] [ 0.00253193 0.0032218 0.9999916 -0.00907121] [ 0. 0. 0. 1. ]] SLAMing on 3.1786238530000004 meters 1.0463645748180403 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.07, Z:-0.01 [[ 0.99999547 -0.00153243 -0.00258877 0.01754399] [ 0.00152435 0.99999396 -0.00312341 -0.07400805] [ 0.00259354 0.00311945 0.99999177 -0.0089153 ] [ 0. 0. 0. 1. ]] SLAMing on 3.208623853 meters 1.0599487310628508 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.08, Z:-0.01 [[ 0.99999521 -0.00147933 -0.00271915 0.01800925] [ 0.0014714 0.99999466 -0.00291832 -0.07526507] [ 0.00272346 0.0029143 0.99999204 -0.00877755] [ 0. 0. 0. 1. ]] SLAMing on 3.2386238530000004 meters 0.6578856033784295 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.08, Z:-0.01 [[ 0.99999511 -0.00144845 -0.00277216 0.01826456] [ 0.00144055 0.9999949 -0.00284903 -0.07567154] [ 0.00277627 0.00284502 0.9999921 -0.0088648 ] [ 0. 0. 0. 1. ]] SLAMing on 3.2686238530000002 meters 0.6785861335071214 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.08, Z:-0.01 [[ 0.99999492 -0.00138782 -0.00286859 0.0186378 ] [ 0.00138016 0.99999548 -0.00267158 -0.07676013] [ 0.00287229 0.00266761 0.99999232 -0.00877399] [ 0. 0. 0. 1. ]] SLAMing on 3.2986238530000005 meters 0.685334268374664 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.08, Z:-0.01 [[ 0.99999482 -0.00134181 -0.00292593 0.01877836] [ 0.00133428 0.9999958 -0.00257165 -0.07735183] [ 0.00292937 0.00256773 0.99999241 -0.00856173] [ 0. 0. 0. 1. ]] SLAMing on 3.3286238530000003 meters 0.6845887568462585 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.08, Z:-0.01 [[ 0.99999467 -0.00133788 -0.00297818 0.01889219] [ 0.00133025 0.99999583 -0.00256188 -0.07739858] [ 0.00298159 0.0025579 0.99999228 -0.00835039] [ 0. 0. 0. 1. ]] SLAMing on 3.358623853 meters 0.7013667061664519 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.08, Z:-0.01 [[ 0.99999455 -0.00129252 -0.00303767 0.01904055] [ 0.00128504 0.99999614 -0.00246181 -0.07798858] [ 0.00304084 0.0024579 0.99999236 -0.0081306 ] [ 0. 0. 0. 1. ]] SLAMing on 3.3886238530000004 meters 0.7146091778459511 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.08, Z:-0.00 [[ 0.99999301 -0.00305005 -0.00216037 0.01228425] [ 0.00304205 0.99998854 -0.00369742 -0.07855575] [ 0.00217162 0.00369082 0.99999083 -0.00287583] [ 0. 0. 0. 1. ]] SLAMing on 3.418623853 meters 0.7106865855783913 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.08, Z:-0.00 [[ 0.99999319 -0.00295332 -0.00221095 0.01240578] [ 0.00294563 0.99998963 -0.00347462 -0.07983199] [ 0.00222119 0.00346808 0.99999152 -0.00271968] [ 0. 0. 0. 1. ]] SLAMing on 3.4486238530000004 meters 0.7181861077433562 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.08, Z:-0.00 [[ 0.99999334 -0.00286123 -0.00226365 0.01253748] [ 0.00285384 0.99999062 -0.003258 -0.08106938] [ 0.00227295 0.00325152 0.99999213 -0.00253505] [ 0. 0. 0. 1. ]] SLAMing on 3.478623853 meters 0.7530118988536821 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.08, Z:0.00 [[ 0.99998904 -0.00442403 -0.00153523 0.00650149] [ 0.00441722 0.9999805 -0.00441365 -0.08155353] [ 0.00155473 0.00440682 0.99998908 0.00244429] [ 0. 0. 0. 1. ]] SLAMing on 3.5086238530000005 meters 0.7407813702545445 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.09, Z:-0.00 [[ 9.99995447e-01 -1.66696125e-03 -2.51541781e-03 1.27944182e-02] [ 1.66548328e-03 9.99998439e-01 -5.89545467e-04 -8.65362990e-02] [ 2.51639663e-03 5.85353396e-04 9.99996663e-01 -1.93189629e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5386238530000003 meters 0.7575241986709542 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.09, Z:-0.00 [[ 9.99995598e-01 -1.50440208e-03 -2.55762712e-03 1.28717669e-02] [ 1.50390251e-03 9.99998850e-01 -1.97238978e-04 -8.87127384e-02] [ 2.55792090e-03 1.93391688e-04 9.99996710e-01 -1.74587517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5686238530000005 meters 0.7710694879154151 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.09, Z:-0.00 [[ 9.99995883e-01 -1.17570798e-03 -2.61750042e-03 1.29462146e-02] [ 1.17727645e-03 9.99999128e-01 5.97765483e-04 -9.30905116e-02] [ 2.61679534e-03 -6.00844544e-04 9.99996396e-01 -1.39810142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5986238530000003 meters 0.7725964846131349 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.09, Z:-0.00 [[ 9.99995928e-01 -1.04979753e-03 -2.65375953e-03 1.29843786e-02] [ 1.05217502e-03 9.99999046e-01 8.94660218e-04 -9.47232838e-02] [ 2.65281779e-03 -8.97448795e-04 9.99996079e-01 -1.16455260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.628623853 meters 0.7724955347459469 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:-0.00 [[ 9.99995968e-01 -9.18398188e-04 -2.68694272e-03 1.29990793e-02] [ 9.21651325e-04 9.99998844e-01 1.20973332e-03 -9.64355074e-02] [ 2.68582860e-03 -1.21220486e-03 9.99995658e-01 -9.00350698e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6586238530000004 meters 0.773792952140592 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:-0.00 [[ 9.99996029e-01 -6.55710475e-04 -2.74066630e-03 1.30227395e-02] [ 6.60705218e-04 9.99998122e-01 1.82194777e-03 -9.97700722e-02] [ 2.73946648e-03 -1.82375130e-03 9.99994585e-01 -5.32526424e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.688623853 meters 0.7780509363152203 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:-0.00 [[ 9.99995947e-01 -5.78069223e-04 -2.78795865e-03 1.31146178e-02] [ 5.83673273e-04 9.99997810e-01 2.00969616e-03 -1.00779096e-01] [ 2.78679080e-03 -2.01131527e-03 9.99994094e-01 -3.37770786e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7186238530000004 meters 0.7806768104967747 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:-0.00 [[ 9.99995890e-01 -4.63137201e-04 -2.82939720e-03 1.31996200e-02] [ 4.69609248e-04 9.99997274e-01 2.28719385e-03 -1.02269931e-01] [ 2.82833021e-03 -2.28851317e-03 9.99993382e-01 -1.76647051e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7486238530000002 meters 0.7820183144527008 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.11, Z:0.00 [[ 9.99995897e-01 -1.50985845e-04 -2.86048787e-03 1.32241466e-02] [ 1.59654213e-04 9.99995396e-01 3.03039490e-03 -1.06249530e-01] [ 2.86001715e-03 -3.03083915e-03 9.99991317e-01 3.56106792e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7786238530000005 meters 0.7813304453030175 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.11, Z:0.00 [[ 0.99999592 -0.00200568 -0.00203467 0.00743168] [ 0.00200784 0.99999743 0.00105683 -0.10532247] [ 0.00203254 -0.00106092 0.99999737 0.00470093] [ 0. 0. 0. 1. ]] SLAMing on 3.8086238530000003 meters 0.7898011653617234 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.11, Z:0.00 [[ 0.99999593 -0.00195066 -0.00208062 0.00757666] [ 0.00195316 0.99999737 0.00120022 -0.10607394] [ 0.00207827 -0.00120428 0.99999712 0.00475253] [ 0. 0. 0. 1. ]] SLAMing on 3.8386238530000005 meters 0.7854147551055176 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.11, Z:0.01 [[ 9.99999425e-01 6.09258260e-05 -1.07020221e-03 1.15981777e-03] [-5.74799395e-05 9.99994815e-01 3.21958188e-03 -1.08526758e-01] [ 1.07039282e-03 -3.21951852e-03 9.99994244e-01 9.51738925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8686238530000003 meters 0.7849268491471867 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.11, Z:0.01 [[ 9.99999354e-01 4.81618713e-05 -1.13536015e-03 1.34754147e-03] [-4.45418909e-05 9.99994917e-01 3.18820799e-03 -1.08360173e-01] [ 1.13550793e-03 -3.18815536e-03 9.99994273e-01 9.61885033e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.898623853 meters 0.7905131006709237 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.11, Z:0.01 [[ 9.99999295e-01 5.03031121e-05 -1.18620352e-03 1.57562222e-03] [-4.65127717e-05 9.99994894e-01 3.19516530e-03 -1.08394438e-01] [ 1.18635819e-03 -3.19510788e-03 9.99994192e-01 9.50903306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9286238530000004 meters 0.7853378749104714 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.11, Z:0.01 [[ 9.99998702e-01 1.54649435e-03 -4.51338999e-04 -3.27123515e-03] [-1.54424782e-03 9.99986625e-01 4.93608245e-03 -1.12107359e-01] [ 4.58966586e-04 -4.93537907e-03 9.99987716e-01 1.32937055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.958623853 meters 0.7759438919689424 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.11, Z:0.02 [[ 9.99999639e-01 -5.67964039e-04 6.32169782e-04 -9.59602859e-03] [ 5.66361697e-04 9.99996634e-01 2.53196963e-03 -1.10552939e-01] [-6.33605722e-04 -2.53161068e-03 9.99996595e-01 1.80118790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9886238530000004 meters 0.7680168426515533 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.11, Z:0.02 [[ 9.99994983e-01 -2.65302282e-03 1.73074113e-03 -1.59212573e-02] [ 2.65266188e-03 9.99996459e-01 2.10808406e-04 -1.09232077e-01] [-1.73129428e-03 -2.06216278e-04 9.99998480e-01 2.27552353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.018623853 meters 0.7779139429303698 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.11, Z:0.02 [[ 9.99995341e-01 -2.53068479e-03 1.70664643e-03 -1.59029381e-02] [ 2.52980695e-03 9.99996667e-01 5.16333318e-04 -1.10806493e-01] [-1.70794742e-03 -5.12013427e-04 9.99998410e-01 2.29227645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0486238530000005 meters 0.7773671605073439 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.11, Z:0.02 [[ 9.99995519e-01 -2.47461835e-03 1.68446559e-03 -1.58568165e-02] [ 2.47351045e-03 9.99996723e-01 6.59477893e-04 -1.11530515e-01] [-1.68609202e-03 -6.55308395e-04 9.99998364e-01 2.29982959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.078623853000001 meters 0.7685759136924438 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.11, Z:0.02 [[ 9.99995790e-01 -2.38045207e-03 1.65964122e-03 -1.58195739e-02] [ 2.37896160e-03 9.99996766e-01 8.99464970e-04 -1.12742570e-01] [-1.66177699e-03 -8.95512960e-04 9.99998218e-01 2.31177350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.108623853 meters 0.7654775722834788 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.12, Z:0.02 [[ 0.99999638 -0.00214325 0.0016266 -0.01580938] [ 0.00214083 0.9999966 0.00148886 -0.11570312] [-0.00162978 -0.00148538 0.99999757 0.02334583] [ 0. 0. 0. 1. ]] SLAMing on 4.138623853 meters 0.7613328900372652 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.12, Z:0.02 [[ 0.99999656 -0.00207939 0.00159715 -0.01575003] [ 0.00207675 0.99999648 0.00165333 -0.11652319] [-0.00160059 -0.00165 0.99999736 0.02345097] [ 0. 0. 0. 1. ]] SLAMing on 4.168623853000001 meters 0.7607728393883137 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.12, Z:0.02 [[ 0.99999671 -0.00204785 0.00154672 -0.01559771] [ 0.00204516 0.9999964 0.00173447 -0.11692679] [-0.00155026 -0.0017313 0.9999973 0.0234864 ] [ 0. 0. 0. 1. ]] SLAMing on 4.198623853 meters 0.7555125006151999 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.12, Z:0.02 [[ 0.99999673 -0.00206585 0.00150448 -0.01550935] [ 0.00206331 0.99999645 0.00168847 -0.11669727] [-0.00150796 -0.00168536 0.99999744 0.02360261] [ 0. 0. 0. 1. ]] SLAMing on 4.228623853 meters 0.7596755272528227 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.12, Z:0.02 [[ 0.99999687 -0.00203226 0.00146068 -0.01538361] [ 0.00202965 0.99999636 0.00178042 -0.11716279] [-0.00146429 -0.00177745 0.99999735 0.02365862] [ 0. 0. 0. 1. ]] SLAMing on 4.2586238530000005 meters 0.7293977224372384 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.12, Z:0.02 [[ 0.99999699 -0.00199798 0.00142121 -0.01533235] [ 0.00199532 0.99999626 0.00186888 -0.11759397] [-0.00142494 -0.00186604 0.99999724 0.02384482] [ 0. 0. 0. 1. ]] SLAMing on 4.288623853000001 meters 0.732723040964229 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.12, Z:0.02 [[ 0.99999706 -0.00199861 0.0013696 -0.01517393] [ 0.00199605 0.99999626 0.001868 -0.11759015] [-0.00137333 -0.00186526 0.99999732 0.02386318] [ 0. 0. 0. 1. ]] SLAMing on 4.318623853 meters 0.7241005451275353 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.12, Z:0.03 [[ 9.99997836e-01 -6.77189073e-04 1.96690106e-03 -1.97682053e-02] [ 6.70709505e-04 9.99994353e-01 3.29309669e-03 -1.19017582e-01] [-1.96912001e-03 -3.29177034e-03 9.99992643e-01 2.77471254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.348623853 meters 0.7092196734284455 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.12, Z:0.03 [[ 9.99990790e-01 -2.93911718e-03 3.12749005e-03 -2.62596944e-02] [ 2.93698968e-03 9.99995453e-01 6.84635650e-04 -1.16100075e-01] [-3.12948806e-03 -6.75443939e-04 9.99994875e-01 3.24857378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.378623853000001 meters 0.6973823259043909 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.12, Z:0.04 [[ 0.99999079 -0.00107165 0.00415549 -0.03243141] [ 0.00105992 0.99999545 0.00282515 -0.1182652 ] [-0.0041585 -0.00282072 0.99998738 0.0373221 ] [ 0. 0. 0. 1. ]] SLAMing on 4.408623853000001 meters 0.6962898820151762 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.12, Z:0.04 [[ 0.99999069 -0.00113684 0.00416377 -0.0324626 ] [ 0.00112578 0.99999583 0.00265847 -0.11745554] [-0.00416677 -0.00265376 0.9999878 0.03732035] [ 0. 0. 0. 1. ]] SLAMing on 4.438623853 meters 0.6850865074673989 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.04 [[ 9.99980290e-01 -3.36311524e-03 5.30186130e-03 -3.91094532e-02] [ 3.36206647e-03 9.99994327e-01 2.06711301e-04 -1.15685805e-01] [-5.30252641e-03 -1.88882017e-04 9.99985924e-01 4.22153894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.468623853 meters 0.6914164539722114 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.04 [[ 9.99980933e-01 -3.25413898e-03 5.24833221e-03 -3.89949359e-02] [ 3.25158944e-03 9.99994591e-01 4.94241545e-04 -1.17054104e-01] [-5.24991215e-03 -4.77166699e-04 9.99986105e-01 4.23418021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.498623853000001 meters 0.668569015053317 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.11, Z:0.04 [[ 0.99999207 -0.00266405 0.00296127 -0.05858544] [ 0.00269159 0.99995282 -0.00933359 -0.11413944] [-0.00293626 0.00934149 0.99995206 0.04206892] [ 0. 0. 0. 1. ]] SLAMing on 4.528623853 meters 0.6591923125245552 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.12, Z:0.04 [[ 0.99999403 0.00191709 0.00287383 -0.05845815] [-0.00190513 0.99998954 -0.00415806 -0.11788858] [-0.00288177 0.00415256 0.99998723 0.04233094] [ 0. 0. 0. 1. ]] SLAMing on 4.558623853 meters 0.7346851454948046 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.12, Z:0.04 [[ 0.99999396 0.00197888 0.00285574 -0.05843556] [-0.00196745 0.99999006 -0.00400001 -0.11863486] [-0.00286363 0.00399437 0.99998792 0.04240796] [ 0. 0. 0. 1. ]] SLAMing on 4.5886238530000005 meters 0.6498533720849982 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.05 [[ 0.9999898 -0.00164233 0.00420709 -0.04099705] [ 0.00163042 0.99999466 0.00283172 -0.12122451] [-0.00421172 -0.00282484 0.99998714 0.04616988] [ 0. 0. 0. 1. ]] SLAMing on 4.618623853000001 meters 0.6498533720849982 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.05 [[ 0.9999898 -0.00164233 0.00420709 -0.04099705] [ 0.00163042 0.99999466 0.00283172 -0.12122451] [-0.00421172 -0.00282484 0.99998714 0.04616988] [ 0. 0. 0. 1. ]] SLAMing on 4.648623853 meters 0.6478854825594311 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.05 [[ 0.99999021 -0.00140386 0.00419553 -0.04101303] [ 0.00138902 0.99999278 0.00353758 -0.12445729] [-0.00420046 -0.00353172 0.99998494 0.04629903] [ 0. 0. 0. 1. ]] SLAMing on 4.678623853 meters 0.3150557599238465 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.12, Z:0.05 [[ 9.99998609e-01 -2.54694086e-04 1.64837266e-03 -6.23612777e-02] [ 2.63571317e-04 9.99985453e-01 -5.38747654e-03 -1.22973359e-01] [-1.64697652e-03 5.38790351e-03 9.99984129e-01 4.81726307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.708623853000001 meters 0.5016005905782143 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:0.05 [[ 9.99998633e-01 1.33896777e-04 1.64787990e-03 -6.24830271e-02] [-1.26968905e-04 9.99991157e-01 -4.20349949e-03 -1.28298398e-01] [-1.64842816e-03 4.20328451e-03 9.99989807e-01 4.85011130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.738623853 meters 0.5452791780960101 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:0.05 [[ 9.99998631e-01 3.21817475e-04 1.62316585e-03 -6.24488866e-02] [-3.15833619e-04 9.99993159e-01 -3.68544428e-03 -1.30701761e-01] [-1.62434079e-03 3.68492658e-03 9.99991891e-01 4.85905055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.768623853 meters 0.26081730736020065 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:0.05 [[ 9.99998635e-01 4.66901555e-04 1.58465347e-03 -6.24018083e-02] [-4.61673098e-04 9.99994454e-01 -3.29819571e-03 -1.32502120e-01] [-1.58618461e-03 3.29745961e-03 9.99993305e-01 4.87475634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7986238530000005 meters 0.581150651873068 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:0.05 [[ 9.99998576e-01 6.54082240e-04 1.55546308e-03 -6.23739591e-02] [-6.49724306e-04 9.99995867e-01 -2.80055225e-03 -1.34815532e-01] [-1.55728844e-03 2.79953765e-03 9.99994869e-01 4.88873616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.828623853000001 meters 0.06773299948526729 Centerline is valid? [False, True] Translation: X:-0.06, Y:-0.14, Z:0.05 [[ 0.99999818 0.00109549 0.00155983 -0.06253062] [-0.00109315 0.99999828 -0.00149613 -0.14067378] [-0.00156147 0.00149443 0.99999766 0.04919448] [ 0. 0. 0. 1. ]] SLAMing on 4.858623853 meters 0.0637583923841856 Centerline is valid? [True, True] Translation: X:-0.03, Y:-0.15, Z:0.05 [[ 9.99994417e-01 -3.03778152e-04 3.32776653e-03 -3.10069337e-02] [ 3.03915621e-04 9.99999953e-01 -4.08040704e-05 -1.47707007e-01] [-3.32775398e-03 4.18152028e-05 9.99994462e-01 5.05075389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.888623853 meters 0.0563651761339745 Centerline is valid? [True, True] Translation: X:0.00, Y:-0.16, Z:0.05 [[ 9.99985487e-01 -2.10720228e-03 4.95838200e-03 1.40643408e-03] [ 2.10751807e-03 9.99997777e-01 -5.84648699e-05 -1.56772264e-01] [-4.95824778e-03 6.89139011e-05 9.99987705e-01 5.38619804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.918623853000001 meters 0.05959760814224458 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.16, Z:0.05 [[ 9.99985498e-01 -2.79382314e-03 4.60405804e-03 3.26906544e-02] [ 2.79411621e-03 9.99996095e-01 -5.72234189e-05 -1.64640356e-01] [-4.60388019e-03 7.00868623e-05 9.99989400e-01 4.95169926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.948623853000001 meters 0.06101091220721838 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.17, Z:0.05 [[ 9.99984228e-01 -3.18964474e-03 4.62285026e-03 6.47402632e-02] [ 3.18994428e-03 9.99994910e-01 -5.74229457e-05 -1.69165423e-01] [-4.62264358e-03 7.21686747e-05 9.99989313e-01 4.89518512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.978623853 meters 0.05726414308900829 Centerline is valid? [True, True] Translation: X:0.10, Y:-0.18, Z:0.05 [[ 9.99977196e-01 -3.83096354e-03 5.56154445e-03 9.55980622e-02] [ 3.83141070e-03 9.99992658e-01 -6.97492998e-05 -1.77217120e-01] [-5.56123641e-03 9.10562702e-05 9.99984532e-01 4.81567641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0086238530000005 meters 0.05281964856552037 Centerline is valid? [True, True] Translation: X:0.13, Y:-0.18, Z:0.05 [[ 9.99975174e-01 -3.79233612e-03 5.93886384e-03 1.27876341e-01] [ 3.79284538e-03 9.99992804e-01 -7.44898855e-05 -1.78197763e-01] [-5.93853862e-03 9.70132284e-05 9.99982362e-01 4.94573829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.038623853000001 meters 0.055163820603772035 Centerline is valid? [True, True] Translation: X:0.16, Y:-0.18, Z:0.04 [[ 9.99979817e-01 -2.99142646e-03 5.60505132e-03 1.58892193e-01] [ 2.99186974e-03 9.99995522e-01 -7.07032739e-05 -1.83695893e-01] [-5.60481471e-03 8.74714303e-05 9.99984289e-01 4.49299468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.068623853 meters 0.05167403267361366 Centerline is valid? [True, True] Translation: X:0.19, Y:-0.18, Z:0.05 [[ 9.99967067e-01 -2.15776034e-03 7.82364767e-03 1.90661634e-01] [ 2.15860451e-03 9.99997665e-01 -9.94571881e-05 -1.83479649e-01] [-7.82341480e-03 1.16342074e-04 9.99969390e-01 4.95469912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.098623853 meters 0.048710920378419884 Centerline is valid? [True, True] Translation: X:0.22, Y:-0.19, Z:0.05 [[ 9.99972125e-01 2.48816224e-04 7.46238396e-03 2.22050191e-01] [-2.48115603e-04 9.99999965e-01 -9.48127156e-05 -1.87022971e-01] [-7.46240729e-03 9.29585388e-05 9.99972152e-01 4.88659405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.128623853000001 meters 0.04278637613283769 Centerline is valid? [True, True] Translation: X:0.25, Y:-0.19, Z:0.05 [[ 9.99961995e-01 2.26654311e-03 8.41851185e-03 2.54674710e-01] [-2.26572269e-03 9.99997428e-01 -1.06989816e-04 -1.86742263e-01] [-8.41873269e-03 8.79117370e-05 9.99964558e-01 4.93962155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.158623853000001 meters 0.04018413281039838 Centerline is valid? [True, True] Translation: X:0.29, Y:-0.19, Z:0.05 [[ 9.99942406e-01 4.67954199e-03 9.65846224e-03 2.86642320e-01] [-4.67856613e-03 9.99989048e-01 -1.23629474e-04 -1.85186161e-01] [-9.65893499e-03 7.84345995e-05 9.99953348e-01 5.07648818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.188623853 meters 0.02995228454801326 Centerline is valid? [True, True] Translation: X:0.32, Y:-0.18, Z:0.05 [[ 9.99884738e-01 1.01006425e-02 1.13352161e-02 3.18226313e-01] [-1.00996359e-02 9.99948987e-01 -1.46041821e-04 -1.79309289e-01] [-1.13361130e-02 3.15434327e-05 9.99935744e-01 5.28616054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.218623853 meters 0.03327343899576459 Centerline is valid? [True, True] Translation: X:0.35, Y:-0.18, Z:0.05 [[ 9.99858828e-01 1.27835698e-02 1.09043303e-02 3.50444578e-01] [-1.27828178e-02 9.99918287e-01 -1.38655193e-04 -1.77576781e-01] [-1.09052118e-02 -7.52448407e-07 9.99940536e-01 4.95146772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.248623853000001 meters 0.035357064905942856 Centerline is valid? [True, True] Translation: X:0.38, Y:-0.18, Z:0.05 [[ 9.99791739e-01 1.55903600e-02 1.31688969e-02 3.82427348e-01] [-1.55894643e-02 9.99878462e-01 -1.70671973e-04 -1.75174272e-01] [-1.31699572e-02 -3.46596196e-05 9.99913272e-01 5.31451478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.278623853 meters 0.031325017235776104 Centerline is valid? [True, True] Translation: X:0.41, Y:-0.17, Z:0.05 [[ 9.99749510e-01 1.81497270e-02 1.30959446e-02 4.13784842e-01] [-1.81490327e-02 9.99835278e-01 -1.71869190e-04 -1.72327688e-01] [-1.30969068e-02 -6.58525880e-05 9.99914230e-01 4.96119726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.308623853 meters 0.027437266275455847 Centerline is valid? [True, True] Translation: X:0.45, Y:-0.17, Z:0.05 [[ 9.99683323e-01 2.21319757e-02 1.19762295e-02 4.45410250e-01] [-2.21316638e-02 9.99755052e-01 -1.58590204e-04 -1.70933134e-01] [-1.19768059e-02 -1.06513903e-04 9.99928270e-01 4.78901932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3386238530000005 meters 0.02523597108577105 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.17, Z:0.05 [[ 9.99641313e-01 2.35332957e-02 1.27839761e-02 4.78687812e-01] [-2.35330337e-02 9.99723045e-01 -1.70939574e-04 -1.70432356e-01] [-1.27844583e-02 -1.29967480e-04 9.99918267e-01 4.55886208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.368623853000001 meters 0.025759851509512884 Centerline is valid? [True, True] Translation: X:0.51, Y:-0.17, Z:0.04 [[ 9.99619838e-01 2.45641786e-02 1.25212181e-02 5.10714208e-01] [-2.45639783e-02 9.99698246e-01 -1.69806137e-04 -1.70810358e-01] [-1.25216109e-02 -1.37829346e-04 9.99921592e-01 4.35150238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.398623853 meters 0.02699936535755956 Centerline is valid? [True, True] Translation: X:0.54, Y:-0.17, Z:0.04 [[ 9.99574023e-01 2.60957431e-02 1.30684411e-02 5.43141205e-01] [-2.60956278e-02 9.99659435e-01 -1.79370793e-04 -1.72707659e-01] [-1.30686713e-02 -1.61734791e-04 9.99914588e-01 4.32806482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.428623853 meters 0.02577887491408469 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.17, Z:0.04 [[ 9.99538114e-01 2.70442215e-02 1.38624652e-02 5.76540460e-01] [-2.70441540e-02 9.99634221e-01 -1.92360255e-04 -1.73779449e-01] [-1.38625969e-02 -1.82627238e-04 9.99903893e-01 4.17171498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.458623853000001 meters 0.02452589730786882 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.18, Z:0.04 [[ 9.99483440e-01 2.87539057e-02 1.43550064e-02 6.09056229e-01] [-2.87539701e-02 9.99586499e-01 -2.01946759e-04 -1.77651433e-01] [-1.43548774e-02 -2.10920983e-04 9.99896941e-01 4.18054926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.488623853000001 meters 0.028000464173470782 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.18, Z:0.04 [[ 9.99465651e-01 2.96174819e-02 1.38281113e-02 6.39829179e-01] [-2.96175940e-02 9.99561283e-01 -1.96729880e-04 -1.75374817e-01] [-1.38278713e-02 -2.12930627e-04 9.99904368e-01 3.94533552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.518623853 meters 0.027267386443745902 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.18, Z:0.04 [[ 9.99428125e-01 3.07072622e-02 1.41593274e-02 6.72240150e-01] [-3.07074591e-02 9.99528394e-01 -2.03557147e-04 -1.76012052e-01] [-1.41589004e-02 -2.31356228e-04 9.99899731e-01 3.84669640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5486238530000005 meters 0.02795489481203665 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.18, Z:0.04 [[ 9.99379946e-01 3.27332070e-02 1.29715324e-02 7.04512563e-01] [-3.27335220e-02 9.99464097e-01 -1.88079274e-04 -1.75406490e-01] [-1.29707374e-02 -2.36641288e-04 9.99915848e-01 3.60868351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.578623853000001 meters 0.029150095263202083 Centerline is valid? [True, True] Translation: X:0.74, Y:-0.17, Z:0.03 [[ 9.99339026e-01 3.38582787e-02 1.32336047e-02 7.35431127e-01] [-3.38586745e-02 9.99426612e-01 -1.94197127e-04 -1.74366722e-01] [-1.32325919e-02 -2.54003545e-04 9.99912413e-01 3.46195239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.608623853 meters 0.030245901762860197 Centerline is valid? [True, True] Translation: X:0.77, Y:-0.17, Z:0.03 [[ 9.99287781e-01 3.51439642e-02 1.37416516e-02 7.66606638e-01] [-3.51444825e-02 9.99382221e-01 -2.03837465e-04 -1.73652474e-01] [-1.37403259e-02 -2.79250945e-04 9.99905558e-01 3.38469216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.638623853 meters 0.03617956043694555 Centerline is valid? [True, True] Translation: X:0.80, Y:-0.17, Z:0.04 [[ 9.99257688e-01 3.53568183e-02 1.52960010e-02 7.98326775e-01] [-3.53574452e-02 9.99374704e-01 -2.29527125e-04 -1.71295673e-01] [-1.52945519e-02 -3.11470774e-04 9.99882983e-01 3.69263741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.668623853000001 meters 0.031139940123904305 Centerline is valid? [True, True] Translation: X:0.83, Y:-0.17, Z:0.03 [[ 9.99193910e-01 3.70876017e-02 1.53635804e-02 8.30190287e-01] [-3.70884065e-02 9.99311961e-01 -2.32632389e-04 -1.73386391e-01] [-1.53616374e-02 -3.37365849e-04 9.99881946e-01 3.46674737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.698623853000001 meters 0.031226824319025702 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.17, Z:0.03 [[ 9.99175885e-01 3.73818114e-02 1.58161928e-02 8.62834822e-01] [-3.73826633e-02 9.99300995e-01 -2.41881799e-04 -1.73515985e-01] [-1.58141792e-02 -3.49568949e-04 9.99874887e-01 3.44880026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.728623853 meters 0.030010085206390986 Centerline is valid? [True, True] Translation: X:0.90, Y:-0.18, Z:0.03 [[ 9.99170627e-01 3.74055928e-02 1.60897249e-02 8.95474143e-01] [-3.74064122e-02 9.99300104e-01 -2.50122260e-04 -1.75885127e-01] [-1.60878197e-02 -3.51944065e-04 9.99870521e-01 3.48372795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7586238530000005 meters 0.029998408701509015 Centerline is valid? [True, True] Translation: X:0.93, Y:-0.18, Z:0.03 [[ 9.99154154e-01 3.75302729e-02 1.68064144e-02 9.26527420e-01] [-3.75311801e-02 9.99295423e-01 -2.61531944e-04 -1.75718639e-01] [-1.68043883e-02 -3.69453837e-04 9.99858728e-01 3.42942951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.788623853000001 meters 0.028091116774036324 Centerline is valid? [True, True] Translation: X:0.96, Y:-0.18, Z:0.03 [[ 9.99158267e-01 3.73079496e-02 1.70550537e-02 9.58783318e-01] [-3.73088094e-02 9.99303748e-01 -2.67866513e-04 -1.78609546e-01] [-1.70531727e-02 -3.68662708e-04 9.99854516e-01 3.49104315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.818623853 meters 0.026446384732908636 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.18, Z:0.03 [[ 9.99209180e-01 3.58696674e-02 1.71575507e-02 9.91216076e-01] [-3.58702770e-02 9.99356417e-01 -2.72311955e-04 -1.80191182e-01] [-1.71562761e-02 -3.43349491e-04 9.99852761e-01 3.35742559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.848623853 meters 0.027934168689003714 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.18, Z:0.03 [[ 9.99255282e-01 3.46404177e-02 1.69977375e-02 1.02193485e+00] [-3.46407813e-02 9.99399791e-01 -2.73127953e-04 -1.78022006e-01] [-1.69969966e-02 -3.15890358e-04 9.99855491e-01 3.14412174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.878623853000001 meters 0.024999013335312462 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.18, Z:0.03 [[ 9.99293469e-01 3.33425397e-02 1.73446776e-02 1.05385290e+00] [-3.33427027e-02 9.99443938e-01 -2.79868761e-04 -1.81955202e-01] [-1.73443644e-02 -2.98647402e-04 9.99849531e-01 3.11140535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.908623853000001 meters 0.02091829925942003 Centerline is valid? [True, True] Translation: X:1.08, Y:-0.19, Z:0.03 [[ 9.99437484e-01 2.88734392e-02 1.70599115e-02 1.08470238e+00] [-2.88728807e-02 9.99583053e-01 -2.79092613e-04 -1.89504689e-01] [-1.70608568e-02 -2.13633172e-04 9.99854430e-01 2.97068795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.938623853 meters 0.018270780973110672 Centerline is valid? [True, True] Translation: X:1.12, Y:-0.20, Z:0.03 [[ 9.99500326e-01 2.63382059e-02 1.74756306e-02 1.11649344e+00] [-2.63372451e-02 9.99653074e-01 -2.85165003e-04 -1.95550069e-01] [-1.74770786e-02 -1.75237452e-04 9.99847249e-01 3.06393684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.968623853 meters 0.017522348041677488 Centerline is valid? [True, True] Translation: X:1.15, Y:-0.20, Z:0.03 [[ 9.99550059e-01 2.39987730e-02 1.79927377e-02 1.14749344e+00] [-2.39973149e-02 9.99711979e-01 -2.96975219e-04 -1.98215567e-01] [-1.79946825e-02 -1.34935795e-04 9.99838073e-01 2.93956819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.998623853000001 meters 0.027064458704638614 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.21, Z:0.03 [[ 9.99601692e-01 2.02964359e-02 1.96090017e-02 1.17994952e+00] [-2.02939231e-02 9.99794004e-01 -3.27147928e-04 -2.05026744e-01] [-1.96116023e-02 -7.09259509e-05 9.99807672e-01 3.45490789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.028623853000001 meters 0.015580987841131409 Centerline is valid? [True, True] Translation: X:1.21, Y:-0.21, Z:0.03 [[ 9.99687434e-01 1.68920220e-02 1.84307811e-02 1.21154082e+00] [-1.68891743e-02 9.99857320e-01 -3.10162296e-04 -2.09565755e-01] [-1.84333907e-02 -1.21532450e-06 9.99830091e-01 2.80628288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.058623853 meters 0.015797273835147063 Centerline is valid? [True, True] Translation: X:1.24, Y:-0.21, Z:0.03 [[ 9.99710800e-01 1.52134289e-02 1.86243848e-02 1.24375806e+00] [-1.52101612e-02 9.99884269e-01 -3.17101854e-04 -2.13183001e-01] [-1.86270536e-02 3.37302547e-05 9.99826501e-01 2.73744190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0886238530000005 meters 0.016016549947498227 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.22, Z:0.03 [[ 9.99729193e-01 1.41927912e-02 1.84419208e-02 1.27695128e+00] [-1.41893552e-02 9.99899276e-01 -3.17157465e-04 -2.16215067e-01] [-1.84445646e-02 5.53926127e-05 9.99829883e-01 2.68899018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.118623853000001 meters 0.016658290077883588 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.22, Z:0.02 [[ 9.99763306e-01 1.23522365e-02 1.79096331e-02 1.30843011e+00] [-1.23486370e-02 9.99923704e-01 -3.11556622e-04 -2.21616421e-01] [-1.79121151e-02 9.03233200e-05 9.99839561e-01 2.46869727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.148623853 meters 0.01690159216336844 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.22, Z:0.02 [[ 9.99766651e-01 1.18150664e-02 1.80844384e-02 1.34023256e+00] [-1.18112599e-02 9.99930194e-01 -3.17281416e-04 -2.23821926e-01] [-1.80869247e-02 1.03607377e-04 9.99836413e-01 2.44789782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.178623853 meters 0.01719776997938841 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.23, Z:0.03 [[ 9.99756816e-01 1.11083014e-02 1.90502965e-02 1.37257742e+00] [-1.11038800e-02 9.99938293e-01 -3.37855540e-04 -2.27228205e-01] [-1.90528739e-02 1.26241173e-04 9.99818470e-01 2.51175852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.208623853000001 meters 0.016915026145449912 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.23, Z:0.03 [[ 9.99749232e-01 1.11031396e-02 1.94471774e-02 1.40536050e+00] [-1.10984649e-02 9.99938349e-01 -3.48292511e-04 -2.28319790e-01] [-1.94498456e-02 1.32371354e-04 9.99810825e-01 2.50370653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.238623853000001 meters 0.01645610137603837 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.23, Z:0.02 [[ 9.99732278e-01 1.03524864e-02 2.06929555e-02 1.43859531e+00] [-1.03469443e-02 9.99946399e-01 -3.74878370e-04 -2.30533161e-01] [-2.06957273e-02 1.60669150e-04 9.99785808e-01 2.48886289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.268623853 meters 0.018035071566128675 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.24, Z:0.02 [[ 9.99754687e-01 1.00939401e-02 1.97149345e-02 1.46982798e+00] [-1.00887821e-02 9.99949042e-01 -3.61073734e-04 -2.35302138e-01] [-1.97175746e-02 1.62085479e-04 9.99805577e-01 2.18577312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2986238530000005 meters 0.03152768046692463 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.24, Z:0.03 [[ 9.99749216e-01 8.71818320e-03 2.06276031e-02 1.50224054e+00] [-8.71217140e-03 9.99961976e-01 -3.81293391e-04 -2.41290488e-01] [-2.06301429e-02 2.01486555e-04 9.99787156e-01 2.62393795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.328623853000001 meters 0.018161153922219404 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.24, Z:0.02 [[ 9.99757018e-01 9.26103894e-03 2.00034324e-02 1.53472671e+00] [-9.25543565e-03 9.99957098e-01 -3.72679770e-04 -2.41674707e-01] [-2.00060256e-02 1.87448734e-04 9.99799842e-01 2.04110997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.358623853 meters 0.01808428740671042 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.25, Z:0.02 [[ 9.99770509e-01 8.60350887e-03 1.96190728e-02 1.56656078e+00] [-8.59791896e-03 9.99962969e-01 -3.69255505e-04 -2.46621391e-01] [-1.96215231e-02 2.00487567e-04 9.99807459e-01 1.93817420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.388623853 meters 0.018934657916851973 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.25, Z:0.02 [[ 9.99794269e-01 9.04518879e-03 1.81549906e-02 1.59818547e+00] [-9.04042550e-03 9.99959075e-01 -3.44423798e-04 -2.50315296e-01] [-1.81573629e-02 1.80224100e-04 9.99835125e-01 1.68712167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.418623853000001 meters 0.018656305530425323 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.25, Z:0.02 [[ 9.99781280e-01 9.77896847e-03 1.84868529e-02 1.62931525e+00] [-9.77408605e-03 9.99952170e-01 -3.54439406e-04 -2.52198221e-01] [-1.84894348e-02 1.73669791e-04 9.99829041e-01 1.65108268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.448623853000001 meters 0.01659533735171134 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.25, Z:0.02 [[ 9.99716253e-01 1.25089602e-02 2.02716545e-02 1.66102481e+00] [-1.25035812e-02 9.99921750e-01 -3.92078380e-04 -2.51832651e-01] [-2.02749727e-02 1.38498851e-04 9.99794432e-01 1.76740675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.478623853 meters 0.014885781707463209 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.25, Z:0.02 [[ 9.99663756e-01 1.49635107e-02 2.11770560e-02 1.69292062e+00] [-1.49581148e-02 9.99888036e-01 -4.13188567e-04 -2.49838464e-01] [-2.11808676e-02 9.62808014e-05 9.99775656e-01 1.88063724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5086238530000005 meters 0.014292209454904113 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.25, Z:0.02 [[ 9.99572515e-01 2.07156729e-02 2.06312240e-02 1.72417308e+00] [-2.07117054e-02 9.99785407e-01 -4.05986410e-04 -2.45396323e-01] [-2.06352070e-02 -2.14949758e-05 9.99787071e-01 1.79739110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.538623853000001 meters 0.014292209454904113 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.25, Z:0.02 [[ 9.99568723e-01 2.08979422e-02 2.06311621e-02 1.75662881e+00] [-2.08939491e-02 9.99781614e-01 -4.09106671e-04 -2.46231445e-01] [-2.06352060e-02 -2.21362180e-05 9.99787071e-01 1.71562306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.568623853000001 meters 0.014724701936429748 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.24, Z:0.02 [[ 9.99468093e-01 2.46440387e-02 2.13589187e-02 1.78954882e+00] [-2.46405283e-02 9.99696285e-01 -4.27552471e-04 -2.42779845e-01] [-2.13629683e-02 -9.89699899e-05 9.99771781e-01 1.73388503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.598623853 meters 0.016493787142306475 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.24, Z:0.02 [[ 9.99375893e-01 2.82376685e-02 2.12239942e-02 1.82112911e+00] [-2.82349228e-02 9.99601223e-01 -4.29079940e-04 -2.38095680e-01] [-2.12276468e-02 -1.70445688e-04 9.99774654e-01 1.57875162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.628623853000001 meters 0.018692348369740333 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.23, Z:0.01 [[ 9.99269941e-01 3.18886897e-02 2.10403471e-02 1.85337006e+00] [-3.18867327e-02 9.99491397e-01 -4.28584294e-04 -2.34299065e-01] [-2.10433129e-02 -2.42636522e-04 9.99778536e-01 1.44320056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.658623853000001 meters 0.023219284673913432 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.23, Z:0.01 [[ 9.99065171e-01 3.81267041e-02 2.03749686e-02 1.88433966e+00] [-3.81260849e-02 9.99272849e-01 -4.18975828e-04 -2.26910465e-01] [-2.03761271e-02 -3.58233628e-04 9.99792321e-01 1.20320668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.688623853 meters 0.024003417205654184 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.23, Z:0.01 [[ 9.98965758e-01 4.07834481e-02 2.01028446e-02 1.91605940e+00] [-4.07833933e-02 9.99167926e-01 -4.12869266e-04 -2.25770919e-01] [-2.01029558e-02 -4.07419958e-04 9.99797832e-01 1.09151045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.718623853 meters 0.027362654782197973 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.22, Z:0.01 [[ 9.98877764e-01 4.30236408e-02 1.98035040e-02 1.94705459e+00] [-4.30239659e-02 9.99073956e-01 -4.09835661e-04 -2.20644174e-01] [-1.98027977e-02 -4.42649551e-04 9.99803807e-01 8.83898546e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.748623853000001 meters 0.029723854355020705 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.22, Z:0.01 [[ 9.98700502e-01 4.66819455e-02 2.04475805e-02 1.97872652e+00] [-4.66829763e-02 9.98909664e-01 -4.27171289e-04 -2.15750685e-01] [-2.04452270e-02 -5.27937737e-04 9.99790835e-01 9.00386343e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.778623853000001 meters 0.030971779939806716 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.21, Z:0.01 [[ 9.98646023e-01 4.80025008e-02 2.00469559e-02 2.01046341e+00] [-4.80037614e-02 9.98847067e-01 -4.18602903e-04 -2.13391896e-01] [-2.00439371e-02 -5.44293166e-04 9.99798952e-01 7.92461716e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.808623853 meters 0.03197189883410488 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.21, Z:0.01 [[ 9.98578594e-01 4.92766930e-02 2.03125184e-02 2.04235695e+00] [-4.92781867e-02 9.98785001e-01 -4.27294840e-04 -2.11083780e-01] [-2.03088944e-02 -5.74276593e-04 9.99793588e-01 7.45659204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8386238530000005 meters 0.032914646030731756 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.21, Z:0.01 [[ 9.98487958e-01 5.05723409e-02 2.15461578e-02 2.07455209e+00] [-5.05742400e-02 9.98720200e-01 -4.57101384e-04 -2.07883463e-01] [-2.15416997e-02 -6.33270330e-04 9.99767750e-01 8.83576730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.868623853000001 meters 0.03368330618682712 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.21, Z:0.01 [[ 9.98455744e-01 5.10552133e-02 2.18973054e-02 2.10716358e+00] [-5.10572109e-02 9.98695620e-01 -4.68200974e-04 -2.06539255e-01] [-2.18926471e-02 -6.50537391e-04 9.99760116e-01 8.75281862e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.898623853 meters 0.03138419934712582 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.21, Z:0.01 [[ 9.98447636e-01 5.11405258e-02 2.20672868e-02 2.14002470e+00] [-5.11424829e-02 9.98691254e-01 -4.76030406e-04 -2.06879676e-01] [-2.20627507e-02 -6.53284403e-04 9.99756374e-01 8.42071504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.928623853 meters 0.032678858487328856 Centerline is valid? [True, True] Translation: X:2.17, Y:-0.20, Z:0.01 [[ 9.98451261e-01 5.11486277e-02 2.18837046e-02 2.17245306e+00] [-5.11504600e-02 9.98690845e-01 -4.76376815e-04 -2.03678526e-01] [-2.18794215e-02 -6.43722526e-04 9.99760410e-01 7.15036643e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.958623853000001 meters 0.03207566871856576 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.20, Z:0.01 [[ 9.98463519e-01 5.10211324e-02 2.16204745e-02 2.20502660e+00] [-5.10228057e-02 9.98697376e-01 -4.74592443e-04 -2.03144845e-01] [-2.16165254e-02 -6.29274029e-04 9.99766138e-01 5.99004840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.988623853000001 meters 0.033312894601164995 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.20, Z:0.00 [[ 9.98554728e-01 4.95149775e-02 2.08979223e-02 2.23634623e+00] [-4.95161392e-02 9.98773217e-01 -4.62174324e-04 -1.98134521e-01] [-2.08951696e-02 -5.73278073e-04 9.99781508e-01 2.88470336e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.018623853 meters 0.029127069802719254 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.20, Z:0.00 [[ 9.98625257e-01 4.83843617e-02 2.01630902e-02 2.26821289e+00] [-4.83851536e-02 9.98828652e-01 -4.48856182e-04 -2.02777080e-01] [-2.01611898e-02 -5.27355097e-04 9.99796603e-01 1.28260786e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0486238530000005 meters 0.03077290691827013 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.20, Z:-0.00 [[ 9.98693749e-01 4.72534405e-02 1.94398528e-02 2.29956301e+00] [-4.72538999e-02 9.98882815e-01 -4.35971388e-04 -1.99585171e-01] [-1.94387360e-02 -4.83206959e-04 9.99810933e-01 -1.89698457e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.078623853000001 meters 0.02689345753397123 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.20, Z:-0.00 [[ 9.98778509e-01 4.55944008e-02 1.90431032e-02 2.33217123e+00] [-4.55944738e-02 9.98959938e-01 -4.30561543e-04 -2.03922253e-01] [-1.90429284e-02 -4.38224652e-04 9.99818571e-01 -2.31008644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.108623853000001 meters 0.023204652991491905 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.21, Z:-0.00 [[ 9.98934282e-01 4.20067044e-02 1.91242772e-02 2.36312738e+00] [-4.20060944e-02 9.99117260e-01 -4.33774374e-04 -2.07587736e-01] [-1.91256169e-02 -3.70024101e-04 9.99817020e-01 -2.59333642e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.138623853 meters 0.022808066549250973 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.21, Z:-0.00 [[ 9.98993575e-01 4.06519514e-02 1.89540681e-02 2.39466893e+00] [-4.06511155e-02 9.99173309e-01 -4.29545147e-04 -2.07710676e-01] [-1.89558608e-02 -3.41391167e-04 9.99820263e-01 -4.26684096e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.168623853000001 meters 0.0210097028772397 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.21, Z:-0.00 [[ 9.99077322e-01 3.84868119e-02 1.90596165e-02 2.42725383e+00] [-3.84855030e-02 9.99259064e-01 -4.35598644e-04 -2.08183933e-01] [-1.90622593e-02 -2.98322201e-04 9.99818254e-01 -4.03455630e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.198623853000001 meters 0.021816649459659162 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.21, Z:-0.00 [[ 9.99092084e-01 3.79334945e-02 1.93922054e-02 2.45802895e+00] [-3.79320227e-02 9.99280223e-01 -4.43848756e-04 -2.05705899e-01] [-1.93950841e-02 -2.92139798e-04 9.99811855e-01 -4.90197298e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.228623853 meters 0.01986684450627392 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.21, Z:-0.00 [[ 9.99095389e-01 3.74536754e-02 2.01401560e-02 2.49050484e+00] [-3.74519254e-02 9.99298323e-01 -4.64196269e-04 -2.07452765e-01] [-2.01434100e-02 -2.90511269e-04 9.99797059e-01 -3.83935986e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2586238530000005 meters 0.02851721748474558 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.21, Z:0.00 [[ 9.99120193e-01 3.62061743e-02 2.11649190e-02 2.52312887e+00] [-3.62038811e-02 9.99344304e-01 -4.91635415e-04 -2.07108567e-01] [-2.11688415e-02 -2.75049340e-04 9.99775877e-01 2.25668245e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.288623853000001 meters 0.018946234043934147 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.21, Z:-0.00 [[ 9.99095307e-01 3.67675819e-02 2.13708363e-02 2.55601054e+00] [-3.67652962e-02 9.99323803e-01 -4.99973058e-04 -2.05075314e-01] [-2.13747682e-02 -2.86184392e-04 9.99771493e-01 -3.58048009e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.318623853000001 meters 0.018079533293294228 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.21, Z:-0.00 [[ 9.99107958e-01 3.63977523e-02 2.14124406e-02 2.58836456e+00] [-3.63952816e-02 9.99337345e-01 -5.05203074e-04 -2.05502823e-01] [-2.14166398e-02 -2.74559395e-04 9.99770600e-01 -4.32787456e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.348623853 meters 0.018595912157315448 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.20, Z:-0.01 [[ 9.99122971e-01 3.60525242e-02 2.12956324e-02 2.61915742e+00] [-3.60499230e-02 9.99349862e-01 -5.06155518e-04 -2.03481234e-01] [-2.13000355e-02 -2.61994303e-04 9.99773094e-01 -6.08740542e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.378623853000001 meters 0.018626205063167346 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.20, Z:-0.01 [[ 9.99154465e-01 3.56004061e-02 2.05661193e-02 2.65129193e+00] [-3.55978212e-02 9.99366076e-01 -4.91883873e-04 -2.00062322e-01] [-2.05705932e-02 -2.40641067e-04 9.99788374e-01 -8.43391189e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.408623853000001 meters 0.01690555308881201 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.20, Z:-0.01 [[ 9.99178086e-01 3.48716901e-02 2.06668434e-02 2.68319189e+00] [-3.48688471e-02 9.99391773e-01 -4.98008571e-04 -2.01819643e-01] [-2.06716396e-02 -2.23029751e-04 9.99786294e-01 -8.90574843e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.438623853 meters 0.016972908419391326 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.20, Z:-0.01 [[ 9.99241655e-01 3.32907715e-02 2.01950300e-02 2.71407699e+00] [-3.32876572e-02 9.99445692e-01 -4.90440160e-04 -1.99170738e-01] [-2.02001629e-02 -1.82177000e-04 9.99795939e-01 -1.12518004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.468623853 meters 0.016283944246651718 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.20, Z:-0.01 [[ 9.99276107e-01 3.24456727e-02 1.98630257e-02 2.74649813e+00] [-3.24424615e-02 9.99473488e-01 -4.83968323e-04 -1.99702469e-01] [-1.98682703e-02 -1.60787464e-04 9.99802594e-01 -1.22274657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.498623853000001 meters 0.01587531278123106 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.20, Z:-0.01 [[ 9.99305718e-01 3.16714639e-02 1.96214497e-02 2.77747801e+00] [-3.16681180e-02 9.99498323e-01 -4.81294606e-04 -1.99994099e-01] [-1.96268494e-02 -1.40413935e-04 9.99807365e-01 -1.35073421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.528623853000001 meters 0.014625880953043886 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.20, Z:-0.01 [[ 9.99357758e-01 2.99089071e-02 1.97364660e-02 2.80943318e+00] [-2.99051209e-02 9.99552623e-01 -4.87014739e-04 -2.00945352e-01] [-1.97422024e-02 -1.03519443e-04 9.99805098e-01 -1.39878670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.558623853 meters 0.01405000224403251 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.20, Z:-0.01 [[ 9.99381178e-01 2.89244574e-02 2.00159125e-02 2.84170757e+00] [-2.89202971e-02 9.99581597e-01 -4.97340222e-04 -2.01550488e-01] [-2.00219231e-02 -8.18336800e-05 9.99799538e-01 -1.46847072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5886238530000005 meters 0.013536212404946553 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.20, Z:-0.01 [[ 9.99417591e-01 2.73343185e-02 2.04282776e-02 2.87393542e+00] [-2.73295807e-02 9.99626347e-01 -5.11118171e-04 -2.02345010e-01] [-2.04346156e-02 -4.74757697e-05 9.99791190e-01 -1.41876601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.618623853000001 meters 0.013441806606664407 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.20, Z:-0.02 [[ 9.99433732e-01 2.68721716e-02 2.02509534e-02 2.90555928e+00] [-2.68673524e-02 9.99638877e-01 -5.10057536e-04 -2.03035864e-01] [-2.02573467e-02 -3.43207959e-05 9.99794798e-01 -1.52894289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.648623853000001 meters 0.01345973236661171 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.20, Z:-0.02 [[ 9.99437621e-01 2.66298168e-02 2.03787903e-02 2.93843331e+00] [-2.66248108e-02 9.99645363e-01 -5.16975988e-04 -2.03259639e-01] [-2.03853302e-02 -2.58961849e-05 9.99792197e-01 -1.64256523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.678623853 meters 0.013398124708833283 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.20, Z:-0.02 [[ 9.99453120e-01 2.62604613e-02 2.00959826e-02 2.97173555e+00] [-2.62554418e-02 9.99655135e-01 -5.13623638e-04 -2.03559158e-01] [-2.01025401e-02 -1.42861528e-05 9.99797923e-01 -1.74350215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.708623853000001 meters 0.013496893826300295 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.20, Z:-0.02 [[ 9.99461455e-01 2.62171351e-02 1.97347965e-02 3.00409728e+00] [-2.62122093e-02 9.99656272e-01 -5.08275284e-04 -2.03705348e-01] [-1.97413387e-02 -9.29106193e-06 9.99805121e-01 -1.93835879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.738623853000001 meters 0.013443910569019533 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.20, Z:-0.02 [[ 9.99485320e-01 2.58483181e-02 1.89989556e-02 3.03714068e+00] [-2.58436242e-02 9.99665876e-01 -4.92582509e-04 -2.03841478e-01] [-1.90053400e-02 1.32711823e-06 9.99819382e-01 -2.12047577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.768623853 meters 0.01357290037532498 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.20, Z:-0.02 [[ 9.99481303e-01 2.61720787e-02 1.87655704e-02 3.06959714e+00] [-2.61674861e-02 9.99657452e-01 -4.90284773e-04 -2.03653136e-01] [-1.87719740e-02 -1.01733698e-06 9.99823791e-01 -2.30491171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7986238530000005 meters 0.013651488712438037 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.20, Z:-0.03 [[ 9.99512260e-01 2.56580847e-02 1.78018436e-02 3.10286484e+00] [-2.56538173e-02 9.99670777e-01 -4.68072698e-04 -2.02729924e-01] [-1.78079927e-02 1.11591552e-05 9.99841425e-01 -2.56188032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.828623853000001 meters 0.013630238632947064 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.20, Z:-0.03 [[ 9.99525771e-01 2.52552663e-02 1.76183082e-02 3.13568677e+00] [-2.52509636e-02 9.99681035e-01 -4.66668935e-04 -2.03302068e-01] [-1.76244745e-02 2.15683669e-05 9.99844677e-01 -2.69878409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.858623853000001 meters 0.021735758228742696 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.20, Z:-0.03 [[ 9.99530629e-01 2.50964795e-02 1.75695282e-02 3.16757810e+00] [-2.50921136e-02 9.99685033e-01 -4.68926569e-04 -2.04782810e-01] [-1.75757628e-02 2.78498697e-05 9.99845534e-01 -2.57744015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.888623853 meters 0.014008721254697432 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.20, Z:-0.03 [[ 9.99541524e-01 2.44771878e-02 1.78215786e-02 3.19929174e+00] [-2.44725373e-02 9.99700388e-01 -4.79018817e-04 -2.04687205e-01] [-1.78279641e-02 4.26599507e-05 9.99841068e-01 -2.89455074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.918623853000001 meters 0.014261676791260815 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.21, Z:-0.03 [[ 9.99565370e-01 2.33924535e-02 1.79405804e-02 3.23185414e+00] [-2.33874946e-02 9.99726357e-01 -4.86195924e-04 -2.05651103e-01] [-1.79470444e-02 6.63993822e-05 9.99838937e-01 -2.89300386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.948623853000001 meters 0.014550309668848599 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.21, Z:-0.03 [[ 9.99568677e-01 2.24548948e-02 1.89271873e-02 3.26369771e+00] [-2.24491863e-02 9.99747853e-01 -5.14045889e-04 -2.06575271e-01] [-1.89339577e-02 8.89242153e-05 9.99820733e-01 -2.80280355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.978623853000001 meters 0.014722723131649065 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.21, Z:-0.03 [[ 9.99565964e-01 2.19879262e-02 1.96065118e-02 3.29695098e+00] [-2.19816397e-02 9.99758231e-01 -5.36113215e-04 -2.07525629e-01] [-1.96135596e-02 1.04897245e-04 9.99807630e-01 -2.75800200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.008623853 meters 0.015196786292323523 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.21, Z:-0.03 [[ 9.99571701e-01 2.14985155e-02 1.98551905e-02 3.32850996e+00] [-2.14918935e-02 9.99768873e-01 -5.46864916e-04 -2.08919876e-01] [-1.98623583e-02 1.19905055e-04 9.99802717e-01 -2.85048940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.038623852999999 meters 0.015138355465048216 Centerline is valid? [True, True] Translation: X:3.36, Y:-0.21, Z:-0.03 [[ 9.99570892e-01 2.11122607e-02 2.03052758e-02 3.36167899e+00] [-2.11051808e-02 9.99777102e-01 -5.62929388e-04 -2.08667432e-01] [-2.03126345e-02 1.34141314e-04 9.99793668e-01 -2.77713987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.068623853 meters 0.01545682871824671 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.21, Z:-0.03 [[ 9.99580061e-01 2.00650524e-02 2.09068469e-02 3.39437520e+00] [-2.00572299e-02 9.99798663e-01 -5.83804200e-04 -2.10161876e-01] [-2.09143516e-02 1.64225603e-04 9.99781258e-01 -2.71454089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.098623853 meters 0.0161197948558358 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.21, Z:-0.03 [[ 9.99581013e-01 1.99592511e-02 2.09624961e-02 3.42630580e+00] [-1.99512750e-02 9.99800780e-01 -5.89580255e-04 -2.11674173e-01] [-2.09700875e-02 1.71104703e-04 9.99780089e-01 -2.82404535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.128623853 meters 0.03347242765679048 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.21, Z:-0.03 [[ 9.99601780e-01 1.96725059e-02 2.02305431e-02 3.45966294e+00] [-1.96649473e-02 9.99806462e-01 -5.72514130e-04 -2.12462366e-01] [-2.02378905e-02 1.74453579e-04 9.99795178e-01 -2.61784585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.158623853 meters 0.015822251400382296 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.21, Z:-0.03 [[ 9.99588518e-01 2.04747974e-02 2.00892125e-02 3.49240900e+00] [-2.04674276e-02 9.99790356e-01 -5.72412775e-04 -2.10192489e-01] [-2.00967209e-02 1.61002735e-04 9.99798028e-01 -3.09816224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.188623853 meters 0.02739655497988753 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.21, Z:-0.03 [[ 9.99607224e-01 2.04417641e-02 1.91711260e-02 3.52399604e+00] [-2.04349772e-02 9.99791033e-01 -5.49872372e-04 -2.12690070e-01] [-1.91783602e-02 1.57894874e-04 9.99816066e-01 -3.07344861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.218623853 meters 0.0160457148919275 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.21, Z:-0.04 [[ 9.99599977e-01 2.11328498e-02 1.87959679e-02 3.55691666e+00] [-2.11263860e-02 9.99776666e-01 -5.42409037e-04 -2.12505331e-01] [-1.88032327e-02 1.45101189e-04 9.99823193e-01 -3.53094817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.248623853 meters 0.015957903326012483 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.21, Z:-0.04 [[ 9.99612129e-01 2.12526443e-02 1.79977011e-02 3.58952727e+00] [-2.12466791e-02 9.99774127e-01 -5.22605479e-04 -2.12766795e-01] [-1.80047426e-02 1.40011395e-04 9.99837892e-01 -3.75147049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.278623853 meters 0.016388591443517835 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.21, Z:-0.04 [[ 9.99606240e-01 2.11600382e-02 1.84287461e-02 3.62164174e+00] [-2.11536979e-02 9.99776090e-01 -5.38934291e-04 -2.14970042e-01] [-1.84360236e-02 1.48885953e-04 9.99830031e-01 -3.87268216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.308623853 meters 0.026503810009309965 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.22, Z:-0.04 [[ 9.99617259e-01 2.08091159e-02 1.82295385e-02 3.65421810e+00] [-2.08027950e-02 9.99783455e-01 -5.36321521e-04 -2.18174186e-01] [-1.82367514e-02 1.56890897e-04 9.99833684e-01 -3.69182727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.338623853 meters 0.016684361209622064 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.22, Z:-0.04 [[ 9.99603812e-01 2.04132078e-02 1.93783292e-02 3.68694362e+00] [-2.04059126e-02 9.99791613e-01 -5.74143110e-04 -2.20457805e-01] [-1.93860111e-02 1.78483149e-04 9.99812058e-01 -3.83129470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.368623852999999 meters 0.01666485766873514 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.22, Z:-0.04 [[ 9.99604638e-01 2.03921685e-02 1.93578504e-02 3.72027635e+00] [-2.03848125e-02 9.99792041e-01 -5.77269532e-04 -2.22299551e-01] [-1.93655966e-02 1.82435151e-04 9.99812453e-01 -3.86878276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.398623853 meters 0.01666485766873514 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.22, Z:-0.04 [[ 9.99600608e-01 2.05889006e-02 1.93577359e-02 3.75273633e+00] [-2.05815076e-02 9.99788009e-01 -5.81082411e-04 -2.23459570e-01] [-1.93655961e-02 1.82438944e-04 9.99812453e-01 -3.95056976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.428623853 meters 0.017039369052211824 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.23, Z:-0.04 [[ 9.99588204e-01 2.12055653e-02 1.93325429e-02 3.78488418e+00] [-2.11982318e-02 9.99775122e-01 -5.84204320e-04 -2.26573899e-01] [-1.93405838e-02 1.74148020e-04 9.99812938e-01 -4.13875067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.458623853 meters 0.02845713411659711 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.23, Z:-0.04 [[ 9.99578114e-01 2.26503438e-02 1.81811738e-02 3.81835549e+00] [-2.26440428e-02 9.99743438e-01 -5.52383158e-04 -2.28115743e-01] [-1.81890209e-02 1.40454838e-04 9.99834556e-01 -3.93511537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.488623853 meters 0.014651090755356143 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.23, Z:-0.04 [[ 9.99515498e-01 2.47413555e-02 1.88847488e-02 3.84913744e+00] [-2.47348520e-02 9.99693880e-01 -5.77911559e-04 -2.26337925e-01] [-1.88932661e-02 1.10520094e-04 9.99821500e-01 -4.20399246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.518623853 meters 0.013731100142009924 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.22, Z:-0.04 [[ 9.99455870e-01 2.68056565e-02 1.92203166e-02 3.88172248e+00] [-2.67992429e-02 9.99640661e-01 -5.91225885e-04 -2.24691983e-01] [-1.92292582e-02 7.58142489e-05 9.99815098e-01 -4.20865988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.548623853 meters 0.012986125463859247 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.22, Z:-0.04 [[ 9.99311937e-01 3.14425479e-02 1.96727739e-02 3.91312149e+00] [-3.14366503e-02 9.99505561e-01 -6.09042625e-04 -2.18569481e-01] [-1.96821968e-02 -9.82255031e-06 9.99806287e-01 -4.21946350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.578623853 meters 0.013273807256894862 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.22, Z:-0.04 [[ 9.99225254e-01 3.38710078e-02 2.00411080e-02 3.94588740e+00] [-3.38653451e-02 9.99426211e-01 -6.21965942e-04 -2.15749602e-01] [-2.00506753e-02 -5.72149637e-05 9.99798963e-01 -4.26662649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.608623853 meters 0.013735186218690883 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.21, Z:-0.04 [[ 9.99150445e-01 3.59160254e-02 2.02096026e-02 3.97769635e+00] [-3.59106048e-02 9.99354807e-01 -6.31179821e-04 -2.13250553e-01] [-2.02192330e-02 -9.50954551e-05 9.99795566e-01 -4.33274627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.638623853 meters 0.015722801227192544 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.21, Z:-0.04 [[ 9.99001632e-01 3.98699670e-02 2.01525327e-02 4.01045216e+00] [-3.98653073e-02 9.99204862e-01 -6.33059200e-04 -2.07188836e-01] [-2.01617487e-02 -1.70959735e-04 9.99796717e-01 -4.42277476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.668623853 meters 0.01639871403415764 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.21, Z:-0.04 [[ 9.98924881e-01 4.17069651e-02 2.02388513e-02 4.04233389e+00] [-4.17025739e-02 9.99129865e-01 -6.39152575e-04 -2.06136725e-01] [-2.02478979e-02 -2.05546783e-04 9.99794969e-01 -4.49050025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.698623852999999 meters 0.018961937310983924 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.20, Z:-0.05 [[ 9.98804510e-01 4.44238245e-02 2.03979083e-02 4.07375274e+00] [-4.44198504e-02 9.99012741e-01 -6.48093934e-04 -2.01678125e-01] [-2.04065611e-02 -2.58752890e-04 9.99791731e-01 -4.58597170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.728623853 meters 0.020103930766187054 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.20, Z:-0.05 [[ 9.98754143e-01 4.55559782e-02 2.03669876e-02 4.10451232e+00] [-4.55522175e-02 9.98961748e-01 -6.48776631e-04 -1.99341645e-01] [-2.03753972e-02 -2.79793102e-04 9.99792361e-01 -4.66195782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.758623853 meters 0.02075576718109582 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.20, Z:-0.05 [[ 9.98696503e-01 4.66724779e-02 2.06633458e-02 4.13695470e+00] [-4.66687926e-02 9.98910200e-01 -6.60795698e-04 -1.97189461e-01] [-2.06716678e-02 -3.04399045e-04 9.99786272e-01 -4.70032868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.788623853 meters 0.021211839029681205 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.20, Z:-0.05 [[ 9.98638099e-01 4.75864773e-02 2.13886364e-02 4.16875901e+00] [-4.75826608e-02 9.98867067e-01 -6.87611989e-04 -1.95269753e-01] [-2.13971256e-02 -3.31052703e-04 9.99771000e-01 -4.75043896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.818623853 meters 0.021945235019847756 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.19, Z:-0.05 [[ 9.98583479e-01 4.89296824e-02 2.09026499e-02 4.20079441e+00] [-4.89262618e-02 9.98802165e-01 -6.75320062e-04 -1.92196374e-01] [-2.09106551e-02 -3.48325062e-04 9.99781288e-01 -4.86876546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.848623853 meters 0.020916174457328764 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.19, Z:-0.05 [[ 9.98577863e-01 4.92371296e-02 2.04440067e-02 4.23380345e+00] [-4.92338572e-02 9.98787058e-01 -6.63658708e-04 -1.93189219e-01] [-2.04518860e-02 -3.43822413e-04 9.99790779e-01 -4.94670434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.878623853 meters 0.022386667165622223 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.19, Z:-0.05 [[ 9.98557254e-01 4.94867218e-02 2.08440779e-02 4.26603466e+00] [-4.94832854e-02 9.98774720e-01 -6.80920269e-04 -1.90527338e-01] [-2.08522346e-02 -3.51495582e-04 9.99782507e-01 -5.03612027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.908623853 meters 0.026333723489144964 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.19, Z:-0.05 [[ 9.98580000e-01 4.92170086e-02 2.03879743e-02 4.29747230e+00] [-4.92135810e-02 9.98788053e-01 -6.70120947e-04 -1.88412334e-01] [-2.03962465e-02 -3.34195850e-04 9.99791919e-01 -4.94727909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.938623853 meters 0.021902292803438743 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.19, Z:-0.05 [[ 9.98571721e-01 4.94735971e-02 2.01713103e-02 4.33069634e+00] [-4.94702672e-02 9.98775376e-01 -6.64342966e-04 -1.88239759e-01] [-2.01794754e-02 -3.34486011e-04 9.99796318e-01 -5.26044303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.968623853 meters 0.02075022649490755 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.19, Z:-0.05 [[ 9.98604078e-01 4.86823057e-02 2.04921521e-02 4.36329431e+00] [-4.86786188e-02 9.98814263e-01 -6.78992380e-04 -1.85834060e-01] [-2.05009088e-02 -3.19485104e-04 9.99789783e-01 -5.37121490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.998623853 meters 0.020402535436667868 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.19, Z:-0.05 [[ 9.98625413e-01 4.81989884e-02 2.05947313e-02 4.39498713e+00] [-4.81950897e-02 9.98837706e-01 -6.85886053e-04 -1.85520279e-01] [-2.06038532e-02 -3.07621679e-04 9.99787671e-01 -5.42713955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.028623853 meters 0.019329183755748727 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.19, Z:-0.05 [[ 9.98655785e-01 4.75161600e-02 2.07084069e-02 4.42672451e+00] [-4.75119990e-02 9.98870427e-01 -6.93162583e-04 -1.86138605e-01] [-2.07179516e-02 -2.91666984e-04 9.99785318e-01 -5.43038897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.058623853 meters 0.02477504670168137 Centerline is valid? [True, True] Translation: X:4.46, Y:-0.19, Z:-0.05 [[ 9.98695749e-01 4.67271621e-02 2.05760554e-02 4.45777630e+00] [-4.67228145e-02 9.98907653e-01 -6.92241116e-04 -1.86142507e-01] [-2.05859257e-02 -2.70032960e-04 9.99788051e-01 -5.27795521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.088623853 meters 0.01781382157266298 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.18, Z:-0.06 [[ 9.98761326e-01 4.51061625e-02 2.10058858e-02 4.48952118e+00] [-4.51012030e-02 9.98982171e-01 -7.10031918e-04 -1.83274870e-01] [-2.10165322e-02 -2.38238300e-04 9.99779100e-01 -5.61391687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.118623852999999 meters 0.016819968275691734 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.18, Z:-0.06 [[ 9.98804467e-01 4.41812658e-02 2.09201408e-02 4.52178336e+00] [-4.41760711e-02 9.99023508e-01 -7.10605044e-04 -1.83292251e-01] [-2.09311079e-02 -2.14414136e-04 9.99780897e-01 -5.71228424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.148623853 meters 0.01574344138794612 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.18, Z:-0.06 [[ 9.98849652e-01 4.32852424e-02 2.06339588e-02 4.55386516e+00] [-4.32799293e-02 9.99062737e-01 -7.04198450e-04 -1.83398943e-01] [-2.06451008e-02 -1.89647902e-04 9.99786849e-01 -5.75419912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.178623853 meters 0.014768788171026 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.18, Z:-0.06 [[ 9.98950087e-01 4.11089359e-02 2.02182989e-02 4.58553618e+00] [-4.11033143e-02 9.99154661e-01 -6.93707537e-04 -1.80597723e-01] [-2.02297252e-02 -1.38059889e-04 9.99795349e-01 -6.03329878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.208623853 meters 0.014040357740702546 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.18, Z:-0.06 [[ 9.98997256e-01 4.00502655e-02 2.00114788e-02 4.61734663e+00] [-4.00445148e-02 9.99197660e-01 -6.88163183e-04 -1.80878371e-01] [-2.00229839e-02 -1.13876827e-04 9.99799513e-01 -6.14825946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.238623853 meters 0.013429836825243796 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.18, Z:-0.06 [[ 9.99049167e-01 3.89615392e-02 1.95642421e-02 4.65076156e+00] [-3.89557751e-02 9.99240707e-01 -6.75790618e-04 -1.81386167e-01] [-1.95757169e-02 -8.69921583e-05 9.99808374e-01 -6.22186206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.268623853 meters 0.01294983945738918 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.18, Z:-0.06 [[ 9.99147014e-01 3.67038991e-02 1.89226727e-02 4.68234233e+00] [-3.66980355e-02 9.99326184e-01 -6.57140956e-04 -1.79186023e-01] [-1.89340420e-02 -3.78444911e-05 9.99820734e-01 -6.44218634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.298623853 meters 0.01272105931912935 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.18, Z:-0.07 [[ 9.99179390e-01 3.56021364e-02 1.93140754e-02 4.71473356e+00] [-3.55957396e-02 9.99366043e-01 -6.74986382e-04 -1.79332920e-01] [-1.93258620e-02 -1.30663153e-05 9.99813238e-01 -6.57459567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.328623853 meters 0.012733341519563018 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.18, Z:-0.07 [[ 9.99232578e-01 3.41825876e-02 1.91260545e-02 4.74747444e+00] [-3.41760207e-02 9.99415604e-01 -6.70195149e-04 -1.80038334e-01] [-1.91377864e-02 1.60283913e-05 9.99816856e-01 -6.59794736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.358623853 meters 0.013386966879548049 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.18, Z:-0.07 [[ 9.99325738e-01 3.14074843e-02 1.90168424e-02 4.78045819e+00] [-3.14004213e-02 9.99506661e-01 -6.69961396e-04 -1.79206266e-01] [-1.90285024e-02 7.23728027e-05 9.99818939e-01 -6.65229431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.388623853 meters 0.013884314129997301 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.18, Z:-0.07 [[ 9.99366487e-01 2.99996875e-02 1.91479451e-02 4.81331184e+00] [-2.99921972e-02 9.99549903e-01 -6.78293912e-04 -1.79400003e-01] [-1.91596753e-02 1.03575257e-04 9.99816431e-01 -6.72008146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.418623853 meters 0.014651003456548328 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.18, Z:-0.07 [[ 9.99414625e-01 2.83408099e-02 1.91626010e-02 4.84588895e+00] [-2.83329292e-02 9.99598309e-01 -6.82672256e-04 -1.79663312e-01] [-1.91742510e-02 1.39340019e-04 9.99816147e-01 -6.76137905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.448623852999999 meters 0.01845039026339366 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.18, Z:-0.07 [[ 9.99525815e-01 2.49440139e-02 1.80538349e-02 4.87660486e+00] [-2.49364108e-02 9.99688831e-01 -6.46164132e-04 -1.83338425e-01] [-1.80643350e-02 1.95659888e-04 9.99836807e-01 -7.18456849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.478623853 meters 0.02006411073182339 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.19, Z:-0.07 [[ 9.99574591e-01 2.31750156e-02 1.77074910e-02 4.90907097e+00] [-2.31673746e-02 9.99731398e-01 -6.36550220e-04 -1.85395274e-01] [-1.77174868e-02 2.26043347e-04 9.99843007e-01 -7.33319634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.508623853 meters 0.019567066140928877 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.18, Z:-0.07 [[ 9.99624895e-01 2.13552680e-02 1.71470791e-02 4.94105763e+00] [-2.13477919e-02 9.99771918e-01 -6.18939375e-04 -1.84183452e-01] [-1.71563858e-02 2.52654930e-04 9.99852786e-01 -7.30836224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.538623853 meters 0.024918708080906894 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.19, Z:-0.08 [[ 9.99694896e-01 1.80175833e-02 1.68961753e-02 4.97180200e+00] [-1.80097967e-02 9.99837623e-01 -6.12905515e-04 -1.89561276e-01] [-1.69044748e-02 3.08421832e-04 9.99857062e-01 -7.64909363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.568623853 meters 0.025687214347263676 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.19, Z:-0.08 [[ 9.99720170e-01 1.66560315e-02 1.67975821e-02 5.00436514e+00] [-1.66480987e-02 9.99861224e-01 -6.11995253e-04 -1.90443179e-01] [-1.68054444e-02 3.32176193e-04 9.99858723e-01 -7.71276112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.598623853 meters 0.026437827260314333 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.19, Z:-0.08 [[ 9.99731865e-01 1.57622181e-02 1.69632274e-02 5.03686464e+00] [-1.57539514e-02 9.99875706e-01 -6.20861044e-04 -1.91097786e-01] [-1.69709051e-02 3.53456710e-04 9.99855921e-01 -7.68794610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.628623853 meters 0.027967694601023566 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.19, Z:-0.08 [[ 9.99734461e-01 1.50629891e-02 1.74388784e-02 5.06823489e+00] [-1.50540828e-02 9.99886475e-01 -6.41878253e-04 -1.92793953e-01] [-1.74465673e-02 3.79181489e-04 9.99847725e-01 -7.76536044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.658623853 meters 0.02951606344054854 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.19, Z:-0.08 [[ 9.99745218e-01 1.42233274e-02 1.75270012e-02 5.09963830e+00] [-1.42141733e-02 9.99898764e-01 -6.46754550e-04 -1.93370372e-01] [-1.75344258e-02 3.97457935e-04 9.99846181e-01 -7.84503837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.688623853 meters 0.02726197705674974 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.19, Z:-0.08 [[ 9.99743626e-01 1.42813289e-02 1.75706023e-02 5.13243048e+00] [-1.42721251e-02 9.99897937e-01 -6.49108622e-04 -1.91340200e-01] [-1.75780792e-02 3.98172372e-04 9.99845414e-01 -7.83723700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.718623853 meters 0.029393511592000425 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.20, Z:-0.08 [[ 9.99742675e-01 1.44344348e-02 1.74994714e-02 5.16468924e+00] [-1.44252595e-02 9.99895739e-01 -6.50438200e-04 -1.95063258e-01] [-1.75070355e-02 3.97836410e-04 9.99846661e-01 -7.97912869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.748623853 meters 0.02699228997061296 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.19, Z:-0.08 [[ 9.99739736e-01 1.52642486e-02 1.69547413e-02 5.19724366e+00] [-1.52557283e-02 9.99883425e-01 -6.31760235e-04 -1.91146214e-01] [-1.69624082e-02 3.72938883e-04 9.99856058e-01 -8.10066279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.778623853 meters 0.029305374585557438 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.19, Z:-0.08 [[ 9.99732894e-01 1.57266935e-02 1.69354916e-02 5.22842778e+00] [-1.57182005e-02 9.99876260e-01 -6.34491106e-04 -1.94610588e-01] [-1.69433745e-02 3.68126177e-04 9.99856383e-01 -8.30949981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.808623853 meters 0.024894678939841375 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.19, Z:-0.08 [[ 9.99720360e-01 1.62787491e-02 1.71523708e-02 5.26107121e+00] [-1.62701007e-02 9.99867426e-01 -6.43641596e-04 -1.88489849e-01] [-1.71605745e-02 3.64390807e-04 9.99852680e-01 -8.14451465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.838623853 meters 0.02929537362706838 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.20, Z:-0.08 [[ 9.99723045e-01 1.64250892e-02 1.68537868e-02 5.29314458e+00] [-1.64167135e-02 9.99865035e-01 -6.35203606e-04 -1.95560155e-01] [-1.68619455e-02 3.58343892e-04 9.99857763e-01 -8.47547622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.868623853 meters 0.026981507807832497 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.19, Z:-0.08 [[ 9.99732013e-01 1.63467115e-02 1.63916865e-02 5.32541237e+00] [-1.63387274e-02 9.99866321e-01 -6.20892951e-04 -1.93452436e-01] [-1.63996448e-02 3.52907263e-04 9.99865455e-01 -8.48186669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.898623853 meters 0.026610587553848375 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.20, Z:-0.08 [[ 9.99733227e-01 1.59399402e-02 1.67150587e-02 5.35745666e+00] [-1.59315334e-02 9.99872883e-01 -6.35994588e-04 -1.95060588e-01] [-1.67230716e-02 3.69528406e-04 9.99860091e-01 -8.46461488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.928623853 meters 0.031494419657857195 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.20, Z:-0.09 [[ 9.99726342e-01 1.56462758e-02 1.73906769e-02 5.38881606e+00] [-1.56370778e-02 9.99877512e-01 -6.64766727e-04 -2.04360181e-01] [-1.73989479e-02 3.92645439e-04 9.99848550e-01 -8.66208194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.958623853 meters 0.03182568358458583 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.21, Z:-0.09 [[ 9.99717593e-01 1.55702597e-02 1.79527599e-02 5.42136827e+00] [-1.55603830e-02 9.99878692e-01 -6.89713690e-04 -2.07332411e-01] [-1.79613211e-02 4.10167091e-04 9.99838598e-01 -8.59666229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.988623853 meters 0.03189306834215857 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.21, Z:-0.09 [[ 9.99711823e-01 1.57142711e-02 1.81475119e-02 5.45386587e+00] [-1.57041434e-02 9.99876437e-01 -7.00456107e-04 -2.09272234e-01] [-1.81562767e-02 4.15263121e-04 9.99835075e-01 -8.65223324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.018623853 meters 0.03526382244669325 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.21, Z:-0.09 [[ 9.99729164e-01 1.55055727e-02 1.73543913e-02 5.48524717e+00] [-1.54962251e-02 9.99879700e-01 -6.72983525e-04 -2.13393917e-01] [-1.73627385e-02 4.03873704e-04 9.99849175e-01 -8.67738691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.048623853 meters 0.03334713226182997 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.22, Z:-0.09 [[ 9.99727675e-01 1.56399996e-02 1.73195393e-02 5.51749128e+00] [-1.56306698e-02 9.99877606e-01 -6.73934539e-04 -2.16821936e-01] [-1.73279598e-02 4.03035011e-04 9.99849778e-01 -9.03019249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.078623853 meters 0.02855173282184842 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.21, Z:-0.09 [[ 9.99738185e-01 1.57545848e-02 1.65937863e-02 5.55099471e+00] [-1.57459983e-02 9.99875814e-01 -6.47987143e-04 -2.14793505e-01] [-1.66019344e-02 3.86531759e-04 9.99862104e-01 -9.00097955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.108623853 meters 0.028370826895233764 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.22, Z:-0.09 [[ 9.99738104e-01 1.60784744e-02 1.62851492e-02 5.58347725e+00] [-1.60701977e-02 9.99870662e-01 -6.38975560e-04 -2.16839395e-01] [-1.62933167e-02 3.77102647e-04 9.99867184e-01 -9.11014831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.138623853 meters 0.028909927376196704 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.22, Z:-0.09 [[ 9.99742105e-01 1.62003929e-02 1.59144677e-02 5.61541516e+00] [-1.61924553e-02 9.99868697e-01 -6.27502132e-04 -2.20211050e-01] [-1.59225439e-02 3.69645996e-04 9.99873160e-01 -9.28690627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.168623853 meters 0.02859633039412183 Centerline is valid? [True, True] Translation: X:5.65, Y:-0.22, Z:-0.09 [[ 9.99743344e-01 1.62009285e-02 1.58359079e-02 5.64876549e+00] [-1.61930266e-02 9.99868688e-01 -6.27088918e-04 -2.22898158e-01] [-1.58439879e-02 3.70496694e-04 9.99874408e-01 -9.32940021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.198623852999999 meters 0.030551179208572164 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.23, Z:-0.09 [[ 9.99753878e-01 1.54086200e-02 1.59611080e-02 5.67912889e+00] [-1.54004263e-02 9.99881204e-01 -6.36146409e-04 -2.30837599e-01] [-1.59690141e-02 3.90181972e-04 9.99872411e-01 -9.42755614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.228623853 meters 0.03113487313093689 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.24, Z:-0.10 [[ 9.99767718e-01 1.50160823e-02 1.54605215e-02 5.71068917e+00] [-1.50083408e-02 9.99887178e-01 -6.16634401e-04 -2.35886257e-01] [-1.54680366e-02 3.84454393e-04 9.99880289e-01 -9.55924798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.258623853 meters 0.03217217552929959 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.24, Z:-0.10 [[ 9.99784820e-01 1.42488395e-02 1.50759350e-02 5.74251234e+00] [-1.42413550e-02 9.99898405e-01 -6.03697890e-04 -2.43744262e-01] [-1.50830054e-02 3.88866243e-04 9.99886169e-01 -9.68762201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.288623853 meters 0.031005233535613085 Centerline is valid? [True, True] Translation: X:5.78, Y:-0.25, Z:-0.10 [[ 9.99778647e-01 1.45241139e-02 1.52219326e-02 5.77582514e+00] [-1.45164808e-02 9.99894443e-01 -6.11828986e-04 -2.45591234e-01] [-1.52292121e-02 3.90724663e-04 9.99883952e-01 -9.71014560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.318623853 meters 0.031005233535613085 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.25, Z:-0.10 [[ 9.99775834e-01 1.47165608e-02 1.52218143e-02 5.80829371e+00] [-1.47089055e-02 9.99891629e-01 -6.14753433e-04 -2.47087653e-01] [-1.52292118e-02 3.90719397e-04 9.99883952e-01 -9.79195861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.348623853 meters 0.031914616621846366 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.25, Z:-0.10 [[ 9.99765272e-01 1.55552281e-02 1.50809842e-02 5.83913380e+00] [-1.55477604e-02 9.99878939e-01 -6.12301324e-04 -2.51703516e-01] [-1.50886829e-02 3.77682071e-04 9.99886088e-01 -9.95551337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.378623853 meters 0.028973935203242828 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.25, Z:-0.10 [[ 9.99724273e-01 1.82400651e-02 1.47877816e-02 5.87035780e+00] [-1.82331271e-02 9.99833580e-01 -6.03865534e-04 -2.52683207e-01] [-1.47963352e-02 3.34071529e-04 9.99890472e-01 -1.00030009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.408623853 meters 0.02745696867217217 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.25, Z:-0.10 [[ 9.99689269e-01 2.01276527e-02 1.47052378e-02 5.90150065e+00] [-2.01210066e-02 9.99797372e-01 -5.99781982e-04 -2.54002137e-01] [-1.47143303e-02 3.03711423e-04 9.99891692e-01 -1.01298946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.438623853 meters 0.025822074182746617 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.25, Z:-0.10 [[ 9.99657116e-01 2.20755480e-02 1.40826705e-02 5.93372174e+00] [-2.20696194e-02 9.99756270e-01 -5.76272468e-04 -2.54946448e-01] [-1.40919597e-02 2.65275694e-04 9.99900668e-01 -1.02740610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.468623853 meters 0.022667606370440012 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.25, Z:-0.10 [[ 9.99569071e-01 2.58831727e-02 1.38468095e-02 5.96403745e+00] [-2.58777520e-02 9.99664952e-01 -5.70540196e-04 -2.54952496e-01] [-1.38569376e-02 2.11970031e-04 9.99903966e-01 -1.03589913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.498623853 meters 0.021019037346375398 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.26, Z:-0.10 [[ 9.99513409e-01 2.78807069e-02 1.39861052e-02 5.99590269e+00] [-2.78753933e-02 9.99611240e-01 -5.74761167e-04 -2.55251692e-01] [-1.39966927e-02 1.84613310e-04 9.99902024e-01 -1.04425837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.528623853 meters 0.017430741363828536 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.26, Z:-0.10 [[ 9.99397212e-01 3.14223600e-02 1.47596858e-02 6.02783535e+00] [-3.14167903e-02 9.99506185e-01 -6.09124184e-04 -2.55015074e-01] [-1.47715374e-02 1.45055056e-04 9.99890884e-01 -1.02560490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.558623853 meters 0.01733817099220166 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.26, Z:-0.10 [[ 9.99336283e-01 3.30330110e-02 1.53562283e-02 6.05941116e+00] [-3.30271298e-02 9.99454253e-01 -6.36502083e-04 -2.58102084e-01] [-1.53688733e-02 1.28907479e-04 9.99881884e-01 -1.03983750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.588623853 meters 0.015365815572153317 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.26, Z:-0.10 [[ 9.99274273e-01 3.46879694e-02 1.57376180e-02 6.09133416e+00] [-3.46819542e-02 9.99398185e-01 -6.55060899e-04 -2.57319943e-01] [-1.57508696e-02 1.08774159e-04 9.99875941e-01 -1.02472954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.618623853 meters 0.01473393235576421 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.26, Z:-0.10 [[ 9.99220143e-01 3.60281832e-02 1.61578418e-02 6.12225248e+00] [-3.60219703e-02 9.99350770e-01 -6.75481290e-04 -2.58436652e-01] [-1.61716880e-02 9.29172144e-05 9.99869225e-01 -1.02319671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.648623853 meters 0.019524653749337813 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.26, Z:-0.10 [[ 9.99120828e-01 3.85628783e-02 1.64461417e-02 6.15344564e+00] [-3.85567415e-02 9.99256174e-01 -6.90171385e-04 -2.60747253e-01] [-1.64605236e-02 5.54549699e-05 9.99864515e-01 -9.94493833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.678623853 meters 0.013040396634950208 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.26, Z:-0.10 [[ 9.99027911e-01 4.07940226e-02 1.67057232e-02 6.18530364e+00] [-4.07879599e-02 9.99167577e-01 -7.03609491e-04 -2.60463419e-01] [-1.67205201e-02 2.15331497e-05 9.99860202e-01 -1.02313346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.708623853 meters 0.012963778504748091 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.26, Z:-0.10 [[ 9.98944014e-01 4.28941993e-02 1.64603698e-02 6.21839921e+00] [-4.28885583e-02 9.99079620e-01 -6.95717555e-04 -2.59931356e-01] [-1.64750622e-02 -1.09786404e-05 9.99864277e-01 -1.03303839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.738623853 meters 0.014083267928563594 Centerline is valid? [True, True] Translation: X:6.25, Y:-0.26, Z:-0.10 [[ 9.98713224e-01 4.80045679e-02 1.63541460e-02 6.25032303e+00] [-4.79996304e-02 9.98847112e-01 -6.94525107e-04 -2.55335332e-01] [-1.63686319e-02 -9.13615540e-05 9.99866021e-01 -1.03356863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.768623853 meters 0.015734859029806748 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.25, Z:-0.10 [[ 9.98583419e-01 5.07036796e-02 1.61335872e-02 6.28202826e+00] [-5.06991864e-02 9.98713733e-01 -6.87648298e-04 -2.52979381e-01] [-1.61477014e-02 -1.31285557e-04 9.99869609e-01 -1.04791445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.798623853 meters 0.019417192877288065 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.25, Z:-0.11 [[ 9.98339863e-01 5.55819080e-02 1.51052633e-02 6.31405047e+00] [-5.55784954e-02 9.98454112e-01 -6.45941684e-04 -2.47437228e-01] [-1.51178149e-02 -1.94658474e-04 9.99885700e-01 -1.06801734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.828623853 meters 0.021287162129867032 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.25, Z:-0.11 [[ 9.98227609e-01 5.76044165e-02 1.49456288e-02 6.34491431e+00] [-5.76012683e-02 9.98339463e-01 -6.41385292e-04 -2.45361742e-01] [-1.49577577e-02 -2.20638668e-04 9.99888102e-01 -1.08065278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.858623853 meters 0.022551632662446083 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.24, Z:-0.11 [[ 9.98141117e-01 5.91420345e-02 1.47149423e-02 6.37680970e+00] [-5.91391193e-02 9.98249550e-01 -6.33550276e-04 -2.44028204e-01] [-1.47266539e-02 -2.37856145e-04 9.99891529e-01 -1.09001639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.888623853 meters 0.024545705175658114 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.24, Z:-0.11 [[ 9.98015231e-01 6.12790040e-02 1.45079846e-02 6.40894543e+00] [-6.12763625e-02 9.98120641e-01 -6.26947426e-04 -2.41556266e-01] [-1.45191376e-02 -2.63293440e-04 9.99894557e-01 -1.10731226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.918623853 meters 0.024673991283345523 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.24, Z:-0.11 [[ 9.98004122e-01 6.13925292e-02 1.47895120e-02 6.44098894e+00] [-6.13897615e-02 9.98113664e-01 -6.41485008e-04 -2.42849896e-01] [-1.48009964e-02 -2.67719935e-04 9.99890423e-01 -1.11192001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.948623853 meters 0.024410048309310272 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.24, Z:-0.11 [[ 9.98004805e-01 6.13142874e-02 1.50654327e-02 6.47298002e+00] [-6.13113639e-02 9.98118473e-01 -6.56279968e-04 -2.44775410e-01] [-1.50773261e-02 -2.68711667e-04 9.99886295e-01 -1.11172442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.978623853 meters 0.023804949091470358 Centerline is valid? [True, True] Translation: X:6.50, Y:-0.25, Z:-0.11 [[ 9.98029612e-01 6.07981702e-02 1.55072955e-02 6.50478929e+00] [-6.07949694e-02 9.98150045e-01 -6.78169873e-04 -2.46957397e-01] [-1.55198392e-02 -2.65931943e-04 9.99879525e-01 -1.11650474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.008623853 meters 0.020474811326141318 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.25, Z:-0.11 [[ 9.98161783e-01 5.85631232e-02 1.56017943e-02 6.53679119e+00] [-5.85595717e-02 9.98283681e-01 -6.84774312e-04 -2.51554932e-01] [-1.56151191e-02 -2.30118841e-04 9.99878050e-01 -1.11252783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.038623853 meters 0.019456323397090906 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.25, Z:-0.11 [[ 9.98243230e-01 5.72375971e-02 1.53072131e-02 6.56807719e+00] [-5.72339826e-02 9.98360564e-01 -6.74457055e-04 -2.54066848e-01] [-1.53207222e-02 -2.02820581e-04 9.99882610e-01 -1.12907404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.068623853 meters 0.017881044850464975 Centerline is valid? [True, True] Translation: X:6.60, Y:-0.26, Z:-0.11 [[ 9.98327749e-01 5.59112696e-02 1.46845168e-02 6.60061789e+00] [-5.59077591e-02 9.98435727e-01 -6.49783679e-04 -2.57479165e-01] [-1.46978764e-02 -1.72281350e-04 9.99891966e-01 -1.13900994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.098623853 meters 0.016919457833951268 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.26, Z:-0.12 [[ 9.98502857e-01 5.29926894e-02 1.35580115e-02 6.63166557e+00] [-5.29894233e-02 9.98594893e-01 -6.00268051e-04 -2.59977301e-01] [-1.35707709e-02 -1.19061848e-04 9.99907906e-01 -1.17743605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.128623853 meters 0.0164554807573101 Centerline is valid? [True, True] Translation: X:6.66, Y:-0.26, Z:-0.12 [[ 9.98590563e-01 5.13723136e-02 1.33331645e-02 6.66260413e+00] [-5.13689818e-02 9.98679567e-01 -5.92463262e-04 -2.62683519e-01] [-1.33459952e-02 -9.32828632e-05 9.99910934e-01 -1.20086678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.158623853 meters 0.015553024419450485 Centerline is valid? [True, True] Translation: X:6.69, Y:-0.27, Z:-0.12 [[ 9.98672605e-01 4.97935908e-02 1.31767230e-02 6.69468851e+00] [-4.97901747e-02 9.98759527e-01 -5.87372741e-04 -2.67368449e-01] [-1.31896250e-02 -6.94782740e-05 9.99913011e-01 -1.20530570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.188623853 meters 0.014415669871262646 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.27, Z:-0.12 [[ 9.98841214e-01 4.62796562e-02 1.32069482e-02 6.72600933e+00] [-4.62758876e-02 9.98928522e-01 -5.90963327e-04 -2.74576192e-01] [-1.32201469e-02 -2.08847258e-05 9.99912610e-01 -1.21144083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.218623853 meters 0.013931340216369478 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.28, Z:-0.12 [[ 9.98923294e-01 4.44352625e-02 1.33326612e-02 6.75928900e+00] [-4.44312379e-02 9.99012266e-01 -5.98055055e-04 -2.79137927e-01] [-1.33460668e-02 5.02448132e-06 9.99910937e-01 -1.19651703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.248623853 meters 0.01470655254115102 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.28, Z:-0.12 [[ 9.99001677e-01 4.24603656e-02 1.38840096e-02 6.79104285e+00] [-4.24557599e-02 9.99098151e-01 -6.26436127e-04 -2.83894787e-01] [-1.38980871e-02 3.63545633e-05 9.99903416e-01 -1.21456709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.278623853 meters 0.016851955677079845 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.29, Z:-0.12 [[ 9.99159054e-01 3.83714087e-02 1.44506093e-02 6.82283022e+00] [-3.83659707e-02 9.99263541e-01 -6.53456105e-04 -2.92322808e-01] [-1.44650411e-02 9.84949294e-05 9.99895371e-01 -1.20926193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.308623853 meters 0.024360385508005906 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.30, Z:-0.12 [[ 9.99218834e-01 3.66917461e-02 1.46778246e-02 6.85473770e+00] [-3.66859199e-02 9.99326623e-01 -6.66079812e-04 -2.97523514e-01] [-1.46923805e-02 1.27089997e-04 9.99892053e-01 -1.19068552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.338623853 meters 0.019291140554240808 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.30, Z:-0.12 [[ 9.99252543e-01 3.56407720e-02 1.49696733e-02 6.88718210e+00] [-3.56345579e-02 9.99364655e-01 -6.81723894e-04 -3.01421870e-01] [-1.49844596e-02 1.47776643e-04 9.99887716e-01 -1.21381378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.368623853 meters 0.021808010357890643 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.31, Z:-0.12 [[ 9.99333335e-01 3.34636847e-02 1.45968406e-02 6.91795060e+00] [-3.34575013e-02 9.99439918e-01 -6.67672140e-04 -3.07299547e-01] [-1.46110079e-02 1.78853212e-04 9.99893238e-01 -1.22937598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.398623853 meters 0.029536614523018184 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.31, Z:-0.12 [[ 9.99374050e-01 3.25049305e-02 1.39620307e-02 6.94974612e+00] [-3.24991763e-02 9.99471558e-01 -6.38880264e-04 -3.11264418e-01] [-1.39754193e-02 1.84725861e-04 9.99902322e-01 -1.22031011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.428623853 meters 0.02414807132692478 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.31, Z:-0.13 [[ 9.99390885e-01 3.20833136e-02 1.37302575e-02 6.98025862e+00] [-3.20776794e-02 9.99485180e-01 -6.30433057e-04 -3.14690009e-01] [-1.37434153e-02 1.89614252e-04 9.99905537e-01 -1.26498893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.458623853 meters 0.025828983867240297 Centerline is valid? [True, True] Translation: X:7.01, Y:-0.32, Z:-0.13 [[ 9.99432467e-01 3.08863866e-02 1.34452308e-02 7.01079311e+00] [-3.08808513e-02 9.99522881e-01 -6.19163050e-04 -3.20201901e-01] [-1.34579395e-02 2.03611482e-04 9.99909417e-01 -1.27293238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.488623853 meters 0.026363907139795056 Centerline is valid? [True, True] Translation: X:7.04, Y:-0.32, Z:-0.13 [[ 9.99439170e-01 3.07047862e-02 1.33627275e-02 7.04137093e+00] [-3.06992686e-02 9.99528475e-01 -6.17886376e-04 -3.23179656e-01] [-1.33753987e-02 2.07313888e-04 9.99910524e-01 -1.28259968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.518623853 meters 0.026552703041037663 Centerline is valid? [True, True] Translation: X:7.07, Y:-0.33, Z:-0.13 [[ 9.99437273e-01 3.06526205e-02 1.36218022e-02 7.07408795e+00] [-3.06468798e-02 9.99530075e-01 -6.30028038e-04 -3.25654143e-01] [-1.36347130e-02 2.12207770e-04 9.99907020e-01 -1.28027255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.548623853 meters 0.02623192871084406 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.33, Z:-0.13 [[ 9.99415341e-01 3.11037539e-02 1.41962196e-02 7.10671478e+00] [-3.10975134e-02 9.99516137e-01 -6.60178443e-04 -3.27672512e-01] [-1.42098846e-02 2.18325334e-04 9.99899011e-01 -1.27731859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.578623853 meters 0.02490598414307073 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.33, Z:-0.13 [[ 9.99370373e-01 3.24171952e-02 1.44215991e-02 7.13868588e+00] [-3.24108850e-02 9.99474404e-01 -6.71118842e-04 -3.27585761e-01] [-1.44357750e-02 2.03279497e-04 9.99895778e-01 -1.27577517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.608623853 meters 0.02364831439397048 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.33, Z:-0.13 [[ 9.99329403e-01 3.37446973e-02 1.42140409e-02 7.16954880e+00] [-3.37386627e-02 9.99430469e-01 -6.64200042e-04 -3.27526027e-01] [-1.42283587e-02 1.84191902e-04 9.99898755e-01 -1.28696615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.638623853 meters 0.022120367938495932 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.33, Z:-0.13 [[ 9.99275700e-01 3.52936559e-02 1.42279285e-02 7.20196950e+00] [-3.52877590e-02 9.99376972e-01 -6.65370749e-04 -3.27290330e-01] [-1.42425475e-02 1.62817107e-04 9.99898557e-01 -1.30070938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.668623853 meters 0.015938906889734115 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.32, Z:-0.12 [[ 9.99142065e-01 3.87765576e-02 1.45434722e-02 7.23432431e+00] [-3.87707370e-02 9.99247900e-01 -6.82062123e-04 -3.20786095e-01] [-1.45589821e-02 1.17615822e-04 9.99894005e-01 -1.24686912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.698623853 meters 0.03077628951448582 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.32, Z:-0.13 [[ 9.99075626e-01 4.04925960e-02 1.44306540e-02 7.26539226e+00] [-4.04870070e-02 9.99179834e-01 -6.79356717e-04 -3.24437662e-01] [-1.44463274e-02 9.44747489e-05 9.99895642e-01 -1.27233271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.728623853 meters 0.015995706011870267 Centerline is valid? [True, True] Translation: X:7.30, Y:-0.32, Z:-0.13 [[ 9.98986142e-01 4.24476362e-02 1.49962192e-02 7.29720354e+00] [-4.24417802e-02 9.99098690e-01 -7.08676083e-04 -3.22578093e-01] [-1.50127846e-02 7.14913468e-05 9.99887299e-01 -1.30078449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.758623853 meters 0.01431598998515911 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.32, Z:-0.13 [[ 9.98842784e-01 4.54843656e-02 1.56289812e-02 7.32936327e+00] [-4.54783383e-02 9.98965050e-01 -7.41027658e-04 -3.17641691e-01] [-1.56465112e-02 2.93900341e-05 9.99877585e-01 -1.29450730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.788623853 meters 0.013166646528232611 Centerline is valid? [True, True] Translation: X:7.36, Y:-0.32, Z:-0.13 [[ 9.98794279e-01 4.65763481e-02 1.55123233e-02 7.36220832e+00] [-4.65705146e-02 9.98914733e-01 -7.37271399e-04 -3.16140920e-01] [-1.55298277e-02 1.39655761e-05 9.99879405e-01 -1.25158293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.818623853 meters 0.013181728103487177 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.32, Z:-0.13 [[ 9.98743363e-01 4.76473672e-02 1.55378227e-02 7.39388430e+00] [-4.76415945e-02 9.98864219e-01 -7.41670666e-04 -3.15280993e-01] [-1.55555138e-02 4.92008064e-07 9.99879006e-01 -1.27515801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.848623853 meters 0.01313939358703848 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.32, Z:-0.13 [[ 9.98732122e-01 4.78813467e-02 1.55410526e-02 7.42553781e+00] [-4.78755552e-02 9.98853031e-01 -7.44693381e-04 -3.16863043e-01] [-1.55588844e-02 -2.87321378e-07 9.99878953e-01 -1.28346979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.878623853 meters 0.013232705909206595 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.32, Z:-0.13 [[ 9.98736487e-01 4.79265469e-02 1.51154318e-02 7.45821843e+00] [-4.79210363e-02 9.98850863e-01 -7.26765707e-04 -3.19473885e-01] [-1.51328934e-02 1.50027523e-06 9.99885491e-01 -1.29590971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.908623853 meters 0.013505704691951828 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.32, Z:-0.13 [[ 9.98772425e-01 4.72830179e-02 1.47634297e-02 7.48966017e+00] [-4.72776486e-02 9.98881533e-01 -7.12680281e-04 -3.22689598e-01] [-1.47806149e-02 1.38251718e-05 9.99890761e-01 -1.32201805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.938623853 meters 0.013617874307468376 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.32, Z:-0.13 [[ 9.98782151e-01 4.72568169e-02 1.41777590e-02 7.52283816e+00] [-4.72518309e-02 9.98882772e-01 -6.86641353e-04 -3.24418420e-01] [-1.41943677e-02 1.58800584e-05 9.99899255e-01 -1.33091835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.968623853 meters 0.013772743268810162 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.33, Z:-0.13 [[ 9.98789828e-01 4.71799873e-02 1.38898601e-02 7.55441261e+00] [-4.71751477e-02 9.98886404e-01 -6.76049165e-04 -3.26148913e-01] [-1.39062884e-02 1.99748262e-05 9.99903303e-01 -1.34829154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.998623853 meters 0.013889602141937709 Centerline is valid? [True, True] Translation: X:7.59, Y:-0.33, Z:-0.14 [[ 9.98780942e-01 4.74632950e-02 1.35597265e-02 7.58751492e+00] [-4.74586991e-02 9.98872983e-01 -6.60692598e-04 -3.27487859e-01] [-1.35758031e-02 1.63601944e-05 9.99907844e-01 -1.35839445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.028623853000001 meters 0.01378012917967241 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.33, Z:-0.14 [[ 9.98692004e-01 4.92309312e-02 1.38056359e-02 7.61959517e+00] [-4.92262965e-02 9.98787423e-01 -6.75534181e-04 -3.26099545e-01] [-1.38221527e-02 -4.94974059e-06 9.99904469e-01 -1.36453326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.058623853 meters 0.013796564902322618 Centerline is valid? [True, True] Translation: X:7.65, Y:-0.33, Z:-0.14 [[ 9.98633933e-01 5.03825657e-02 1.38515200e-02 7.65295098e+00] [-5.03779783e-02 9.98729992e-01 -6.80124546e-04 -3.26012904e-01] [-1.38681949e-02 -1.86161258e-05 9.99903832e-01 -1.36841865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.088623853 meters 0.013945219496017803 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.33, Z:-0.14 [[ 9.98567162e-01 5.17654996e-02 1.35630080e-02 7.68518378e+00] [-5.17611935e-02 9.98659267e-01 -6.68568096e-04 -3.25386284e-01] [-1.35794323e-02 -3.44273326e-05 9.99907795e-01 -1.37939716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.118623853 meters 0.014567658411240036 Centerline is valid? [True, True] Translation: X:7.72, Y:-0.32, Z:-0.14 [[ 9.98468195e-01 5.34866605e-02 1.41576906e-02 7.71724479e+00] [-5.34821033e-02 9.98568562e-01 -7.00570712e-04 -3.22476486e-01] [-1.41748959e-02 -5.76854954e-05 9.99899529e-01 -1.38988191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.148623853 meters 0.014522236177023801 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.32, Z:-0.14 [[ 9.98433259e-01 5.40927456e-02 1.43179072e-02 7.75051111e+00] [-5.40881123e-02 9.98535914e-01 -7.10919409e-04 -3.22701305e-01] [-1.43354001e-02 -6.46229901e-05 9.99897241e-01 -1.38920695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.178623853 meters 0.01463812856945298 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.32, Z:-0.14 [[ 9.98412189e-01 5.44567734e-02 1.44069578e-02 7.78353438e+00] [-5.44520814e-02 9.98516127e-01 -7.18032693e-04 -3.23333912e-01] [-1.44246815e-02 -6.75962483e-05 9.99895957e-01 -1.39170514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.208623853 meters 0.014580719971444351 Centerline is valid? [True, True] Translation: X:7.82, Y:-0.32, Z:-0.14 [[ 9.98404667e-01 5.45207418e-02 1.46836252e-02 7.81588807e+00] [-5.45158319e-02 9.98512636e-01 -7.34734927e-04 -3.24422030e-01] [-1.47018436e-02 -6.69272612e-05 9.99891920e-01 -1.39748527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.238623853 meters 0.014580719971444351 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.33, Z:-0.14 [[ 9.98394714e-01 5.47027458e-02 1.46835039e-02 7.84833394e+00] [-5.46978201e-02 9.98502682e-01 -7.37147616e-04 -3.26258126e-01] [-1.47018420e-02 -6.71913732e-05 9.99891920e-01 -1.40566372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.268623853 meters 0.014632394072434194 Centerline is valid? [True, True] Translation: X:7.88, Y:-0.33, Z:-0.14 [[ 9.98398305e-01 5.47140453e-02 1.43943972e-02 7.88071755e+00] [-5.47092656e-02 9.98502063e-01 -7.25913405e-04 -3.27082235e-01] [-1.44125530e-02 -6.27561884e-05 9.99896132e-01 -1.42490828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.298623853 meters 0.014794517690540562 Centerline is valid? [True, True] Translation: X:7.91, Y:-0.33, Z:-0.14 [[ 9.98417865e-01 5.45557566e-02 1.36174957e-02 7.91369085e+00] [-5.45514558e-02 9.98510724e-01 -6.87355339e-04 -3.28668474e-01] [-1.36347147e-02 -5.65863659e-05 9.99907041e-01 -1.44685523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.328623853 meters 0.014894334998763786 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.33, Z:-0.15 [[ 9.98433040e-01 5.43567991e-02 1.32967338e-02 7.94678781e+00] [-5.43526500e-02 9.98521575e-01 -6.73474468e-04 -3.30117493e-01] [-1.33136835e-02 -5.02935587e-05 9.99911368e-01 -1.46645727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.358623853000001 meters 0.014747019078013925 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.33, Z:-0.15 [[ 9.98449305e-01 5.40976074e-02 1.31313837e-02 7.98012260e+00] [-5.40935080e-02 9.98535651e-01 -6.67416245e-04 -3.31478888e-01] [-1.31482604e-02 -4.39413248e-05 9.99913557e-01 -1.47740105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.388623853 meters 0.014080656506870428 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.33, Z:-0.15 [[ 9.98514319e-01 5.28848954e-02 1.31279415e-02 8.01285869e+00] [-5.28806639e-02 9.98600614e-01 -6.69481445e-04 -3.33027847e-01] [-1.31449759e-02 -2.57274534e-05 9.99913601e-01 -1.47228688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.418623853 meters 0.013776010507395048 Centerline is valid? [True, True] Translation: X:8.05, Y:-0.34, Z:-0.15 [[ 9.98557733e-01 5.19992891e-02 1.33614314e-02 8.04537876e+00] [-5.19947920e-02 9.98647122e-01 -6.83967377e-04 -3.35443527e-01] [-1.33789209e-02 -1.17439356e-05 9.99910498e-01 -1.46857189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.448623853 meters 0.014262061255706305 Centerline is valid? [True, True] Translation: X:8.08, Y:-0.34, Z:-0.15 [[ 9.98604966e-01 5.09837805e-02 1.37396072e-02 8.07737229e+00] [-5.09788886e-02 9.98699481e-01 -7.06270542e-04 -3.38338415e-01] [-1.37577469e-02 4.85536638e-06 9.99905358e-01 -1.49767936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.478623853 meters 0.014207912492117093 Centerline is valid? [True, True] Translation: X:8.11, Y:-0.34, Z:-0.15 [[ 9.98708174e-01 4.88017989e-02 1.41551112e-02 8.11026170e+00] [-4.87963505e-02 9.98808482e-01 -7.30234829e-04 -3.42631934e-01] [-1.41738819e-02 3.85737242e-05 9.99899545e-01 -1.47406826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.508623853 meters 0.014609721674379565 Centerline is valid? [True, True] Translation: X:8.14, Y:-0.35, Z:-0.15 [[ 9.98750629e-01 4.78983468e-02 1.42453183e-02 8.14306422e+00] [-4.78926978e-02 9.98852214e-01 -7.37623328e-04 -3.45207530e-01] [-1.42642987e-02 5.44550379e-05 9.99898258e-01 -1.47636080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.538623853 meters 0.014967448444430558 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.35, Z:-0.15 [[ 9.98797439e-01 4.68225289e-02 1.45370601e-02 8.17617533e+00] [-4.68164914e-02 9.98903221e-01 -7.55533408e-04 -3.47407020e-01] [-1.45564922e-02 7.40506826e-05 9.99894046e-01 -1.47540310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.568623853 meters 0.0163721808182978 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.35, Z:-0.15 [[ 9.98893510e-01 4.46829360e-02 1.46693772e-02 8.20713608e+00] [-4.46765102e-02 9.99001213e-01 -7.65615549e-04 -3.50359523e-01] [-1.46889356e-02 1.09391823e-04 9.99892106e-01 -1.48559866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.598623853 meters 0.01704071945712075 Centerline is valid? [True, True] Translation: X:8.24, Y:-0.35, Z:-0.15 [[ 9.98927344e-01 4.37556596e-02 1.51526655e-02 8.23989345e+00] [-4.37486645e-02 9.99042254e-01 -7.92964773e-04 -3.52886530e-01] [-1.51728498e-02 1.29205316e-04 9.99884877e-01 -1.48649040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.628623853 meters 0.01978705675919641 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.36, Z:-0.15 [[ 9.98978668e-01 4.25514165e-02 1.51986208e-02 8.27113240e+00] [-4.25441903e-02 9.99094267e-01 -7.98604269e-04 -3.58634432e-01] [-1.52188366e-02 1.51175614e-04 9.99884175e-01 -1.51463279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.658623853 meters 0.030321853622963992 Centerline is valid? [True, True] Translation: X:8.30, Y:-0.36, Z:-0.15 [[ 9.99017382e-01 4.15658689e-02 1.53801609e-02 8.30315803e+00] [-4.15583179e-02 9.99135751e-01 -8.10380140e-04 -3.60091430e-01] [-1.54005528e-02 1.70410229e-04 9.99881390e-01 -1.46581821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.688623853 meters 0.021248460268480037 Centerline is valid? [True, True] Translation: X:8.33, Y:-0.37, Z:-0.15 [[ 9.99103018e-01 3.95737285e-02 1.50691436e-02 8.33396596e+00] [-3.95662059e-02 9.99216633e-01 -7.97131224e-04 -3.65026803e-01] [-1.50888844e-02 2.00187373e-04 9.99886136e-01 -1.50599641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.718623853 meters 0.021927626976241 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.37, Z:-0.15 [[ 9.99135598e-01 3.89149817e-02 1.46178434e-02 8.36561156e+00] [-3.89078267e-02 9.99242504e-01 -7.73650020e-04 -3.67213420e-01] [-1.46368770e-02 2.04232759e-04 9.99892854e-01 -1.52152072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.748623853 meters 0.024690017175187023 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.37, Z:-0.16 [[ 9.99222983e-01 3.69754035e-02 1.36473616e-02 8.39607146e+00] [-3.69689380e-02 9.99316152e-01 -7.25816572e-04 -3.71873819e-01] [-1.36648662e-02 2.20724134e-04 9.99906607e-01 -1.55979408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.778623853000001 meters 0.025931149571716904 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.38, Z:-0.16 [[ 9.99255305e-01 3.60937009e-02 1.36411371e-02 8.42816813e+00] [-3.60871759e-02 9.99348383e-01 -7.24260032e-04 -3.75553933e-01] [-1.36583895e-02 2.31450566e-04 9.99906693e-01 -1.56631247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.808623853 meters 0.026870334508747984 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.38, Z:-0.16 [[ 9.99287802e-01 3.51524404e-02 1.37184132e-02 8.45991619e+00] [-3.51457226e-02 9.99381931e-01 -7.30540020e-04 -3.78824423e-01] [-1.37356146e-02 2.47876185e-04 9.99905631e-01 -1.56722810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.838623853 meters 0.028796551532896397 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.39, Z:-0.15 [[ 9.99319159e-01 3.35652747e-02 1.53163651e-02 8.49032991e+00] [-3.35566649e-02 9.99436481e-01 -8.18854843e-04 -3.85183373e-01] [-1.53352192e-02 3.04331201e-04 9.99882362e-01 -1.54909689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.868623853 meters 0.025034474351308133 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.38, Z:-0.15 [[ 9.99319179e-01 3.33490774e-02 1.57803136e-02 8.52324561e+00] [-3.33398899e-02 9.99443714e-01 -8.45006662e-04 -3.83522503e-01] [-1.57997154e-02 3.18317446e-04 9.99875126e-01 -1.51939255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.898623853 meters 0.0380999192842809 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.39, Z:-0.15 [[ 9.99328333e-01 3.31002716e-02 1.57243400e-02 8.55422465e+00] [-3.30910639e-02 9.99451983e-01 -8.45459407e-04 -3.92577715e-01] [-1.57437077e-02 3.24556401e-04 9.99876007e-01 -1.51681652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.928623853 meters 0.030543909701723205 Centerline is valid? [True, True] Translation: X:8.59, Y:-0.40, Z:-0.16 [[ 9.99330842e-01 3.30664583e-02 1.56357523e-02 8.58563247e+00] [-3.30573124e-02 9.99453102e-01 -8.43093735e-04 -3.95177996e-01] [-1.56550792e-02 3.25653624e-04 9.99877399e-01 -1.56420727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.958623853 meters 0.025082670751780656 Centerline is valid? [True, True] Translation: X:8.62, Y:-0.39, Z:-0.16 [[ 9.99319155e-01 3.37349582e-02 1.49391708e-02 8.61873253e+00] [-3.37266544e-02 9.99430768e-01 -8.07499216e-04 -3.89913810e-01] [-1.49579079e-02 3.03101183e-04 9.99888078e-01 -1.55236243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.988623853 meters 0.029565986124254654 Centerline is valid? [True, True] Translation: X:8.65, Y:-0.40, Z:-0.16 [[ 9.99295342e-01 3.46519879e-02 1.44242458e-02 8.64965176e+00] [-3.46442976e-02 9.99399400e-01 -7.82755777e-04 -3.98781864e-01] [-1.44427066e-02 2.82486338e-04 9.99895659e-01 -1.60503186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.018623853 meters 0.027827454709942835 Centerline is valid? [True, True] Translation: X:8.68, Y:-0.40, Z:-0.16 [[ 9.99215263e-01 3.68916869e-02 1.44173834e-02 8.68118482e+00] [-3.68842021e-02 9.99319238e-01 -7.84797935e-04 -3.99586139e-01] [-1.44365211e-02 2.52408392e-04 9.99895756e-01 -1.61641591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.048623853 meters 0.021772820158786444 Centerline is valid? [True, True] Translation: X:8.71, Y:-0.39, Z:-0.16 [[ 9.99166691e-01 3.82443216e-02 1.42581785e-02 8.71391212e+00] [-3.82371119e-02 9.99268391e-01 -7.78022692e-04 -3.93136093e-01] [-1.42775020e-02 2.32182794e-04 9.99898044e-01 -1.58090542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.078623853 meters 0.02919826438445917 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.40, Z:-0.16 [[ 9.99119528e-01 3.95384047e-02 1.40315292e-02 8.74427285e+00] [-3.95315148e-02 9.99218029e-01 -7.68157309e-04 -3.99644712e-01] [-1.40509286e-02 2.12793364e-04 9.99901258e-01 -1.61212197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.108623853000001 meters 0.019931988850564894 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.39, Z:-0.16 [[ 9.99052390e-01 4.12857255e-02 1.37771808e-02 8.77652583e+00] [-4.12792218e-02 9.99147363e-01 -7.56216876e-04 -3.93336102e-01] [-1.37966548e-02 1.86788977e-04 9.99904804e-01 -1.60941463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.138623853 meters 0.018246302497609505 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.39, Z:-0.16 [[ 9.98942469e-01 4.40136072e-02 1.32945544e-02 8.80877054e+00] [-4.40077640e-02 9.99030921e-01 -7.31883193e-04 -3.92412908e-01] [-1.33138837e-02 1.46045594e-04 9.99911356e-01 -1.62806966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.168623853 meters 0.019762337068613505 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.39, Z:-0.16 [[ 9.98884817e-01 4.52333793e-02 1.35301176e-02 8.84046263e+00] [-4.52274064e-02 9.98976438e-01 -7.47261693e-04 -3.93541021e-01] [-1.35500699e-02 1.34496232e-04 9.99908185e-01 -1.62623721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.198623853 meters 0.017714053023881227 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.39, Z:-0.17 [[ 9.98828454e-01 4.63733442e-02 1.38286717e-02 8.87120777e+00] [-4.63671680e-02 9.98924170e-01 -7.67073546e-04 -3.94452944e-01] [-1.38493662e-02 1.24978539e-04 9.99904085e-01 -1.65047665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.228623853 meters 0.015595473847399293 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.39, Z:-0.16 [[ 9.98733146e-01 4.81400587e-02 1.46505566e-02 8.90341916e+00] [-4.81333059e-02 9.98840590e-01 -8.13387760e-04 -3.94110054e-01] [-1.46727271e-02 1.07177594e-04 9.99892344e-01 -1.63236932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.258623853 meters 0.015093438766104332 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.40, Z:-0.16 [[ 9.98688415e-01 4.89663195e-02 1.49582454e-02 8.93606138e+00] [-4.89593212e-02 9.98800425e-01 -8.33910088e-04 -3.95587985e-01] [-1.49811354e-02 1.00470802e-04 9.99887771e-01 -1.63361163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.288623853 meters 0.014785246040855573 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.40, Z:-0.16 [[ 9.98649172e-01 4.97753105e-02 1.49080720e-02 8.96901909e+00] [-4.97684445e-02 9.98760437e-01 -8.31433336e-04 -3.96310433e-01] [-1.49309773e-02 8.83586600e-05 9.99888523e-01 -1.63952760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.318623853 meters 0.014306208539878632 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.39, Z:-0.16 [[ 9.98565962e-01 5.12731679e-02 1.53974916e-02 9.00072056e+00] [-5.12659572e-02 9.98684663e-01 -8.62901310e-04 -3.94901649e-01] [-1.54214824e-02 7.22967315e-05 9.99881079e-01 -1.64805505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.348623853 meters 0.01380456397256561 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.40, Z:-0.16 [[ 9.98524745e-01 5.19600099e-02 1.57636082e-02 9.03328610e+00] [-5.19525270e-02 9.98649164e-01 -8.84106004e-04 -3.96061365e-01] [-1.57882523e-02 6.38424422e-05 9.99875356e-01 -1.64629849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.378623853 meters 0.013882796563530635 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.40, Z:-0.17 [[ 9.98500421e-01 5.24392865e-02 1.57172186e-02 9.06556768e+00] [-5.24318567e-02 9.98624112e-01 -8.84695228e-04 -3.98330603e-01] [-1.57419863e-02 5.92856017e-05 9.99876085e-01 -1.66403238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.408623853 meters 0.014296914321870939 Centerline is valid? [True, True] Translation: X:9.10, Y:-0.40, Z:-0.17 [[ 9.98505216e-01 5.26480445e-02 1.46804763e-02 9.09641088e+00] [-5.26415457e-02 9.98613128e-01 -8.29020451e-04 -4.01156232e-01] [-1.47037627e-02 5.49782784e-05 9.99891892e-01 -1.68897596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.438623853000001 meters 0.014095286109482186 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.40, Z:-0.17 [[ 9.98500105e-01 5.27508354e-02 1.46591099e-02 9.12927786e+00] [-5.27443395e-02 9.98607704e-01 -8.29658857e-04 -4.03241846e-01] [-1.46824653e-02 5.52293861e-05 9.99892205e-01 -1.68846862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.468623853 meters 0.014408935607673916 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.41, Z:-0.17 [[ 9.98508099e-01 5.25695666e-02 1.47654164e-02 9.16107860e+00] [-5.25629114e-02 9.98617262e-01 -8.38717297e-04 -4.06377560e-01] [-1.47890907e-02 6.13527410e-05 9.99890634e-01 -1.70358936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.498623853 meters 0.015153979543362589 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.41, Z:-0.17 [[ 9.98527300e-01 5.21511689e-02 1.49494518e-02 9.19311249e+00] [-5.21442577e-02 9.98639199e-01 -8.51980898e-04 -4.10102626e-01] [-1.49735404e-02 7.11981165e-05 9.99887888e-01 -1.72649443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.528623853000001 meters 0.02113930788491316 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.41, Z:-0.17 [[ 9.98629521e-01 5.02878587e-02 1.44986594e-02 9.22557977e+00] [-5.02811247e-02 9.98734760e-01 -8.28837485e-04 -4.14761699e-01] [-1.45219956e-02 9.86926802e-05 9.99894545e-01 -1.70570354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.558623853 meters 0.016339838808317277 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.42, Z:-0.17 [[ 9.98686979e-01 4.91443226e-02 1.44621641e-02 9.25770945e+00] [-4.91374686e-02 9.98791681e-01 -8.29098756e-04 -4.18844212e-01] [-1.44854347e-02 1.17375999e-04 9.99895074e-01 -1.72852932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.588623853 meters 0.01779434894150718 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.42, Z:-0.17 [[ 9.98761611e-01 4.73782207e-02 1.51838031e-02 9.28903245e+00] [-4.73704172e-02 9.98877010e-01 -8.73377729e-04 -4.24738239e-01] [-1.52081309e-02 1.53033059e-04 9.99884338e-01 -1.73014244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.618623853 meters 0.029845886200153656 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.43, Z:-0.17 [[ 9.98922586e-01 4.34816311e-02 1.62177151e-02 9.32041643e+00] [-4.34721698e-02 9.99054200e-01 -9.35633915e-04 -4.33939723e-01] [-1.62430593e-02 2.29606585e-04 9.99868046e-01 -1.67570203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.648623853 meters 0.033822583924148955 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.44, Z:-0.17 [[ 9.98996151e-01 4.16759108e-02 1.64258462e-02 9.35097906e+00] [-4.16659172e-02 9.99131147e-01 -9.50307780e-04 -4.40817138e-01] [-1.64511794e-02 2.64955870e-04 9.99864635e-01 -1.67195471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.678623853 meters 0.02296103525500145 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.45, Z:-0.17 [[ 9.99056386e-01 3.97791417e-02 1.74343886e-02 9.38276537e+00] [-3.97675442e-02 9.99208446e-01 -1.01153152e-03 -4.46523352e-01] [-1.74608262e-02 3.17254206e-04 9.99847498e-01 -1.69983123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.708623853 meters 0.02830207080592318 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.46, Z:-0.17 [[ 9.99234574e-01 3.47945387e-02 1.78775498e-02 9.41217237e+00] [-3.47814684e-02 9.99394399e-01 -1.04160107e-03 -4.61566415e-01] [-1.79029652e-02 4.18996365e-04 9.99839641e-01 -1.70410610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.738623853 meters 0.032399464435715966 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.47, Z:-0.17 [[ 9.99317633e-01 3.23793772e-02 1.77719970e-02 9.44412683e+00] [-3.23660801e-02 9.99475545e-01 -1.03540008e-03 -4.69951294e-01] [-1.77962020e-02 4.59483678e-04 9.99841529e-01 -1.69306101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.768623853 meters 0.03414638815700057 Centerline is valid? [True, True] Translation: X:9.47, Y:-0.48, Z:-0.17 [[ 9.99382224e-01 3.04465374e-02 1.75550028e-02 9.47422426e+00] [-3.04332471e-02 9.99536277e-01 -1.02378366e-03 -4.81007993e-01] [-1.75780328e-02 4.88895457e-04 9.99845375e-01 -1.73287862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.798623853 meters 0.036028588310473 Centerline is valid? [True, True] Translation: X:9.50, Y:-0.49, Z:-0.17 [[ 9.99486351e-01 2.69345326e-02 1.73656221e-02 9.50434855e+00] [-2.69209890e-02 9.99637051e-01 -1.01324784e-03 -4.92941160e-01] [-1.73866106e-02 5.45227667e-04 9.99848693e-01 -1.73875598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.828623853 meters 0.03777675382068447 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.50, Z:-0.17 [[ 9.99520416e-01 2.57947419e-02 1.71338861e-02 9.53573815e+00] [-2.57814079e-02 9.99667105e-01 -9.98691227e-04 -5.02271633e-01] [-1.71539434e-02 5.56476563e-04 9.99852705e-01 -1.74776009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.858623853000001 meters 0.04440823786269392 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.52, Z:-0.18 [[ 9.99536755e-01 2.50190460e-02 1.73298290e-02 9.56594807e+00] [-2.50052359e-02 9.99686807e-01 -1.01315371e-03 -5.17991443e-01] [-1.73497496e-02 5.79347909e-04 9.99849314e-01 -1.76930987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.888623853 meters 0.03962968920852416 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.52, Z:-0.17 [[ 9.99529100e-01 2.57324538e-02 1.67158500e-02 9.59863962e+00] [-2.57196662e-02 9.99668715e-01 -9.79564414e-04 -5.16936533e-01] [-1.67355188e-02 5.49177056e-04 9.99859801e-01 -1.72844575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.918623853 meters 0.04271483118946135 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.52, Z:-0.18 [[ 9.99501246e-01 2.72765024e-02 1.59138770e-02 9.62957590e+00] [-2.72650656e-02 9.99627802e-01 -9.35223771e-04 -5.22978311e-01] [-1.59334635e-02 5.00864425e-04 9.99872929e-01 -1.75185907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.948623853 meters 0.03568747704873886 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.53, Z:-0.18 [[ 9.99444021e-01 2.95414777e-02 1.54580214e-02 9.65991534e+00] [-2.95309010e-02 9.99563452e-01 -9.12085742e-04 -5.27730576e-01] [-1.54782176e-02 4.55089342e-04 9.99880102e-01 -1.80346730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.978623853 meters 0.027785818265814534 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.53, Z:-0.18 [[ 9.99245486e-01 3.56567022e-02 1.53966730e-02 9.69063268e+00] [-3.56469270e-02 9.99364033e-01 -9.08949934e-04 -5.26141049e-01] [-1.54192913e-02 3.59420042e-04 9.99881051e-01 -1.79995300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.008623853 meters 0.024261354797010446 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.53, Z:-0.18 [[ 9.99098991e-01 3.95553739e-02 1.53811154e-02 9.72239978e+00] [-3.95460809e-02 9.99217335e-01 -9.07979067e-04 -5.26327531e-01] [-1.54049926e-02 2.98898136e-04 9.99881291e-01 -1.80817463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.038623853 meters 0.0202841757758962 Centerline is valid? [True, True] Translation: X:9.75, Y:-0.53, Z:-0.18 [[ 9.98922451e-01 4.37269982e-02 1.55527032e-02 9.75368946e+00] [-4.37179930e-02 9.99043489e-01 -9.18689186e-04 -5.25623993e-01] [-1.55779984e-02 2.37766283e-04 9.99878627e-01 -1.80796072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.068623853 meters 0.01728308707150225 Centerline is valid? [True, True] Translation: X:9.79, Y:-0.53, Z:-0.18 [[ 9.98711477e-01 4.81884250e-02 1.59141656e-02 9.78515351e+00] [-4.81795710e-02 9.98838248e-01 -9.39505487e-04 -5.25915075e-01] [-1.59409506e-02 1.71557243e-04 9.99872920e-01 -1.81466491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.098623853 meters 0.013069862053336127 Centerline is valid? [True, True] Translation: X:9.82, Y:-0.52, Z:-0.18 [[ 9.98251008e-01 5.68261746e-02 1.63006590e-02 9.81675463e+00] [-5.68179901e-02 9.98384087e-01 -9.65147652e-04 -5.23099006e-01] [-1.63291642e-02 3.72889336e-05 9.99866670e-01 -1.82366531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.128623853 meters 0.012683702507811347 Centerline is valid? [True, True] Translation: X:9.85, Y:-0.52, Z:-0.18 [[ 9.97995056e-01 6.09526033e-02 1.70484114e-02 9.84878290e+00] [-6.09442033e-02 9.98140661e-01 -1.01230145e-03 -5.21856253e-01] [-1.70784150e-02 -2.87300033e-05 9.99854153e-01 -1.81813742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.158623853 meters 0.012683702507811347 Centerline is valid? [True, True] Translation: X:9.88, Y:-0.52, Z:-0.18 [[ 9.97983607e-01 6.11398179e-02 1.70482555e-02 9.88119582e+00] [-6.11314005e-02 9.98129211e-01 -1.01491887e-03 -5.23979307e-01] [-1.70784137e-02 -2.93113393e-05 9.99854153e-01 -1.82631502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.188623853000001 meters 0.013479588376101175 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.52, Z:-0.18 [[ 9.97727788e-01 6.49888314e-02 1.77683145e-02 9.91460822e+00] [-6.49802354e-02 9.97885987e-01 -1.06130278e-03 -5.23250180e-01] [-1.77997248e-02 -9.56979778e-05 9.99841568e-01 -1.82084803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.218623853 meters 0.01781219043871823 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.52, Z:-0.18 [[ 9.97210420e-01 7.24945567e-02 1.77740620e-02 9.94649973e+00] [-7.24870815e-02 9.97368782e-01 -1.06530578e-03 -5.19390635e-01] [-1.78045235e-02 -2.26055862e-04 9.99841461e-01 -1.82561213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.248623853 meters 0.02113601225937501 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.52, Z:-0.18 [[ 9.96953823e-01 7.59809419e-02 1.76060253e-02 9.97793651e+00] [-7.59740925e-02 9.97109230e-01 -1.05853439e-03 -5.17365280e-01] [-1.76355588e-02 -2.82291887e-04 9.99844442e-01 -1.84286030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.278623853000001 meters 0.02410912996247533 Centerline is valid? [True, True] Translation: X:10.01, Y:-0.52, Z:-0.19 [[ 9.96701023e-01 7.92828682e-02 1.73579438e-02 1.00100329e+01] [-7.92766806e-02 9.96852103e-01 -1.04535565e-03 -5.16004779e-01] [-1.73861816e-02 -3.34173124e-04 9.99848793e-01 -1.85972982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.308623853 meters 0.030766810771797777 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.51, Z:-0.19 [[ 9.96262663e-01 8.48446383e-02 1.61893322e-02 1.00403066e+01] [-8.48399713e-02 9.96394112e-01 -9.76092572e-04 -5.09882975e-01] [-1.62137715e-02 -4.01057895e-04 9.99868468e-01 -1.89383431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.338623853 meters 0.03133183832822531 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.51, Z:-0.19 [[ 9.96065380e-01 8.71984838e-02 1.58171885e-02 1.00726844e+01] [-8.71943325e-02 9.96190865e-01 -9.53211924e-04 -5.11488554e-01] [-1.58400573e-02 -4.29707792e-04 9.99874446e-01 -1.90275764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.368623853 meters 0.03403649377914097 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.51, Z:-0.19 [[ 9.95884254e-01 8.92696876e-02 1.56676892e-02 1.01039211e+01] [-8.92658745e-02 9.96007386e-01 -9.43939094e-04 -5.09722322e-01] [-1.56893993e-02 -4.58535897e-04 9.99876809e-01 -1.91684294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.398623853 meters 0.03861007372577185 Centerline is valid? [True, True] Translation: X:10.14, Y:-0.51, Z:-0.19 [[ 9.95626133e-01 9.20077903e-02 1.62225336e-02 1.01356689e+01] [-9.20040224e-02 9.95758153e-01 -9.80017664e-04 -5.05017170e-01] [-1.62438893e-02 -5.16807145e-04 9.99867926e-01 -1.92632488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.428623853 meters 0.03699534482625718 Centerline is valid? [True, True] Translation: X:10.17, Y:-0.51, Z:-0.19 [[ 9.95559608e-01 9.25884243e-02 1.69838462e-02 1.01688720e+01] [-9.25843369e-02 9.95704315e-01 -1.02847499e-03 -5.08775233e-01] [-1.70061138e-02 -5.48529980e-04 9.99855235e-01 -1.91766146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.458623853 meters 0.034059854418264694 Centerline is valid? [True, True] Translation: X:10.20, Y:-0.51, Z:-0.19 [[ 9.95604490e-01 9.17867711e-02 1.86249081e-02 1.02012461e+01] [-9.17816309e-02 9.95778514e-01 -1.13239220e-03 -5.13854833e-01] [-1.86502219e-02 -5.82009676e-04 9.99825900e-01 -1.89513526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.488623853 meters 0.036361070887263265 Centerline is valid? [True, True] Translation: X:10.23, Y:-0.51, Z:-0.19 [[ 9.95691574e-01 9.07086138e-02 1.92415655e-02 1.02324408e+01] [-9.07028984e-02 9.95877308e-01 -1.17134297e-03 -5.12486537e-01] [-1.92684894e-02 -5.78969431e-04 9.99814178e-01 -1.90288064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.518623853000001 meters 0.032201088543360616 Centerline is valid? [True, True] Translation: X:10.26, Y:-0.52, Z:-0.19 [[ 9.95815203e-01 8.92729758e-02 1.95555153e-02 1.02640666e+01] [-8.92667363e-02 9.96007041e-01 -1.19349344e-03 -5.20164237e-01] [-1.95839777e-02 -5.57158116e-04 9.99808060e-01 -1.89915956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.548623853 meters 0.031444621586305545 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.52, Z:-0.19 [[ 9.95947836e-01 8.77256611e-02 1.98019323e-02 1.02954294e+01] [-8.77188842e-02 9.96144532e-01 -1.21223872e-03 -5.22997740e-01] [-1.98319311e-02 -5.29676880e-04 9.99803188e-01 -1.90231645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.578623853 meters 0.027307491814285045 Centerline is valid? [True, True] Translation: X:10.33, Y:-0.53, Z:-0.19 [[ 9.96216128e-01 8.43218002e-02 2.10537552e-02 1.03271982e+01] [-8.43133294e-02 9.96438455e-01 -1.29125523e-03 -5.29157401e-01] [-2.10876522e-02 -4.88742909e-04 9.99777511e-01 -1.88678922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.608623853000001 meters 0.02656045474775866 Centerline is valid? [True, True] Translation: X:10.36, Y:-0.53, Z:-0.19 [[ 9.96351312e-01 8.25999410e-02 2.14781858e-02 1.03582560e+01] [-8.25907177e-02 9.96582680e-01 -1.31764304e-03 -5.31021182e-01] [-2.15136252e-02 -4.61063407e-04 9.99768449e-01 -1.89582805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.638623853 meters 0.023823091742649037 Centerline is valid? [True, True] Translation: X:10.39, Y:-0.54, Z:-0.19 [[ 9.96503186e-01 8.07421342e-02 2.14966844e-02 1.03902641e+01] [-8.07323931e-02 9.96734936e-01 -1.32201930e-03 -5.36261038e-01] [-2.15332390e-02 -4.18082325e-04 9.99768046e-01 -1.89849209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.668623853 meters 0.02875245687990155 Centerline is valid? [True, True] Translation: X:10.42, Y:-0.54, Z:-0.19 [[ 9.96683752e-01 7.84786838e-02 2.15080290e-02 1.04214740e+01] [-7.84683232e-02 9.96915725e-01 -1.32653747e-03 -5.40182733e-01] [-2.15457972e-02 -3.65560623e-04 9.99767796e-01 -1.88480681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.698623853 meters 0.019054678856253778 Centerline is valid? [True, True] Translation: X:10.45, Y:-0.55, Z:-0.19 [[ 9.96980773e-01 7.47405601e-02 2.10520273e-02 1.04528728e+01] [-7.47297659e-02 9.97202974e-01 -1.30007008e-03 -5.45797323e-01] [-2.10903122e-02 -2.77068203e-04 9.99777536e-01 -1.92600261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.728623853 meters 0.01721811602579 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.55, Z:-0.19 [[ 9.97124571e-01 7.29586314e-02 2.04848206e-02 1.04851513e+01] [-7.29479681e-02 9.97334941e-01 -1.26830223e-03 -5.50758579e-01] [-2.05227609e-02 -2.29670721e-04 9.99789360e-01 -1.94044852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.758623853 meters 0.015574933293576943 Centerline is valid? [True, True] Translation: X:10.52, Y:-0.56, Z:-0.20 [[ 9.97256245e-01 7.12570861e-02 2.00601525e-02 1.05171257e+01] [-7.12464516e-02 9.97457965e-01 -1.24521678e-03 -5.55636487e-01] [-2.00978894e-02 -1.87414476e-04 9.99797999e-01 -1.95911871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.788623853 meters 0.014205401232805387 Centerline is valid? [True, True] Translation: X:10.55, Y:-0.56, Z:-0.20 [[ 9.97486787e-01 6.83255048e-02 1.87545808e-02 1.05478373e+01] [-6.83156380e-02 9.97663075e-01 -1.16702355e-03 -5.60395698e-01] [-1.87904902e-02 -1.17140583e-04 9.99823436e-01 -2.00037960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.818623853 meters 0.013387016331876158 Centerline is valid? [True, True] Translation: X:10.58, Y:-0.56, Z:-0.20 [[ 9.97544258e-01 6.74185624e-02 1.89786723e-02 1.05797133e+01] [-6.74082338e-02 9.97724776e-01 -1.18414469e-03 -5.64290294e-01] [-1.90153249e-02 -9.80820423e-05 9.99819188e-01 -2.00253687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.848623853 meters 0.012613645580677643 Centerline is valid? [True, True] Translation: X:10.61, Y:-0.57, Z:-0.20 [[ 9.97649371e-01 6.57567062e-02 1.92817840e-02 1.06111665e+01] [-6.57456717e-02 9.97835684e-01 -1.20630750e-03 -5.68836937e-01] [-1.93193749e-02 -6.42219182e-05 9.99813361e-01 -2.00554042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.878623853 meters 0.012574043266494358 Centerline is valid? [True, True] Translation: X:10.64, Y:-0.57, Z:-0.20 [[ 9.97673975e-01 6.55165295e-02 1.88208453e-02 1.06441683e+01] [-6.55059202e-02 9.97851483e-01 -1.18030164e-03 -5.71901916e-01] [-1.88577376e-02 -5.53205605e-05 9.99822176e-01 -2.02062737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.908623853 meters 0.012526789010729652 Centerline is valid? [True, True] Translation: X:10.68, Y:-0.57, Z:-0.20 [[ 9.97677481e-01 6.54964603e-02 1.87044995e-02 1.06773116e+01] [-6.54859135e-02 9.97852800e-01 -1.17645858e-03 -5.74348232e-01] [-1.87413911e-02 -5.11550007e-05 9.99824363e-01 -2.03334903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.938623853000001 meters 0.012682837958536973 Centerline is valid? [True, True] Translation: X:10.71, Y:-0.58, Z:-0.21 [[ 9.97673465e-01 6.56889433e-02 1.82378828e-02 1.07097225e+01] [-6.56788862e-02 9.97840148e-01 -1.15051121e-03 -5.75723529e-01] [-1.82740675e-02 -5.00093261e-05 9.99833014e-01 -2.05171249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.968623853 meters 0.012807953481008563 Centerline is valid? [True, True] Translation: X:10.74, Y:-0.58, Z:-0.21 [[ 9.97671617e-01 6.58011415e-02 1.79319545e-02 1.07413333e+01] [-6.57913739e-02 9.97832755e-01 -1.13472866e-03 -5.77253972e-01] [-1.79677580e-02 -4.76813536e-05 9.99838566e-01 -2.06582814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.998623853 meters 0.012787326670848809 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.58, Z:-0.21 [[ 9.97650457e-01 6.60682725e-02 1.81259046e-02 1.07742753e+01] [-6.60583069e-02 9.97815103e-01 -1.14864122e-03 -5.78765735e-01] [-1.81621901e-02 -5.14241332e-05 9.99835052e-01 -2.07458213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.028623853000001 meters 0.01269357132139119 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.58, Z:-0.21 [[ 9.97640874e-01 6.61622894e-02 1.83095014e-02 1.08074613e+01] [-6.61520743e-02 9.97808874e-01 -1.16366919e-03 -5.80438408e-01] [-1.83463740e-02 -5.02875488e-05 9.99831690e-01 -2.07999551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.058623853 meters 0.012505445867781071 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.58, Z:-0.21 [[ 9.97630637e-01 6.63728199e-02 1.81041937e-02 1.08402941e+01] [-6.63628095e-02 9.97794892e-01 -1.15380758e-03 -5.81638200e-01] [-1.81408535e-02 -5.03713667e-05 9.99835440e-01 -2.08036728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.088623853 meters 0.012894403614578984 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.58, Z:-0.21 [[ 9.97632986e-01 6.64238672e-02 1.77846952e-02 1.08719513e+01] [-6.64141525e-02 9.97791495e-01 -1.13696092e-03 -5.82641123e-01] [-1.78209390e-02 -4.68857454e-05 9.99841193e-01 -2.11203071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.118623853 meters 0.012880881592755791 Centerline is valid? [True, True] Translation: X:10.90, Y:-0.58, Z:-0.21 [[ 9.97622207e-01 6.65352799e-02 1.79718887e-02 1.09037910e+01] [-6.65253155e-02 9.97784072e-01 -1.15237805e-03 -5.84563619e-01] [-1.80087380e-02 -4.59476327e-05 9.99837828e-01 -2.11539696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.148623853 meters 0.012608246091081058 Centerline is valid? [True, True] Translation: X:10.94, Y:-0.59, Z:-0.21 [[ 9.97616309e-01 6.64136948e-02 1.87329164e-02 1.09364864e+01] [-6.64027718e-02 9.97792172e-01 -1.20519309e-03 -5.85547737e-01] [-1.87715986e-02 -4.15972890e-05 9.99823797e-01 -2.11012867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.178623853 meters 0.012420265388867095 Centerline is valid? [True, True] Translation: X:10.97, Y:-0.59, Z:-0.21 [[ 9.97594025e-01 6.67364548e-02 1.87725044e-02 1.09697449e+01] [-6.67255390e-02 9.97770637e-01 -1.20793373e-03 -5.86915470e-01] [-1.88112668e-02 -4.75779965e-05 9.99823051e-01 -2.10637606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.208623853 meters 0.012744691718541803 Centerline is valid? [True, True] Translation: X:11.00, Y:-0.59, Z:-0.21 [[ 9.97575597e-01 6.70226401e-02 1.87321721e-02 1.10018445e+01] [-6.70117523e-02 9.97751454e-01 -1.20903087e-03 -5.87466947e-01] [-1.87710844e-02 -4.91759845e-05 9.99823806e-01 -2.12899744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.238623853 meters 0.012577092818709943 Centerline is valid? [True, True] Translation: X:11.04, Y:-0.59, Z:-0.21 [[ 9.97605476e-01 6.65416662e-02 1.88552674e-02 1.10350872e+01] [-6.65304837e-02 9.97783647e-01 -1.22043009e-03 -5.89628497e-01] [-1.88946870e-02 -3.69423209e-05 9.99821479e-01 -2.14115992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.268623853000001 meters 0.012574780465936939 Centerline is valid? [True, True] Translation: X:11.07, Y:-0.59, Z:-0.22 [[ 9.97651615e-01 6.60024664e-02 1.83010740e-02 1.10669748e+01] [-6.59917834e-02 9.97819460e-01 -1.18769295e-03 -5.92527238e-01] [-1.83395584e-02 -2.28167162e-05 9.99831816e-01 -2.15878495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.298623853 meters 0.012370211227574722 Centerline is valid? [True, True] Translation: X:11.10, Y:-0.60, Z:-0.22 [[ 9.97761510e-01 6.43826329e-02 1.80788718e-02 1.10996743e+01] [-6.43718928e-02 9.97925286e-01 -1.17598104e-03 -5.96510647e-01] [-1.81170761e-02 9.57742236e-06 9.99835872e-01 -2.15832394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.328623853 meters 0.012949645238510327 Centerline is valid? [True, True] Translation: X:11.13, Y:-0.60, Z:-0.22 [[ 9.97818112e-01 6.34974012e-02 1.80857820e-02 1.11312903e+01] [-6.34864435e-02 9.97982003e-01 -1.17995908e-03 -6.00716794e-01] [-1.81242093e-02 2.91825692e-05 9.99835743e-01 -2.19000958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.358623853000001 meters 0.01287288357876574 Centerline is valid? [True, True] Translation: X:11.16, Y:-0.60, Z:-0.22 [[ 9.97878830e-01 6.26154878e-02 1.78084884e-02 1.11642797e+01] [-6.26046705e-02 9.98037724e-01 -1.16481967e-03 -6.03513748e-01] [-1.78464790e-02 4.74543469e-05 9.99840738e-01 -2.18247884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.388623853 meters 0.01404522648542647 Centerline is valid? [True, True] Translation: X:11.20, Y:-0.61, Z:-0.22 [[ 9.98013300e-01 6.06687744e-02 1.69927425e-02 1.11953134e+01] [-6.06585860e-02 9.98157950e-01 -1.11482747e-03 -6.08511219e-01] [-1.70290763e-02 8.18569095e-05 9.99854991e-01 -2.21661530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.418623853 meters 0.01575134966936691 Centerline is valid? [True, True] Translation: X:11.23, Y:-0.61, Z:-0.23 [[ 9.98064234e-01 5.99831555e-02 1.64257706e-02 1.12256135e+01] [-5.99735020e-02 9.98199385e-01 -1.08010754e-03 -6.14022930e-01] [-1.64609823e-02 9.29057197e-05 9.99864505e-01 -2.26288309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.448623853 meters 0.016456177728496137 Centerline is valid? [True, True] Translation: X:11.26, Y:-0.62, Z:-0.23 [[ 9.98101613e-01 5.94180882e-02 1.62068435e-02 1.12585189e+01] [-5.94085791e-02 9.98233179e-01 -1.06796994e-03 -6.17894365e-01] [-1.62416657e-02 1.03116970e-04 9.99868090e-01 -2.27669493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.478623853 meters 0.01680774116823075 Centerline is valid? [True, True] Translation: X:11.29, Y:-0.62, Z:-0.23 [[ 9.98110706e-01 5.93892862e-02 1.57458269e-02 1.12914809e+01] [-5.93802664e-02 9.98234893e-01 -1.04015203e-03 -6.21053909e-01] [-1.57798077e-02 1.03195482e-04 9.99875486e-01 -2.29506330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.508623853 meters 0.01716043118933048 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.62, Z:-0.23 [[ 9.98109714e-01 5.95148015e-02 1.53292939e-02 1.13233269e+01] [-5.95062278e-02 9.98227418e-01 -1.01522206e-03 -6.23297781e-01] [-1.53625422e-02 1.01114545e-04 9.99881984e-01 -2.31831156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.538623853 meters 0.015659243451438133 Centerline is valid? [True, True] Translation: X:11.36, Y:-0.62, Z:-0.23 [[ 9.98083984e-01 5.99369069e-02 1.53599642e-02 1.13561217e+01] [-5.99283153e-02 9.98202163e-01 -1.01943051e-03 -6.23927211e-01] [-1.53934510e-02 9.69804874e-05 9.99881509e-01 -2.30015777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.568623853 meters 0.026471104902535104 Centerline is valid? [True, True] Translation: X:11.39, Y:-0.63, Z:-0.23 [[ 9.98055951e-01 6.03385080e-02 1.56071601e-02 1.13888649e+01] [-6.03296416e-02 9.98177968e-01 -1.03872267e-03 -6.25552445e-01] [-1.56413983e-02 9.51289703e-05 9.99877661e-01 -2.26920878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.598623853000001 meters 0.015028313707141786 Centerline is valid? [True, True] Translation: X:11.42, Y:-0.63, Z:-0.23 [[ 9.98011178e-01 6.10574331e-02 1.56741354e-02 1.14202492e+01] [-6.10485172e-02 9.98134251e-01 -1.04711582e-03 -6.27772371e-01] [-1.57088255e-02 8.81505664e-05 9.99876605e-01 -2.30325127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.628623853 meters 0.013795823919388763 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.63, Z:-0.23 [[ 9.97967269e-01 6.16269456e-02 1.62311000e-02 1.14528868e+01] [-6.16174461e-02 9.98099250e-01 -1.08518924e-03 -6.27357252e-01] [-1.62671256e-02 8.28644118e-05 9.99867678e-01 -2.28135667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.658623853 meters 0.01462696144594358 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.63, Z:-0.23 [[ 9.97937967e-01 6.21142808e-02 1.61750054e-02 1.14847483e+01] [-6.21048664e-02 9.98069041e-01 -1.08418039e-03 -6.30930911e-01] [-1.62111152e-02 7.73982197e-05 9.99868588e-01 -2.31711375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.688623853000001 meters 0.014239848763155026 Centerline is valid? [True, True] Translation: X:11.52, Y:-0.63, Z:-0.23 [[ 9.97891299e-01 6.27688757e-02 1.65233991e-02 1.15159750e+01] [-6.27590735e-02 9.98028087e-01 -1.11161043e-03 -6.32952357e-01] [-1.65605909e-02 7.22731585e-05 9.99862861e-01 -2.31728835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.718623853 meters 0.013835362125126044 Centerline is valid? [True, True] Translation: X:11.55, Y:-0.63, Z:-0.23 [[ 9.97836532e-01 6.35325125e-02 1.69078576e-02 1.15480252e+01] [-6.35223414e-02 9.97979767e-01 -1.13848238e-03 -6.33665240e-01] [-1.69460305e-02 6.19926056e-05 9.99856404e-01 -2.31876905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.748623853 meters 0.013289126075927308 Centerline is valid? [True, True] Translation: X:11.58, Y:-0.63, Z:-0.23 [[ 9.97776745e-01 6.44710570e-02 1.68833988e-02 1.15809448e+01] [-6.44610088e-02 9.97919576e-01 -1.13924432e-03 -6.33952243e-01] [-1.69217224e-02 4.83905678e-05 9.99856816e-01 -2.31311665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.778623853000001 meters 0.01267482310305237 Centerline is valid? [True, True] Translation: X:11.61, Y:-0.64, Z:-0.23 [[ 9.97670532e-01 6.60326275e-02 1.71231510e-02 1.16136804e+01] [-6.60224654e-02 9.97817464e-01 -1.15871033e-03 -6.35539741e-01] [-1.71622918e-02 2.54985093e-05 9.99852717e-01 -2.31356487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.808623853 meters 0.012676215010081286 Centerline is valid? [True, True] Translation: X:11.65, Y:-0.64, Z:-0.23 [[ 9.97614671e-01 6.68586118e-02 1.71724786e-02 1.16463413e+01] [-6.68484562e-02 9.97762460e-01 -1.16536983e-03 -6.37105505e-01] [-1.72119695e-02 1.46363520e-05 9.99851863e-01 -2.31621351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.838623853 meters 0.012924803465299345 Centerline is valid? [True, True] Translation: X:11.68, Y:-0.64, Z:-0.24 [[ 9.97531525e-01 6.81074460e-02 1.70948043e-02 1.16783173e+01] [-6.80974999e-02 9.97677992e-01 -1.16392283e-03 -6.36624696e-01] [-1.71343819e-02 -3.06372417e-06 9.99853196e-01 -2.35415197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.868623853 meters 0.013100853596978731 Centerline is valid? [True, True] Translation: X:11.71, Y:-0.64, Z:-0.24 [[ 9.97522783e-01 6.83522961e-02 1.66211021e-02 1.17112004e+01] [-6.83429039e-02 9.97661247e-01 -1.13309207e-03 -6.39661400e-01] [-1.66596789e-02 -5.64922983e-06 9.99861218e-01 -2.37322173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.898623853 meters 0.012833634389781974 Centerline is valid? [True, True] Translation: X:11.74, Y:-0.64, Z:-0.24 [[ 9.97561755e-01 6.78296350e-02 1.64221195e-02 1.17443539e+01] [-6.78203512e-02 9.97696918e-01 -1.12222271e-03 -6.44351801e-01] [-1.64604180e-02 5.73254388e-06 9.99864518e-01 -2.36965885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.928623853000001 meters 0.013391814856471949 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.65, Z:-0.24 [[ 9.97627626e-01 6.68455500e-02 1.64557890e-02 1.17758871e+01] [-6.68360328e-02 9.97763335e-01 -1.12824159e-03 -6.49398224e-01] [-1.64944008e-02 2.57253259e-05 9.99863958e-01 -2.39674637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.958623853 meters 0.013854568291862992 Centerline is valid? [True, True] Translation: X:11.81, Y:-0.66, Z:-0.24 [[ 9.97765001e-01 6.46880949e-02 1.67467554e-02 1.18083665e+01] [-6.46779102e-02 9.97905530e-01 -1.14962863e-03 -6.55618799e-01] [-1.67860471e-02 6.39140627e-05 9.99859102e-01 -2.38794002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.988623853 meters 0.016300474753585266 Centerline is valid? [True, True] Translation: X:11.84, Y:-0.66, Z:-0.24 [[ 9.97846086e-01 6.33406078e-02 1.70633164e-02 1.18415871e+01] [-6.33297825e-02 9.97991963e-01 -1.17456596e-03 -6.60983763e-01] [-1.71034504e-02 9.14199258e-05 9.99853721e-01 -2.37579207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.018623853 meters 0.018869634506233447 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.67, Z:-0.24 [[ 9.97913193e-01 6.22169681e-02 1.72715795e-02 1.18739769e+01] [-6.22056505e-02 9.98062641e-01 -1.19225518e-03 -6.67425187e-01] [-1.73122967e-02 1.15377335e-04 9.99850124e-01 -2.37176293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.048623853 meters 0.018869634506233447 Centerline is valid? [True, True] Translation: X:11.91, Y:-0.67, Z:-0.24 [[ 9.97901346e-01 6.24067627e-02 1.72713524e-02 1.19063669e+01] [-6.23954168e-02 9.98050792e-01 -1.19553365e-03 -6.69862547e-01] [-1.73122963e-02 1.15371407e-04 9.99850124e-01 -2.37994151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.078623853 meters 0.015464798340813162 Centerline is valid? [True, True] Translation: X:11.94, Y:-0.68, Z:-0.24 [[ 9.97957082e-01 6.14473804e-02 1.74894765e-02 1.19390906e+01] [-6.14355396e-02 9.98110315e-01 -1.21400931e-03 -6.75591401e-01] [-1.75310246e-02 1.37053761e-04 9.99846310e-01 -2.39090011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.108623853 meters 0.016263671823534314 Centerline is valid? [True, True] Translation: X:11.97, Y:-0.68, Z:-0.24 [[ 9.98018593e-01 6.03826907e-02 1.76866823e-02 1.19703357e+01] [-6.03703389e-02 9.98175287e-01 -1.23194090e-03 -6.82613582e-01] [-1.77287971e-02 1.61748921e-04 9.99842819e-01 -2.39189540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.138623853000002 meters 0.02171148986048016 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.69, Z:-0.24 [[ 9.97992719e-01 6.07500138e-02 1.78876579e-02 1.20017562e+01] [-6.07374196e-02 9.98153000e-01 -1.24700548e-03 -6.86407933e-01] [-1.79303750e-02 1.58052208e-04 9.99839225e-01 -2.38496546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.168623853 meters 0.015561490349231327 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.69, Z:-0.24 [[ 9.97892461e-01 6.22902725e-02 1.81812578e-02 1.20331611e+01] [-6.22774522e-02 9.98058066e-01 -1.27102922e-03 -6.88727465e-01] [-1.82251238e-02 1.36068064e-04 9.99833899e-01 -2.39607001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.198623853 meters 0.018654220768419136 Centerline is valid? [True, True] Translation: X:12.07, Y:-0.69, Z:-0.24 [[ 9.97800498e-01 6.36256821e-02 1.85994553e-02 1.20657722e+01] [-6.36124440e-02 9.97973827e-01 -1.30311427e-03 -6.90033484e-01] [-1.86446811e-02 1.17091255e-04 9.99826166e-01 -2.38949715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.228623853000002 meters 0.013890350836196412 Centerline is valid? [True, True] Translation: X:12.10, Y:-0.69, Z:-0.24 [[ 9.97700190e-01 6.51578807e-02 1.86757147e-02 1.20967806e+01] [-6.51447435e-02 9.97874963e-01 -1.31158907e-03 -6.91823050e-01] [-1.87214885e-02 9.19480191e-05 9.99824733e-01 -2.40290457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.258623853 meters 0.01241332981763952 Centerline is valid? [True, True] Translation: X:12.13, Y:-0.69, Z:-0.24 [[ 9.97490737e-01 6.81442955e-02 1.91985627e-02 1.21287923e+01] [-6.81309101e-02 9.97675475e-01 -1.35117962e-03 -6.92347473e-01] [-1.92460103e-02 3.97736029e-05 9.99814778e-01 -2.39079438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.288623853 meters 0.012212101895507326 Centerline is valid? [True, True] Translation: X:12.16, Y:-0.69, Z:-0.24 [[ 9.97396827e-01 6.96093916e-02 1.88175883e-02 1.21602754e+01] [-6.95967286e-02 9.97574324e-01 -1.32777244e-03 -6.94134154e-01] [-1.88643684e-02 1.46734381e-05 9.99822052e-01 -2.40805861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.318623853000002 meters 0.012302876624905071 Centerline is valid? [True, True] Translation: X:12.19, Y:-0.70, Z:-0.24 [[ 9.97304356e-01 7.09889704e-02 1.85630556e-02 1.21919414e+01] [-7.09768525e-02 9.97477100e-01 -1.31164949e-03 -6.95963885e-01] [-1.86093355e-02 -9.43350508e-06 9.99826831e-01 -2.42355349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.348623853 meters 0.012793764359184967 Centerline is valid? [True, True] Translation: X:12.22, Y:-0.70, Z:-0.24 [[ 9.97137620e-01 7.33575247e-02 1.83095547e-02 1.22235809e+01] [-7.33460769e-02 9.97305706e-01 -1.29688522e-03 -6.96709604e-01] [-1.83553597e-02 -4.97609647e-05 9.99831525e-01 -2.44678576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.378623853 meters 0.01286004586399768 Centerline is valid? [True, True] Translation: X:12.26, Y:-0.70, Z:-0.25 [[ 9.97072664e-01 7.43199529e-02 1.79624051e-02 1.22567983e+01] [-7.43090384e-02 9.97234446e-01 -1.27522943e-03 -6.99366793e-01] [-1.80075041e-02 -6.32726475e-05 9.99837850e-01 -2.45399438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.408623853 meters 0.013330771631666813 Centerline is valid? [True, True] Translation: X:12.29, Y:-0.70, Z:-0.25 [[ 9.96983386e-01 7.55573676e-02 1.77542161e-02 1.22900977e+01] [-7.55468421e-02 9.97141453e-01 -1.26374905e-03 -7.01770681e-01] [-1.77989504e-02 -8.13381524e-05 9.99841583e-01 -2.46503728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.438623853 meters 0.01373533296690139 Centerline is valid? [True, True] Translation: X:12.32, Y:-0.70, Z:-0.25 [[ 9.96884851e-01 7.67803851e-02 1.80379203e-02 1.23214900e+01] [-7.67696562e-02 9.97048024e-01 -1.28751145e-03 -7.04398081e-01] [-1.80835284e-02 -1.01264279e-04 9.99836475e-01 -2.47088727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.468623853 meters 0.015826116818510243 Centerline is valid? [True, True] Translation: X:12.35, Y:-0.70, Z:-0.25 [[ 9.96632866e-01 7.98837191e-02 1.84803228e-02 1.23531982e+01] [-7.98729252e-02 9.96804177e-01 -1.32262320e-03 -7.03014247e-01] [-1.85269190e-02 -1.57907690e-04 9.99828349e-01 -2.47584261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.498623853 meters 0.017448723780556893 Centerline is valid? [True, True] Translation: X:12.39, Y:-0.70, Z:-0.25 [[ 9.96466780e-01 8.18986475e-02 1.86163224e-02 1.23851917e+01] [-8.18879934e-02 9.96640644e-01 -1.33515499e-03 -7.02224912e-01] [-1.86631309e-02 -1.94015687e-04 9.99825810e-01 -2.48666562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.528623853 meters 0.01909896230291903 Centerline is valid? [True, True] Translation: X:12.42, Y:-0.70, Z:-0.25 [[ 9.96170270e-01 8.52866726e-02 1.92607747e-02 1.24169804e+01] [-8.52758393e-02 9.96356419e-01 -1.38457037e-03 -7.02449935e-01] [-1.93086819e-02 -2.63210889e-04 9.99813535e-01 -2.47454963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.558623853 meters 0.021036432624404397 Centerline is valid? [True, True] Translation: X:12.45, Y:-0.70, Z:-0.25 [[ 9.96011809e-01 8.70668849e-02 1.94893146e-02 1.24484628e+01] [-8.70560741e-02 9.96202424e-01 -1.40404478e-03 -7.02305473e-01] [-1.95375483e-02 -2.98218039e-04 9.99809079e-01 -2.48072030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.588623853 meters 0.02250377480142234 Centerline is valid? [True, True] Translation: X:12.48, Y:-0.70, Z:-0.25 [[ 9.95852914e-01 8.89225189e-02 1.92291524e-02 1.24804808e+01] [-8.89122862e-02 9.96038492e-01 -1.38812377e-03 -7.02175360e-01] [-1.92764115e-02 -3.27340798e-04 9.99814139e-01 -2.49148761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.618623853 meters 0.026277634304090216 Centerline is valid? [True, True] Translation: X:12.51, Y:-0.70, Z:-0.25 [[ 9.95613804e-01 9.16904458e-02 1.86014646e-02 1.25118298e+01] [-9.16812974e-02 9.95787492e-01 -1.34579590e-03 -6.97642744e-01] [-1.86465024e-02 -3.65513428e-04 9.99826072e-01 -2.51718194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.648623853 meters 0.024475538665730275 Centerline is valid? [True, True] Translation: X:12.54, Y:-0.70, Z:-0.25 [[ 9.95493894e-01 9.30130162e-02 1.84522449e-02 1.25441889e+01] [-9.30041928e-02 9.95664819e-01 -1.33760646e-03 -7.02313444e-01] [-1.84966659e-02 -3.84557080e-04 9.99828848e-01 -2.51635375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.678623853 meters 0.027889960015335852 Centerline is valid? [True, True] Translation: X:12.58, Y:-0.70, Z:-0.25 [[ 9.95378625e-01 9.42939752e-02 1.81669921e-02 1.25755877e+01] [-9.42855791e-02 9.95544317e-01 -1.32003803e-03 -6.99510178e-01] [-1.82105174e-02 -3.98947735e-04 9.99834095e-01 -2.53775180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.708623853 meters 0.02932344887199052 Centerline is valid? [True, True] Translation: X:12.61, Y:-0.70, Z:-0.26 [[ 9.95291546e-01 9.54245082e-02 1.69971195e-02 1.26064288e+01] [-9.54172716e-02 9.95436593e-01 -1.23806945e-03 -6.98794424e-01] [-1.70376969e-02 -3.89578716e-04 9.99854772e-01 -2.56234878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.738623853 meters 0.02920512164160355 Centerline is valid? [True, True] Translation: X:12.64, Y:-0.70, Z:-0.26 [[ 9.95305487e-01 9.53253126e-02 1.67353396e-02 1.26389839e+01] [-9.53182755e-02 9.95446101e-01 -1.21945958e-03 -7.00748213e-01] [-1.67753739e-02 -3.81448896e-04 9.99859211e-01 -2.57779397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.768623853 meters 0.029253054550747285 Centerline is valid? [True, True] Translation: X:12.67, Y:-0.70, Z:-0.26 [[ 9.95320641e-01 9.51280162e-02 1.69553025e-02 1.26704326e+01] [-9.51207060e-02 9.95464975e-01 -1.23891733e-03 -7.02677469e-01] [-1.69962655e-02 -3.79680352e-04 9.99855481e-01 -2.58552572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.798623853 meters 0.027939637464330803 Centerline is valid? [True, True] Translation: X:12.70, Y:-0.71, Z:-0.26 [[ 9.95379610e-01 9.44478031e-02 1.72929227e-02 1.27022151e+01] [-9.44400525e-02 9.95529745e-01 -1.26611032e-03 -7.06126657e-01] [-1.73352003e-02 -3.72884135e-04 9.99849665e-01 -2.58338077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.828623853 meters 0.026388417153897295 Centerline is valid? [True, True] Translation: X:12.73, Y:-0.71, Z:-0.26 [[ 9.95555611e-01 9.24557446e-02 1.79153702e-02 1.27338086e+01] [-9.24470366e-02 9.95716734e-01 -1.31541102e-03 -7.08356722e-01] [-1.79602512e-02 -3.46658065e-04 9.99838642e-01 -2.57946064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.858623853 meters 0.02487964165577997 Centerline is valid? [True, True] Translation: X:12.77, Y:-0.71, Z:-0.26 [[ 9.95649554e-01 9.14109241e-02 1.80556984e-02 1.27661637e+01] [-9.14019016e-02 9.95813202e-01 -1.32603224e-03 -7.11898893e-01] [-1.81013167e-02 -3.30061762e-04 9.99836103e-01 -2.58511008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.888623853000002 meters 0.022282691252510978 Centerline is valid? [True, True] Translation: X:12.80, Y:-0.72, Z:-0.26 [[ 9.95781024e-01 8.99352947e-02 1.82152269e-02 1.27976030e+01] [-8.99257997e-02 9.95947565e-01 -1.34133887e-03 -7.17280730e-01] [-1.82620446e-02 -3.02339054e-04 9.99833189e-01 -2.58403912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.918623853 meters 0.020580341882370016 Centerline is valid? [True, True] Translation: X:12.83, Y:-0.72, Z:-0.26 [[ 9.96053127e-01 8.68327729e-02 1.83912255e-02 1.28289365e+01] [-8.68225576e-02 9.96222871e-01 -1.35468271e-03 -7.21152495e-01] [-1.84393903e-02 -2.47437287e-04 9.99829949e-01 -2.60130818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.948623853 meters 0.017475155709953102 Centerline is valid? [True, True] Translation: X:12.86, Y:-0.73, Z:-0.26 [[ 9.96206124e-01 8.50675095e-02 1.83542026e-02 1.28602548e+01] [-8.50569815e-02 9.96375167e-01 -1.35490234e-03 -7.28203868e-01] [-1.84029298e-02 -2.11391058e-04 9.99830629e-01 -2.59856560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.978623853000002 meters 0.016556634708122003 Centerline is valid? [True, True] Translation: X:12.89, Y:-0.73, Z:-0.26 [[ 9.96344241e-01 8.33548301e-02 1.87116680e-02 1.28911842e+01] [-8.33435250e-02 9.96519914e-01 -1.38453912e-03 -7.31852856e-01] [-1.87619578e-02 -1.80018793e-04 9.99823963e-01 -2.60175301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.008623853 meters 0.013765314280651093 Centerline is valid? [True, True] Translation: X:12.92, Y:-0.74, Z:-0.26 [[ 9.96627778e-01 7.98608417e-02 1.88498679e-02 1.29232529e+01] [-7.98486900e-02 9.96806016e-01 -1.39761822e-03 -7.39259147e-01] [-1.89012767e-02 -1.12232112e-04 9.99821349e-01 -2.59977266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.038623853 meters 0.022487517650439767 Centerline is valid? [True, True] Translation: X:12.96, Y:-0.74, Z:-0.26 [[ 9.96777095e-01 7.80975922e-02 1.83354776e-02 1.29556422e+01] [-7.80857434e-02 9.96945716e-01 -1.36235945e-03 -7.43866317e-01] [-1.83858729e-02 -7.37707060e-05 9.99830963e-01 -2.59872364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.068623853000002 meters 0.012522701221875461 Centerline is valid? [True, True] Translation: X:12.99, Y:-0.75, Z:-0.26 [[ 9.96883765e-01 7.67209500e-02 1.83481677e-02 1.29868677e+01] [-7.67087974e-02 9.97052603e-01 -1.36624986e-03 -7.48102442e-01] [-1.83989083e-02 -4.54735774e-05 9.99830725e-01 -2.63416272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.098623853 meters 0.01235532070162178 Centerline is valid? [True, True] Translation: X:13.02, Y:-0.76, Z:-0.26 [[ 9.97120150e-01 7.37233619e-02 1.77840650e-02 1.30195471e+01] [-7.37114171e-02 9.97278730e-01 -1.32711426e-03 -7.55759649e-01] [-1.78335091e-02 1.24037367e-05 9.99840970e-01 -2.64682048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.128623853 meters 0.012709523389826321 Centerline is valid? [True, True] Translation: X:13.05, Y:-0.76, Z:-0.27 [[ 9.97204912e-01 7.25903034e-02 1.76921326e-02 1.30527269e+01] [-7.25782439e-02 9.97361843e-01 -1.32361002e-03 -7.60764899e-01] [-1.77415392e-02 3.58465036e-05 9.99842606e-01 -2.65944896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.158623853 meters 0.019258760219080354 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.76, Z:-0.27 [[ 9.97265580e-01 7.17871590e-02 1.75489998e-02 1.30845660e+01] [-7.17751092e-02 9.97419972e-01 -1.31632971e-03 -7.64618694e-01] [-1.75982184e-02 5.31489308e-05 9.99845138e-01 -2.66780897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.188623853 meters 0.013932397383939265 Centerline is valid? [True, True] Translation: X:13.12, Y:-0.77, Z:-0.27 [[ 9.97371395e-01 7.02657310e-02 1.76925612e-02 1.31168212e+01] [-7.02531707e-02 9.97528305e-01 -1.33122133e-03 -7.69115449e-01] [-1.77423698e-02 8.47635580e-05 9.99842588e-01 -2.68926154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.218623853 meters 0.014373551119838368 Centerline is valid? [True, True] Translation: X:13.15, Y:-0.77, Z:-0.27 [[ 9.97407970e-01 6.97532876e-02 1.76584183e-02 1.31486240e+01] [-6.97406925e-02 9.97564269e-01 -1.32881144e-03 -7.73119467e-01] [-1.77080961e-02 9.38567994e-05 9.99843195e-01 -2.69461129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.248623853 meters 0.014188836785863369 Centerline is valid? [True, True] Translation: X:13.18, Y:-0.78, Z:-0.27 [[ 9.97443420e-01 6.91994981e-02 1.78340341e-02 1.31810407e+01] [-6.91865097e-02 9.97602836e-01 -1.34498838e-03 -7.76267158e-01] [-1.78843556e-02 1.07675228e-04 9.99840056e-01 -2.69195854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.278623853 meters 0.014346110936502694 Centerline is valid? [True, True] Translation: X:13.21, Y:-0.78, Z:-0.27 [[ 9.97485886e-01 6.85331383e-02 1.80309850e-02 1.32142172e+01] [-6.85196889e-02 9.97648833e-01 -1.36336461e-03 -7.80040129e-01] [-1.80820268e-02 1.24459473e-04 9.99836499e-01 -2.68353545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.308623853 meters 0.01845555904847911 Centerline is valid? [True, True] Translation: X:13.25, Y:-0.78, Z:-0.27 [[ 9.97461849e-01 6.87747931e-02 1.84360533e-02 1.32463804e+01] [-6.87607018e-02 9.97632203e-01 -1.39789099e-03 -7.82037688e-01] [-1.84885401e-02 1.26666967e-04 9.99829064e-01 -2.68304408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.338623853 meters 0.014670750650329061 Centerline is valid? [True, True] Translation: X:13.28, Y:-0.79, Z:-0.27 [[ 9.97423046e-01 6.93241111e-02 1.84779699e-02 1.32776999e+01] [-6.93099854e-02 9.97594183e-01 -1.40454948e-03 -7.85012059e-01] [-1.85308844e-02 1.20222195e-04 9.99828281e-01 -2.70457619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.368623853 meters 0.013681425853024844 Centerline is valid? [True, True] Translation: X:13.31, Y:-0.78, Z:-0.27 [[ 9.97304899e-01 7.09865597e-02 1.85430833e-02 1.33099255e+01] [-7.09725556e-02 9.97477268e-01 -1.41304322e-03 -7.83971476e-01] [-1.85966111e-02 9.31849216e-05 9.99827064e-01 -2.71050352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.398623853 meters 0.013165339492385554 Centerline is valid? [True, True] Translation: X:13.34, Y:-0.78, Z:-0.27 [[ 9.97218836e-01 7.21987353e-02 1.84915020e-02 1.33425199e+01] [-7.21849634e-02 9.97390263e-01 -1.41202743e-03 -7.83952065e-01] [-1.85451907e-02 7.32919517e-05 9.99828020e-01 -2.72641671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.428623853 meters 0.012813452544926555 Centerline is valid? [True, True] Translation: X:13.38, Y:-0.78, Z:-0.27 [[ 9.97153095e-01 7.32629435e-02 1.78394674e-02 1.33757569e+01] [-7.32502385e-02 9.97312658e-01 -1.36544910e-03 -7.84354366e-01] [-1.78915635e-02 5.48165495e-05 9.99839932e-01 -2.73618867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.458623853 meters 0.012674579785802043 Centerline is valid? [True, True] Translation: X:13.41, Y:-0.78, Z:-0.28 [[ 9.97025727e-01 7.52096656e-02 1.68286951e-02 1.34081711e+01] [-7.51985757e-02 9.97167742e-01 -1.29170930e-03 -7.83078565e-01] [-1.68781810e-02 2.23734994e-05 9.99857553e-01 -2.76645550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.488623853 meters 0.012529023485483605 Centerline is valid? [True, True] Translation: X:13.44, Y:-0.78, Z:-0.28 [[ 9.96954780e-01 7.62123319e-02 1.65181002e-02 1.34409097e+01] [-7.62017636e-02 9.97091611e-01 -1.26917600e-03 -7.83649951e-01] [-1.65667860e-02 6.60271364e-06 9.99862761e-01 -2.77657956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.518623853 meters 0.012874449000736053 Centerline is valid? [True, True] Translation: X:13.47, Y:-0.78, Z:-0.28 [[ 9.96873703e-01 7.73233125e-02 1.62458078e-02 1.34726569e+01] [-7.73131844e-02 9.97006071e-01 -1.25149894e-03 -7.84171310e-01] [-1.62939390e-02 -8.42875100e-06 9.99867245e-01 -2.80708192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.548623853000002 meters 0.012712011202461786 Centerline is valid? [True, True] Translation: X:13.51, Y:-0.78, Z:-0.28 [[ 9.96787238e-01 7.84737501e-02 1.60334961e-02 1.35056467e+01] [-7.84639883e-02 9.96916180e-01 -1.23797116e-03 -7.83463155e-01] [-1.60811999e-02 -2.40581964e-05 9.99870689e-01 -2.80135048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.578623853 meters 0.012800042143247177 Centerline is valid? [True, True] Translation: X:13.54, Y:-0.78, Z:-0.28 [[ 9.96775173e-01 7.86632971e-02 1.58537145e-02 1.35390819e+01] [-7.86537293e-02 9.96901241e-01 -1.22708910e-03 -7.84917541e-01] [-1.59011145e-02 -2.38218136e-05 9.99873569e-01 -2.81122387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.608623853 meters 0.012571700187619439 Centerline is valid? [True, True] Translation: X:13.57, Y:-0.79, Z:-0.28 [[ 9.96758994e-01 7.87705093e-02 1.63313833e-02 1.35713668e+01] [-7.87603138e-02 9.96892776e-01 -1.26752884e-03 -7.86426055e-01] [-1.63804819e-02 -2.28440966e-05 9.99865831e-01 -2.82098105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.638623853000002 meters 0.012646189418007108 Centerline is valid? [True, True] Translation: X:13.60, Y:-0.79, Z:-0.28 [[ 9.96758425e-01 7.87247487e-02 1.65848437e-02 1.36036306e+01] [-7.87141677e-02 9.96896391e-01 -1.29081530e-03 -7.88650564e-01] [-1.66349899e-02 -1.88311467e-05 9.99861629e-01 -2.82750360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.668623853 meters 0.012668538624945413 Centerline is valid? [True, True] Translation: X:13.64, Y:-0.79, Z:-0.28 [[ 9.96823256e-01 7.79016018e-02 1.65751938e-02 1.36353480e+01] [-7.78908942e-02 9.96961053e-01 -1.29157864e-03 -7.92139376e-01] [-1.66254387e-02 -3.58103598e-06 9.99861788e-01 -2.83943581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.698623853 meters 0.0126367261095972 Centerline is valid? [True, True] Translation: X:13.67, Y:-0.80, Z:-0.28 [[ 9.96887495e-01 7.71715708e-02 1.61205238e-02 1.36683625e+01] [-7.71613056e-02 9.97017828e-01 -1.25871738e-03 -7.95827962e-01] [-1.61695868e-02 1.09189555e-05 9.99869264e-01 -2.84333059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.728623853000002 meters 0.013039638670680963 Centerline is valid? [True, True] Translation: X:13.70, Y:-0.80, Z:-0.28 [[ 9.97032772e-01 7.51769041e-02 1.65554859e-02 1.37003992e+01] [-7.51657440e-02 9.97170212e-01 -1.29620031e-03 -8.02454354e-01] [-1.66060817e-02 4.79487716e-05 9.99862108e-01 -2.84767082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.758623853 meters 0.017678204925975032 Centerline is valid? [True, True] Translation: X:13.73, Y:-0.81, Z:-0.28 [[ 9.97113947e-01 7.39642597e-02 1.71191370e-02 1.37322107e+01] [-7.39520906e-02 9.97260890e-01 -1.34366969e-03 -8.08100519e-01] [-1.71716294e-02 7.37958116e-05 9.99852554e-01 -2.83663652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.788623853 meters 0.013994611112427377 Centerline is valid? [True, True] Translation: X:13.76, Y:-0.81, Z:-0.28 [[ 9.97182275e-01 7.29273223e-02 1.75816876e-02 1.37649165e+01] [-7.29142682e-02 9.97337253e-01 -1.38322840e-03 -8.13379212e-01] [-1.76357472e-02 9.73749589e-05 9.99844473e-01 -2.84223006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.818623853000002 meters 0.01552388695238838 Centerline is valid? [True, True] Translation: X:13.80, Y:-0.82, Z:-0.28 [[ 9.97339227e-01 7.05745393e-02 1.82674579e-02 1.37960185e+01] [-7.05599790e-02 9.97506497e-01 -1.44116928e-03 -8.20567413e-01] [-1.83236178e-02 1.48383213e-04 9.99832097e-01 -2.83576879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.848623853 meters 0.01683066896030067 Centerline is valid? [True, True] Translation: X:13.83, Y:-0.83, Z:-0.28 [[ 9.97406708e-01 6.95694543e-02 1.84377461e-02 1.38263757e+01] [-6.95543874e-02 9.97577096e-01 -1.45796457e-03 -8.26336827e-01] [-1.84945030e-02 1.71757502e-04 9.99828947e-01 -2.84154260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.878623853 meters 0.016348710505731105 Centerline is valid? [True, True] Translation: X:13.86, Y:-0.83, Z:-0.28 [[ 9.97459181e-01 6.86718191e-02 1.89568790e-02 1.38590795e+01] [-6.86557079e-02 9.97639285e-01 -1.50015918e-03 -8.29398252e-01] [-1.90151459e-02 1.94849600e-04 9.99819177e-01 -2.82917246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.908623853 meters 0.017437321972252524 Centerline is valid? [True, True] Translation: X:13.89, Y:-0.84, Z:-0.28 [[ 9.97515593e-01 6.77266160e-02 1.93841795e-02 1.38901499e+01] [-6.77095094e-02 9.97703892e-01 -1.53820777e-03 -8.35860809e-01] [-1.94438490e-02 2.21892948e-04 9.99810926e-01 -2.83099039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.938623853 meters 0.017437321972252524 Centerline is valid? [True, True] Translation: X:13.92, Y:-0.84, Z:-0.28 [[ 9.97502350e-01 6.79214504e-02 1.93839463e-02 1.39225123e+01] [-6.79043237e-02 9.97690647e-01 -1.54113988e-03 -8.38621966e-01] [-1.94438584e-02 2.21036882e-04 9.99810926e-01 -2.83916785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.968623853 meters 0.01748651446624003 Centerline is valid? [True, True] Translation: X:13.96, Y:-0.84, Z:-0.29 [[ 9.97495725e-01 6.81137989e-02 1.90470180e-02 1.39554541e+01] [-6.80972277e-02 9.97677535e-01 -1.51800784e-03 -8.42449383e-01] [-1.91061792e-02 2.17157213e-04 9.99817437e-01 -2.85436466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.998623853 meters 0.018715480856513995 Centerline is valid? [True, True] Translation: X:13.99, Y:-0.85, Z:-0.29 [[ 9.97471790e-01 6.85216399e-02 1.88364611e-02 1.39865782e+01] [-6.85054352e-02 9.97649608e-01 -1.50496228e-03 -8.47983135e-01] [-1.88953105e-02 2.10757456e-04 9.99821445e-01 -2.87873321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.028623853 meters 0.01691716535145459 Centerline is valid? [True, True] Translation: X:14.02, Y:-0.85, Z:-0.29 [[ 9.97414804e-01 6.96790264e-02 1.75653689e-02 1.40194358e+01] [-6.96650646e-02 9.97569447e-01 -1.40623759e-03 -8.50480143e-01] [-1.76206606e-02 1.78909635e-04 9.99844728e-01 -2.90234249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.058623853 meters 0.016337337261032474 Centerline is valid? [True, True] Translation: X:14.05, Y:-0.85, Z:-0.29 [[ 9.97360324e-01 7.06629233e-02 1.67073403e-02 1.40525655e+01] [-7.06503796e-02 9.97500239e-01 -1.34057271e-03 -8.53270856e-01] [-1.67603048e-02 1.56654097e-04 9.99859524e-01 -2.91953054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.088623853 meters 0.016202512264366743 Centerline is valid? [True, True] Translation: X:14.08, Y:-0.86, Z:-0.29 [[ 9.97290133e-01 7.16411948e-02 1.67311144e-02 1.40832553e+01] [-7.16286923e-02 9.97430458e-01 -1.34609457e-03 -8.56053387e-01] [-1.67845589e-02 1.44018993e-04 9.99859119e-01 -2.93957741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.118623853 meters 0.015503990233602131 Centerline is valid? [True, True] Translation: X:14.12, Y:-0.86, Z:-0.29 [[ 9.97223570e-01 7.25420760e-02 1.68166473e-02 1.41151428e+01] [-7.25295292e-02 9.97365344e-01 -1.35559241e-03 -8.58301694e-01] [-1.68706787e-02 1.32125187e-04 9.99857671e-01 -2.94383367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.148623853 meters 0.015041004771307308 Centerline is valid? [True, True] Translation: X:14.15, Y:-0.86, Z:-0.30 [[ 9.97079199e-01 7.45087565e-02 1.67784707e-02 1.41458148e+01] [-7.44964957e-02 9.97220354e-01 -1.35544547e-03 -8.61843122e-01] [-1.68328250e-02 1.01549216e-04 9.99858313e-01 -2.96298991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.178623853 meters 0.016204672298290864 Centerline is valid? [True, True] Translation: X:14.18, Y:-0.86, Z:-0.30 [[ 9.97008272e-01 7.54197502e-02 1.69223873e-02 1.41784743e+01] [-7.54073689e-02 9.97151871e-01 -1.36945537e-03 -8.62893242e-01] [-1.69774741e-02 8.92856292e-05 9.99855868e-01 -2.95186109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.208623853 meters 0.027122199094694238 Centerline is valid? [True, True] Translation: X:14.21, Y:-0.86, Z:-0.30 [[ 9.96949998e-01 7.62513684e-02 1.66261893e-02 1.42115408e+01] [-7.62394811e-02 9.97088623e-01 -1.34856007e-03 -8.64749820e-01] [-1.66806138e-02 7.68749107e-05 9.99860866e-01 -2.95698776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.238623853 meters 0.013663230621723275 Centerline is valid? [True, True] Translation: X:14.24, Y:-0.87, Z:-0.30 [[ 9.96858532e-01 7.74435106e-02 1.66002724e-02 1.42431206e+01] [-7.74317701e-02 9.96996740e-01 -1.34978934e-03 -8.69083556e-01] [-1.66549498e-02 6.01605475e-05 9.99861295e-01 -2.98718966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.268623853 meters 0.013131855787758842 Centerline is valid? [True, True] Translation: X:14.28, Y:-0.87, Z:-0.30 [[ 9.96793539e-01 7.82956333e-02 1.65056080e-02 1.42756702e+01] [-7.82840955e-02 9.96930184e-01 -1.34497054e-03 -8.71559631e-01] [-1.65602441e-02 4.85313520e-05 9.99862869e-01 -2.97986747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.298623853000002 meters 0.01293001280937188 Centerline is valid? [True, True] Translation: X:14.31, Y:-0.87, Z:-0.30 [[ 9.96724463e-01 7.91494614e-02 1.66044197e-02 1.43087222e+01] [-7.91378496e-02 9.96862760e-01 -1.35625599e-03 -8.73917070e-01] [-1.66596746e-02 3.77754483e-05 9.99861217e-01 -2.98587182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.328623853 meters 0.01281285152654315 Centerline is valid? [True, True] Translation: X:14.34, Y:-0.88, Z:-0.30 [[ 9.96626401e-01 8.04214247e-02 1.63771503e-02 1.43411544e+01] [-8.04102495e-02 9.96760951e-01 -1.34078193e-03 -8.76213423e-01] [-1.64319315e-02 1.93679279e-05 9.99864987e-01 -2.99757532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.358623853 meters 0.01260682973330456 Centerline is valid? [True, True] Translation: X:14.37, Y:-0.88, Z:-0.30 [[ 9.96573327e-01 8.09774907e-02 1.68597235e-02 1.43740142e+01] [-8.09656700e-02 9.96715930e-01 -1.38364927e-03 -8.79200985e-01] [-1.69163994e-02 1.38491435e-05 9.99856907e-01 -3.00063912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.388623853000002 meters 0.012293649949452066 Centerline is valid? [True, True] Translation: X:14.41, Y:-0.88, Z:-0.30 [[ 9.96495766e-01 8.17535757e-02 1.76788516e-02 1.44060094e+01] [-8.17406335e-02 9.96652574e-01 -1.45464653e-03 -8.81595845e-01] [-1.77385955e-02 4.46858704e-06 9.99842659e-01 -2.98601543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.418623853 meters 0.012228599297041893 Centerline is valid? [True, True] Translation: X:14.44, Y:-0.88, Z:-0.30 [[ 9.96423953e-01 8.25295072e-02 1.81159179e-02 1.44376609e+01] [-8.25159880e-02 9.96588621e-01 -1.49375864e-03 -8.83848731e-01] [-1.81773968e-02 -6.43597839e-06 9.99834777e-01 -2.98904966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.448623853 meters 0.012331699663474607 Centerline is valid? [True, True] Translation: X:14.47, Y:-0.89, Z:-0.30 [[ 9.96342377e-01 8.34602184e-02 1.83374044e-02 1.44694392e+01] [-8.34464607e-02 9.96511110e-01 -1.51547229e-03 -8.85601224e-01] [-1.83999088e-02 -2.02622300e-05 9.99830707e-01 -2.99925696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.478623853000002 meters 0.012689737369018924 Centerline is valid? [True, True] Translation: X:14.50, Y:-0.88, Z:-0.30 [[ 9.96174675e-01 8.54653044e-02 1.82125848e-02 1.45030310e+01] [-8.54520098e-02 9.96341146e-01 -1.50836453e-03 -8.84805741e-01] [-1.82748605e-02 -5.37074360e-05 9.99832999e-01 -3.01421093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.508623853 meters 0.012995955683390858 Centerline is valid? [True, True] Translation: X:14.54, Y:-0.89, Z:-0.30 [[ 9.96045919e-01 8.69938660e-02 1.80164918e-02 1.45361262e+01] [-8.69810474e-02 9.96208844e-01 -1.49537321e-03 -8.85490216e-01] [-1.80782767e-02 -7.76329451e-05 9.99836572e-01 -3.01916010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.538623853 meters 0.013603640629226678 Centerline is valid? [True, True] Translation: X:14.57, Y:-0.89, Z:-0.30 [[ 9.95910480e-01 8.86094655e-02 1.76260977e-02 1.45686934e+01] [-8.85973886e-02 9.96066440e-01 -1.46640940e-03 -8.85813403e-01] [-1.76867021e-02 -1.01213733e-04 9.99843573e-01 -3.03018339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.568623853000002 meters 0.014486542986677406 Centerline is valid? [True, True] Translation: X:14.60, Y:-0.89, Z:-0.30 [[ 9.95761922e-01 9.03215901e-02 1.73264434e-02 1.45994369e+01] [-9.03101249e-02 9.95912644e-01 -1.44462010e-03 -8.85498626e-01] [-1.73861045e-02 -1.26255582e-04 9.99848842e-01 -3.04563265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.598623853 meters 0.028774391533134686 Centerline is valid? [True, True] Translation: X:14.63, Y:-0.88, Z:-0.30 [[ 9.95489535e-01 9.32928728e-02 1.72344269e-02 1.46306752e+01] [-9.32819292e-02 9.95638694e-01 -1.43954714e-03 -8.81656514e-01] [-1.72935618e-02 -1.74606473e-04 9.99850440e-01 -3.03942440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.628623853 meters 0.016773615432745793 Centerline is valid? [True, True] Translation: X:14.66, Y:-0.88, Z:-0.31 [[ 9.95355414e-01 9.46953726e-02 1.73316277e-02 1.46629653e+01] [-9.46845016e-02 9.95506277e-01 -1.44859365e-03 -8.83066447e-01] [-1.73909192e-02 -1.99170995e-04 9.99848747e-01 -3.05107326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.658623853 meters 0.017707748388534016 Centerline is valid? [True, True] Translation: X:14.69, Y:-0.88, Z:-0.31 [[ 9.95272565e-01 9.56363099e-02 1.69179945e-02 1.46938500e+01] [-9.56260384e-02 9.95416322e-01 -1.41691378e-03 -8.82848627e-01] [-1.69759563e-02 -2.07585383e-04 9.99855877e-01 -3.06770788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.688623853 meters 0.02026370258926843 Centerline is valid? [True, True] Translation: X:14.73, Y:-0.88, Z:-0.31 [[ 9.95233912e-01 9.61024587e-02 1.65462615e-02 1.47255521e+01] [-9.60926573e-02 9.95371425e-01 -1.38823125e-03 -8.81364930e-01] [-1.66030883e-02 -2.08359423e-04 9.99862138e-01 -3.08362973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.718623853 meters 0.0180282632696063 Centerline is valid? [True, True] Translation: X:14.76, Y:-0.88, Z:-0.31 [[ 9.95218823e-01 9.62256839e-02 1.67365327e-02 1.47585416e+01] [-9.62156285e-02 9.95359520e-01 -1.40685883e-03 -8.84339036e-01] [-1.67942431e-02 -2.10183629e-04 9.99858945e-01 -3.09778419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.748623853 meters 0.029038477968864575 Centerline is valid? [True, True] Translation: X:14.79, Y:-0.89, Z:-0.31 [[ 9.95348541e-01 9.49741513e-02 1.61614232e-02 1.47901829e+01] [-9.49645596e-02 9.95479723e-01 -1.36163205e-03 -8.87004073e-01] [-1.62176889e-02 -1.79463958e-04 9.99868469e-01 -3.08741146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.778623853 meters 0.01655917258367208 Centerline is valid? [True, True] Translation: X:14.82, Y:-0.89, Z:-0.31 [[ 9.95357614e-01 9.48691194e-02 1.62194435e-02 1.48220332e+01] [-9.48593911e-02 9.95489739e-01 -1.36981723e-03 -8.89661113e-01] [-1.62762430e-02 -1.75108525e-04 9.99867518e-01 -3.11949711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.808623853 meters 0.017069773509948767 Centerline is valid? [True, True] Translation: X:14.85, Y:-0.89, Z:-0.31 [[ 9.95363990e-01 9.48821871e-02 1.57447686e-02 1.48535427e+01] [-9.48730011e-02 9.95488494e-01 -1.33102009e-03 -8.90617979e-01] [-1.58000261e-02 -1.68903979e-04 9.99875158e-01 -3.14244144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.838623853 meters 0.01645423648266793 Centerline is valid? [True, True] Translation: X:14.89, Y:-0.89, Z:-0.32 [[ 9.95411132e-01 9.44931082e-02 1.50907268e-02 1.48861922e+01] [-9.44845874e-02 9.95525504e-01 -1.27820179e-03 -8.91720076e-01] [-1.51439847e-02 -1.53504813e-04 9.99885312e-01 -3.15437279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.868623853 meters 0.016472088424629085 Centerline is valid? [True, True] Translation: X:14.92, Y:-0.89, Z:-0.32 [[ 9.95411573e-01 9.45097660e-02 1.49567383e-02 1.49178030e+01] [-9.45013524e-02 9.95523923e-01 -1.26987505e-03 -8.93420463e-01] [-1.50098064e-02 -1.49383678e-04 9.99887335e-01 -3.16799166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.898623853 meters 0.01600986774318502 Centerline is valid? [True, True] Translation: X:14.95, Y:-0.90, Z:-0.32 [[ 9.95453575e-01 9.40370425e-02 1.51398433e-02 1.49495513e+01] [-9.40283218e-02 9.95568689e-01 -1.28838918e-03 -8.96171774e-01] [-1.51939102e-02 -1.41042436e-04 9.99884556e-01 -3.17568115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.928623853 meters 0.01540723955161446 Centerline is valid? [True, True] Translation: X:14.98, Y:-0.90, Z:-0.32 [[ 9.95503377e-01 9.34656498e-02 1.54012490e-02 1.49817275e+01] [-9.34565152e-02 9.95622496e-01 -1.31333647e-03 -8.99694281e-01] [-1.54565819e-02 -1.31916174e-04 9.99880531e-01 -3.17404292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.958623853 meters 0.014223237313139266 Centerline is valid? [True, True] Translation: X:15.01, Y:-0.90, Z:-0.32 [[ 9.95677186e-01 9.14434757e-02 1.62798312e-02 1.50124595e+01] [-9.14329472e-02 9.95810263e-01 -1.39141752e-03 -9.03659771e-01] [-1.63388590e-02 -1.03110262e-04 9.99866507e-01 -3.17589990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.988623853 meters 0.013734486830045224 Centerline is valid? [True, True] Translation: X:15.04, Y:-0.91, Z:-0.32 [[ 9.95767771e-01 9.04691590e-02 1.61826205e-02 1.50441700e+01] [-9.04585890e-02 9.95899254e-01 -1.38545988e-03 -9.07083537e-01] [-1.62416011e-02 -8.42607235e-05 9.99868093e-01 -3.18842110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.018623853 meters 0.013054744688829273 Centerline is valid? [True, True] Translation: X:15.08, Y:-0.91, Z:-0.32 [[ 9.95937697e-01 8.84943795e-02 1.66387416e-02 1.50759231e+01] [-8.84828754e-02 9.96076675e-01 -1.42775880e-03 -9.10943719e-01] [-1.66998110e-02 -5.02848903e-05 9.99860547e-01 -3.19410537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.048623853000002 meters 0.012777635347194437 Centerline is valid? [True, True] Translation: X:15.11, Y:-0.91, Z:-0.32 [[ 9.96007445e-01 8.77180823e-02 1.65743092e-02 1.51091921e+01] [-8.77065172e-02 9.96145339e-01 -1.42478346e-03 -9.14512974e-01] [-1.66354002e-02 -3.45800059e-05 9.99861622e-01 -3.19886734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.078623853 meters 0.012927142908827674 Centerline is valid? [True, True] Translation: X:15.14, Y:-0.92, Z:-0.32 [[ 9.96056304e-01 8.71992320e-02 1.63747935e-02 1.51410471e+01] [-8.71878108e-02 9.96190892e-01 -1.41144729e-03 -9.17640715e-01] [-1.64354973e-02 -2.18014300e-05 9.99864928e-01 -3.22162097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.108623853 meters 0.013145252732274544 Centerline is valid? [True, True] Translation: X:15.17, Y:-0.92, Z:-0.32 [[ 9.96120308e-01 8.66195942e-02 1.55363708e-02 1.51730615e+01] [-8.66092231e-02 9.96241460e-01 -1.34040564e-03 -9.19916640e-01] [-1.55940821e-02 -1.03877302e-05 9.99878405e-01 -3.24137519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.138623853000002 meters 0.013343046864937235 Centerline is valid? [True, True] Translation: X:15.20, Y:-0.92, Z:-0.33 [[ 9.96134933e-01 8.65632715e-02 1.48994822e-02 1.52046836e+01] [-8.65536900e-02 9.96246355e-01 -1.28793073e-03 -9.21997730e-01] [-1.49550423e-02 -6.65236878e-06 9.99888167e-01 -3.26513200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.168623853 meters 0.013078483131811936 Centerline is valid? [True, True] Translation: X:15.24, Y:-0.92, Z:-0.33 [[ 9.96115693e-01 8.68407411e-02 1.45674834e-02 1.52377047e+01] [-8.68315779e-02 9.96222207e-01 -1.26153310e-03 -9.23676920e-01] [-1.46220030e-02 -8.28465067e-06 9.99893093e-01 -3.26801031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.198623853 meters 0.013075086756187423 Centerline is valid? [True, True] Translation: X:15.27, Y:-0.92, Z:-0.33 [[ 9.96067462e-01 8.73824690e-02 1.46258287e-02 1.52703501e+01] [-8.73732484e-02 9.96174836e-01 -1.26945749e-03 -9.24827297e-01] [-1.46808109e-02 -1.34408675e-05 9.99892231e-01 -3.27499311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.228623853000002 meters 0.017380094350327117 Centerline is valid? [True, True] Translation: X:15.30, Y:-0.92, Z:-0.33 [[ 9.96000309e-01 8.79719617e-02 1.56307066e-02 1.53033469e+01] [-8.79614302e-02 9.96122951e-01 -1.36131938e-03 -9.23215455e-01] [-1.56898636e-02 -1.90247927e-05 9.99876906e-01 -3.25208382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.258623853 meters 0.012867003857131954 Centerline is valid? [True, True] Translation: X:15.33, Y:-0.92, Z:-0.33 [[ 9.95948312e-01 8.84394636e-02 1.62917401e-02 1.53347863e+01] [-8.84280816e-02 9.96081553e-01 -1.41910216e-03 -9.24582557e-01] [-1.63534064e-02 -2.72949212e-05 9.99866274e-01 -3.26579899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.288623853 meters 0.012595872719085965 Centerline is valid? [True, True] Translation: X:15.37, Y:-0.93, Z:-0.32 [[ 9.95935887e-01 8.82898932e-02 1.77933793e-02 1.53671803e+01] [-8.82762368e-02 9.96094822e-01 -1.55301192e-03 -9.26332475e-01] [-1.78610082e-02 -2.40322629e-05 9.99840479e-01 -3.24276281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.318623853000002 meters 0.012516102113513266 Centerline is valid? [True, True] Translation: X:15.40, Y:-0.93, Z:-0.32 [[ 9.95977332e-01 8.78375525e-02 1.77121221e-02 1.53998727e+01] [-8.78239003e-02 9.96134812e-01 -1.54865995e-03 -9.29943692e-01] [-1.77796920e-02 -1.31174451e-05 9.99841929e-01 -3.24822089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.348623853 meters 0.012655353469669707 Centerline is valid? [True, True] Translation: X:15.43, Y:-0.93, Z:-0.33 [[ 9.96029480e-01 8.73268225e-02 1.73002930e-02 1.54311684e+01] [-8.73136530e-02 9.96179716e-01 -1.51655114e-03 -9.33061166e-01] [-1.73666365e-02 -2.21325113e-08 9.99849189e-01 -3.27360835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.378623853 meters 0.01731695516600679 Centerline is valid? [True, True] Translation: X:15.46, Y:-0.94, Z:-0.33 [[ 9.96220881e-01 8.52922811e-02 1.64068280e-02 1.54631666e+01] [-8.52801433e-02 9.96355973e-01 -1.43929591e-03 -9.36335284e-01] [-1.64698019e-02 3.46799961e-05 9.99864363e-01 -3.27912940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.408623853 meters 0.02513410830167119 Centerline is valid? [True, True] Translation: X:15.49, Y:-0.94, Z:-0.33 [[ 9.96322322e-01 8.41652065e-02 1.60638842e-02 1.54947091e+01] [-8.41533822e-02 9.96451813e-01 -1.41182717e-03 -9.41073932e-01] [-1.61257132e-02 5.48047357e-05 9.99869971e-01 -3.29892468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.438623853 meters 0.014697806844357305 Centerline is valid? [True, True] Translation: X:15.53, Y:-0.95, Z:-0.33 [[ 9.96527848e-01 8.17564484e-02 1.57521538e-02 1.55260784e+01] [-8.17447306e-02 9.96652334e-01 -1.38740414e-03 -9.47751332e-01] [-1.58128500e-02 9.49312948e-05 9.99874965e-01 -3.32359644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.468623853 meters 0.015818933279735634 Centerline is valid? [True, True] Translation: X:15.56, Y:-0.95, Z:-0.33 [[ 9.96604859e-01 8.08008623e-02 1.58106187e-02 1.55578217e+01] [-8.07888948e-02 9.96730258e-01 -1.39521571e-03 -9.52972493e-01] [-1.58716567e-02 1.13156348e-04 9.99874031e-01 -3.34147166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.498623853 meters 0.015957530516452642 Centerline is valid? [True, True] Translation: X:15.59, Y:-0.96, Z:-0.33 [[ 9.96651526e-01 8.02269620e-02 1.57914885e-02 1.55902989e+01] [-8.02149066e-02 9.96776614e-01 -1.39635837e-03 -9.55951485e-01] [-1.58526121e-02 1.24969926e-04 9.99874332e-01 -3.33381228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.528623853 meters 0.018424235959140996 Centerline is valid? [True, True] Translation: X:15.62, Y:-0.96, Z:-0.34 [[ 9.96667028e-01 8.00027716e-02 1.59496506e-02 1.56215920e+01] [-7.99903918e-02 9.96794632e-01 -1.41364462e-03 -9.62180208e-01] [-1.60116216e-02 1.33114179e-04 9.99871797e-01 -3.37646736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.558623853 meters 0.016146480721906577 Centerline is valid? [True, True] Translation: X:15.65, Y:-0.96, Z:-0.33 [[ 9.96672567e-01 7.98242030e-02 1.64891102e-02 1.56547936e+01] [-7.98108965e-02 9.96808947e-01 -1.46451966e-03 -9.62501404e-01] [-1.65533967e-02 1.43635904e-04 9.99862973e-01 -3.33682485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.588623853 meters 0.0183704253442851 Centerline is valid? [True, True] Translation: X:15.69, Y:-0.97, Z:-0.33 [[ 9.96671939e-01 7.97097459e-02 1.70704997e-02 1.56862385e+01] [-7.96954049e-02 9.96818104e-01 -1.51981460e-03 -9.66330588e-01] [-1.71373271e-02 1.54316180e-04 9.99853133e-01 -3.32739729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.618623853 meters 0.02437699829955704 Centerline is valid? [True, True] Translation: X:15.72, Y:-0.97, Z:-0.33 [[ 9.96671811e-01 7.96931617e-02 1.71552275e-02 1.57194987e+01] [-7.96786226e-02 9.96819429e-01 -1.53043180e-03 -9.69047090e-01] [-1.72226290e-02 1.58433339e-04 9.99851667e-01 -3.30939082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.648623853 meters 0.02247780511816785 Centerline is valid? [True, True] Translation: X:15.75, Y:-0.97, Z:-0.33 [[ 9.96728476e-01 7.88892724e-02 1.75734717e-02 1.57506074e+01] [-7.88738249e-02 9.96883368e-01 -1.57147355e-03 -9.74930454e-01] [-1.76426740e-02 1.80245512e-04 9.99844340e-01 -3.32817681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.678623853 meters 0.027540938021178983 Centerline is valid? [True, True] Translation: X:15.78, Y:-0.98, Z:-0.33 [[ 9.96742528e-01 7.86516678e-02 1.78395339e-02 1.57831087e+01] [-7.86356511e-02 9.96902141e-01 -1.59860938e-03 -9.79802188e-01] [-1.79100028e-02 1.90578589e-04 9.99839585e-01 -3.32953522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.708623853000002 meters 0.018524351321147235 Centerline is valid? [True, True] Translation: X:15.82, Y:-0.99, Z:-0.34 [[ 9.96785622e-01 7.80373544e-02 1.81271690e-02 1.58152244e+01] [-7.80206511e-02 9.96950414e-01 -1.62791322e-03 -9.86158908e-01] [-1.81989266e-02 2.08386965e-04 9.99834364e-01 -3.35764743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.738623853 meters 0.019433287268444583 Centerline is valid? [True, True] Translation: X:15.85, Y:-0.99, Z:-0.34 [[ 9.96906867e-01 7.66182507e-02 1.75026240e-02 1.58464150e+01] [-7.66023993e-02 9.97060475e-01 -1.57527685e-03 -9.93504017e-01] [-1.75718696e-02 2.29661315e-04 9.99845576e-01 -3.36644085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.768623853 meters 0.032912712442957515 Centerline is valid? [True, True] Translation: X:15.88, Y:-1.00, Z:-0.34 [[ 9.96942842e-01 7.61969553e-02 1.72914656e-02 1.58784477e+01] [-7.61813753e-02 9.97092758e-01 -1.55888994e-03 -9.97705590e-01] [-1.73599778e-02 2.36836532e-04 9.99849276e-01 -3.35755461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.798623853000002 meters 0.020568070980434974 Centerline is valid? [True, True] Translation: X:15.91, Y:-1.00, Z:-0.34 [[ 9.96954700e-01 7.59318389e-02 1.77674205e-02 1.59109153e+01] [-7.59152943e-02 9.97112979e-01 -1.60476887e-03 -1.00356458e+00] [-1.78379786e-02 2.51062911e-04 9.99840859e-01 -3.38651973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.828623853 meters 0.020568070980434974 Centerline is valid? [True, True] Translation: X:15.94, Y:-1.01, Z:-0.34 [[ 9.96940062e-01 7.61238610e-02 1.77671113e-02 1.59432500e+01] [-7.61072861e-02 9.97098338e-01 -1.60818321e-03 -1.00668385e+00] [-1.78379782e-02 2.51055647e-04 9.99840859e-01 -3.39469893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.858623853 meters 0.02093077735360318 Centerline is valid? [True, True] Translation: X:15.97, Y:-1.01, Z:-0.34 [[ 9.96926285e-01 7.60853021e-02 1.86817688e-02 1.59743638e+01] [-7.60668954e-02 9.97101276e-01 -1.69493384e-03 -1.01399129e+00] [-1.87565751e-02 2.68659944e-04 9.99824044e-01 -3.38188837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.888623853000002 meters 0.025979394943795506 Centerline is valid? [True, True] Translation: X:16.01, Y:-1.02, Z:-0.34 [[ 9.96921575e-01 7.61284032e-02 1.87574083e-02 1.60061955e+01] [-7.61097831e-02 9.97097985e-01 -1.70560154e-03 -1.01889997e+00] [-1.88328187e-02 2.72728693e-04 9.99822610e-01 -3.37002492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.918623853 meters 0.02152282434247505 Centerline is valid? [True, True] Translation: X:16.04, Y:-1.02, Z:-0.34 [[ 9.96891584e-01 7.65020042e-02 1.88311483e-02 1.60385285e+01] [-7.64832577e-02 9.97069391e-01 -1.71475168e-03 -1.02339076e+00] [-1.89071435e-02 2.69153950e-04 9.99821208e-01 -3.39551438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.948623853 meters 0.020592953412166857 Centerline is valid? [True, True] Translation: X:16.07, Y:-1.03, Z:-0.34 [[ 9.96839134e-01 7.72792218e-02 1.84299294e-02 1.60703196e+01] [-7.72613786e-02 9.97009458e-01 -1.67929633e-03 -1.02567821e+00] [-1.85045887e-02 2.50066545e-04 9.99828744e-01 -3.40695316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.978623853000002 meters 0.02038565900483619 Centerline is valid? [True, True] Translation: X:16.10, Y:-1.03, Z:-0.34 [[ 9.96755374e-01 7.84832144e-02 1.78636289e-02 1.61010430e+01] [-7.84665918e-02 9.96915410e-01 -1.63062401e-03 -1.03113975e+00] [-1.79365035e-02 2.23635174e-04 9.99839103e-01 -3.43338570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.008623853 meters 0.02525954258493425 Centerline is valid? [True, True] Translation: X:16.13, Y:-1.03, Z:-0.34 [[ 9.96699286e-01 7.93242222e-02 1.72684828e-02 1.61339780e+01] [-7.93087781e-02 9.96848848e-01 -1.57842173e-03 -1.03186436e+00] [-1.73392742e-02 2.03669540e-04 9.99849643e-01 -3.41009530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.038623853 meters 0.018159994968074054 Centerline is valid? [True, True] Translation: X:16.16, Y:-1.04, Z:-0.35 [[ 9.96509076e-01 8.17911133e-02 1.67295015e-02 1.61647991e+01] [-8.17769062e-02 9.96649481e-01 -1.53270896e-03 -1.03802936e+00] [-1.67988110e-02 1.59271507e-04 9.99858877e-01 -3.47001974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.068623853000002 meters 0.015706127992110568 Centerline is valid? [True, True] Translation: X:16.20, Y:-1.04, Z:-0.35 [[ 9.96368283e-01 8.34889659e-02 1.67283373e-02 1.61973936e+01] [-8.34749553e-02 9.96508693e-01 -1.53526646e-03 -1.03708929e+00] [-1.67981113e-02 1.33293602e-04 9.99858893e-01 -3.45474793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.098623853 meters 0.015300985083107115 Centerline is valid? [True, True] Translation: X:16.23, Y:-1.04, Z:-0.35 [[ 9.96219632e-01 8.52807651e-02 1.65419234e-02 1.62284736e+01] [-8.52672545e-02 9.96356954e-01 -1.52161375e-03 -1.03977246e+00] [-1.66114248e-02 1.05377104e-04 9.99862015e-01 -3.47653307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.128623853 meters 0.013437854264374821 Centerline is valid? [True, True] Translation: X:16.26, Y:-1.04, Z:-0.35 [[ 9.95899759e-01 8.89830756e-02 1.62997556e-02 1.62610764e+01] [-8.89704383e-02 9.96033137e-01 -1.50026054e-03 -1.03939880e+00] [-1.63685946e-02 4.39127068e-05 9.99866025e-01 -3.48009489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.158623853 meters 0.019768041499054725 Centerline is valid? [True, True] Translation: X:16.29, Y:-1.04, Z:-0.35 [[ 9.95739593e-01 9.07929412e-02 1.61029271e-02 1.62945266e+01] [-9.07808039e-02 9.95869791e-01 -1.48461653e-03 -1.04052593e+00] [-1.61712114e-02 1.64547918e-05 9.99869237e-01 -3.46360011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.188623853 meters 0.012871948134185863 Centerline is valid? [True, True] Translation: X:16.33, Y:-1.04, Z:-0.35 [[ 9.95582289e-01 9.24322762e-02 1.64978861e-02 1.63274319e+01] [-9.24197061e-02 9.95718974e-01 -1.52435338e-03 -1.04283163e+00] [-1.65681576e-02 -7.11055428e-06 9.99862739e-01 -3.48940519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.218623853 meters 0.015434907127300168 Centerline is valid? [True, True] Translation: X:16.36, Y:-1.04, Z:-0.35 [[ 9.95421393e-01 9.41821533e-02 1.63086400e-02 1.63598123e+01] [-9.41700434e-02 9.95554981e-01 -1.51061543e-03 -1.04349325e+00] [-1.63784208e-02 -3.20864149e-05 9.99865864e-01 -3.49923157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.248623853 meters 0.012995334188860728 Centerline is valid? [True, True] Translation: X:16.39, Y:-1.05, Z:-0.35 [[ 9.95406185e-01 9.42913109e-02 1.66035069e-02 1.63922548e+01] [-9.42787500e-02 9.95544649e-01 -1.53938231e-03 -1.04835731e+00] [-1.66746828e-02 -3.30471980e-05 9.99860967e-01 -3.51337830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.278623853 meters 0.013046274972574217 Centerline is valid? [True, True] Translation: X:16.42, Y:-1.05, Z:-0.35 [[ 9.95412302e-01 9.42131985e-02 1.66800123e-02 1.64240780e+01] [-9.42004542e-02 9.95552044e-01 -1.54984570e-03 -1.05351364e+00] [-1.67518363e-02 -2.85292653e-05 9.99859678e-01 -3.52259029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.308623853 meters 0.013021488952757856 Centerline is valid? [True, True] Translation: X:16.46, Y:-1.06, Z:-0.35 [[ 9.95557115e-01 9.27355036e-02 1.63143458e-02 1.64562403e+01] [-9.27230686e-02 9.95690778e-01 -1.51861429e-03 -1.06151602e+00] [-1.63848731e-02 -8.48941738e-07 9.99865759e-01 -3.53178731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.338623853 meters 0.013185210739604084 Centerline is valid? [True, True] Translation: X:16.49, Y:-1.07, Z:-0.35 [[ 9.95641938e-01 9.18163477e-02 1.63367616e-02 1.64878506e+01] [-9.18037016e-02 9.95775958e-01 -1.52393952e-03 -1.06749139e+00] [-1.64076770e-02 1.75229142e-05 9.99865385e-01 -3.54580589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.368623853 meters 0.013428401686533442 Centerline is valid? [True, True] Translation: X:16.52, Y:-1.07, Z:-0.35 [[ 9.95745564e-01 9.06793444e-02 1.63715390e-02 1.65206586e+01] [-9.06664445e-02 9.95880141e-01 -1.52999136e-03 -1.07414370e+00] [-1.64428292e-02 3.91328761e-05 9.99864807e-01 -3.54864744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.398623853 meters 0.013783319949175627 Centerline is valid? [True, True] Translation: X:16.55, Y:-1.08, Z:-0.36 [[ 9.95852424e-01 8.94829918e-02 1.64543185e-02 1.65532917e+01] [-8.94697464e-02 9.95988348e-01 -1.54083864e-03 -1.08091061e+00] [-1.65261883e-02 6.22841930e-05 9.99863431e-01 -3.55308807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.428623853 meters 0.02323325930913901 Centerline is valid? [True, True] Translation: X:16.58, Y:-1.09, Z:-0.35 [[ 9.96027244e-01 8.75041834e-02 1.65150296e-02 1.65835094e+01] [-8.74905093e-02 9.96164147e-01 -1.55006414e-03 -1.08952400e+00] [-1.65873175e-02 9.89977607e-05 9.99862416e-01 -3.53240045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.458623853000002 meters 0.015095551382270932 Centerline is valid? [True, True] Translation: X:16.62, Y:-1.10, Z:-0.36 [[ 9.96027338e-01 8.74209818e-02 1.69444254e-02 1.66158754e+01] [-8.74065330e-02 9.96171452e-01 -1.59284765e-03 -1.09556255e+00] [-1.70188011e-02 1.05466331e-04 9.99855164e-01 -3.56230092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.488623853 meters 0.015384554235555008 Centerline is valid? [True, True] Translation: X:16.65, Y:-1.10, Z:-0.36 [[ 9.96058043e-01 8.70175797e-02 1.72138310e-02 1.66483137e+01] [-8.70025499e-02 9.96206769e-01 -1.62150766e-03 -1.10379821e+00] [-1.72896347e-02 1.17468558e-04 9.99850516e-01 -3.56709129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.518623853 meters 0.0157770608347294 Centerline is valid? [True, True] Translation: X:16.68, Y:-1.11, Z:-0.36 [[ 9.96058310e-01 8.70406988e-02 1.70809524e-02 1.66794582e+01] [-8.70258468e-02 9.96204749e-01 -1.61229848e-03 -1.10940920e+00] [-1.71564615e-02 1.19458955e-04 9.99852810e-01 -3.58033956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.548623853000002 meters 0.015421546742011854 Centerline is valid? [True, True] Translation: X:16.71, Y:-1.11, Z:-0.36 [[ 9.96065141e-01 8.69942683e-02 1.69184059e-02 1.67118985e+01] [-8.69796430e-02 9.96208805e-01 -1.59977949e-03 -1.11363742e+00] [-1.69934366e-02 1.21927677e-04 9.99855594e-01 -3.58047276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.578623853 meters 0.015508386618091403 Centerline is valid? [True, True] Translation: X:16.74, Y:-1.12, Z:-0.36 [[ 9.96037314e-01 8.73614881e-02 1.66625478e-02 1.67437093e+01] [-8.73472984e-02 9.96176669e-01 -1.57886349e-03 -1.11947225e+00] [-1.67367732e-02 1.17178422e-04 9.99859924e-01 -3.60165116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.608623853 meters 0.015317910119768565 Centerline is valid? [True, True] Translation: X:16.78, Y:-1.12, Z:-0.36 [[ 9.96000218e-01 8.77592385e-02 1.67893635e-02 1.67764717e+01] [-8.77448378e-02 9.96141708e-01 -1.59388135e-03 -1.12424676e+00] [-1.68644631e-02 1.14326190e-04 9.99857778e-01 -3.60733537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.638623853000002 meters 0.015219475177039286 Centerline is valid? [True, True] Translation: X:16.81, Y:-1.13, Z:-0.36 [[ 9.95962544e-01 8.82115653e-02 1.66532349e-02 1.68090036e+01] [-8.81974074e-02 9.96101756e-01 -1.58412827e-03 -1.12943460e+00] [-1.67280550e-02 1.08960276e-04 9.99860070e-01 -3.61448194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.668623853 meters 0.014864125689572375 Centerline is valid? [True, True] Translation: X:16.84, Y:-1.14, Z:-0.36 [[ 9.95855468e-01 8.95606480e-02 1.58359208e-02 1.68403558e+01] [-8.95479605e-02 9.95981367e-01 -1.50989218e-03 -1.13529278e+00] [-1.59075090e-02 8.55599717e-05 9.99873464e-01 -3.64299818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.698623853 meters 0.014288955393427588 Centerline is valid? [True, True] Translation: X:16.87, Y:-1.14, Z:-0.36 [[ 9.95780819e-01 9.04245419e-02 1.56192879e-02 1.68732170e+01] [-9.04122881e-02 9.95903307e-01 -1.49033672e-03 -1.13835181e+00] [-1.56900635e-02 7.18731596e-05 9.99876901e-01 -3.64165554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.728623853000002 meters 0.014608253028458204 Centerline is valid? [True, True] Translation: X:16.90, Y:-1.14, Z:-0.37 [[ 9.95674370e-01 9.15726751e-02 1.57160395e-02 1.69044310e+01] [-9.15603602e-02 9.95798394e-01 -1.50284987e-03 -1.14278408e+00] [-1.57876269e-02 5.73828618e-05 9.99875366e-01 -3.67671637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.758623853 meters 0.013773501621464169 Centerline is valid? [True, True] Translation: X:16.94, Y:-1.15, Z:-0.37 [[ 9.95557631e-01 9.28609483e-02 1.55514199e-02 1.69370508e+01] [-9.28490038e-02 9.95679086e-01 -1.48988576e-03 -1.14555134e+00] [-1.56225758e-02 3.93332934e-05 9.99877959e-01 -3.66323804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.788623853 meters 0.013152790705249592 Centerline is valid? [True, True] Translation: X:16.97, Y:-1.15, Z:-0.37 [[ 9.95244284e-01 9.60589958e-02 1.61704862e-02 1.69693195e+01] [-9.60464459e-02 9.95375642e-01 -1.55272676e-03 -1.14690681e+00] [-1.62448615e-02 -7.77529503e-06 9.99868044e-01 -3.65674265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.818623853000002 meters 0.013230701089962606 Centerline is valid? [True, True] Translation: X:17.00, Y:-1.15, Z:-0.37 [[ 9.95031849e-01 9.82070954e-02 1.63397267e-02 1.70018410e+01] [-9.81945281e-02 9.95165999e-01 -1.57159201e-03 -1.14829554e+00] [-1.64150819e-02 -4.06876454e-05 9.99865263e-01 -3.65444687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.848623853 meters 0.014276204868642742 Centerline is valid? [True, True] Translation: X:17.03, Y:-1.15, Z:-0.37 [[ 9.94793516e-01 1.00558388e-01 1.65490581e-02 1.70338644e+01] [-1.00545765e-01 9.94931156e-01 -1.59512676e-03 -1.14852325e+00] [-1.66255769e-02 -7.71159573e-05 9.99861783e-01 -3.67379004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.878623853 meters 0.01564321100622619 Centerline is valid? [True, True] Translation: X:17.07, Y:-1.15, Z:-0.37 [[ 9.94369669e-01 1.04677254e-01 1.64813177e-02 1.70660904e+01] [-1.04665249e-01 9.94506235e-01 -1.59164286e-03 -1.14965378e+00] [-1.65573820e-02 -1.42339843e-04 9.99862907e-01 -3.66534361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.908623853 meters 0.017513025740250987 Centerline is valid? [True, True] Translation: X:17.10, Y:-1.15, Z:-0.37 [[ 9.94174744e-01 1.06506636e-01 1.65201350e-02 1.70974888e+01] [-1.06494770e-01 9.94311977e-01 -1.59887255e-03 -1.15065827e+00] [-1.65964586e-02 -1.69749265e-04 9.99862255e-01 -3.68769424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.938623853 meters 0.019367039969007235 Centerline is valid? [True, True] Translation: X:17.13, Y:-1.15, Z:-0.37 [[ 9.93982654e-01 1.08346789e-01 1.61076572e-02 1.71283446e+01] [-1.08335734e-01 9.94113140e-01 -1.55986673e-03 -1.15216334e+00] [-1.61818402e-02 -1.94554397e-04 9.99869047e-01 -3.70404575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.968623853 meters 0.021476052690128932 Centerline is valid? [True, True] Translation: X:17.16, Y:-1.15, Z:-0.37 [[ 9.93569942e-01 1.12027103e-01 1.63920553e-02 1.71607187e+01] [-1.12016116e-01 9.93705118e-01 -1.58979028e-03 -1.15266272e+00] [-1.64669689e-02 -2.56606535e-04 9.99864377e-01 -3.69671182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.998623853 meters 0.022971293012665126 Centerline is valid? [True, True] Translation: X:17.19, Y:-1.15, Z:-0.37 [[ 9.93340693e-01 1.13948785e-01 1.70277126e-02 1.71930535e+01] [-1.13937160e-01 9.93486581e-01 -1.65439917e-03 -1.15407365e+00] [-1.71053208e-02 -2.96707209e-04 9.99853649e-01 -3.69614333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.028623853 meters 0.024767689144447387 Centerline is valid? [True, True] Translation: X:17.22, Y:-1.15, Z:-0.37 [[ 9.93144649e-01 1.15566785e-01 1.75506345e-02 1.72244654e+01] [-1.15554634e-01 9.93299657e-01 -1.70829927e-03 -1.15486060e+00] [-1.76304618e-02 -3.31468858e-04 9.99844516e-01 -3.69580983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.058623853 meters 0.02740151418015689 Centerline is valid? [True, True] Translation: X:17.26, Y:-1.15, Z:-0.37 [[ 9.92837162e-01 1.18225598e-01 1.72359259e-02 1.72568404e+01] [-1.18214221e-01 9.92986693e-01 -1.68101187e-03 -1.15444390e+00] [-1.73137837e-02 -3.68560495e-04 9.99850037e-01 -3.70713378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.088623853 meters 0.02765674737532256 Centerline is valid? [True, True] Translation: X:17.29, Y:-1.16, Z:-0.37 [[ 9.92701044e-01 1.19380156e-01 1.71176842e-02 1.72884878e+01] [-1.19369109e-01 9.92848543e-01 -1.66932858e-03 -1.15726842e+00] [-1.71945525e-02 -3.86178485e-04 9.99852088e-01 -3.71758832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.118623853000003 meters 0.02831712470423043 Centerline is valid? [True, True] Translation: X:17.32, Y:-1.16, Z:-0.37 [[ 9.92481384e-01 1.21265206e-01 1.65967616e-02 1.73205882e+01] [-1.21255041e-01 9.92620062e-01 -1.62110163e-03 -1.16005862e+00] [-1.66708618e-02 -4.03527830e-04 9.99860950e-01 -3.72926796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.148623853 meters 0.03207831636578313 Centerline is valid? [True, True] Translation: X:17.35, Y:-1.16, Z:-0.38 [[ 9.92380493e-01 1.22159412e-01 1.60634823e-02 1.73516187e+01] [-1.22149964e-01 9.92510411e-01 -1.57167831e-03 -1.15810139e+00] [-1.61351687e-02 -4.02450891e-04 9.99869739e-01 -3.76047449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.178623853 meters 0.033323752379884164 Centerline is valid? [True, True] Translation: X:17.38, Y:-1.16, Z:-0.38 [[ 9.92258140e-01 1.23175395e-01 1.58620807e-02 1.73833976e+01] [-1.23166274e-01 9.92384831e-01 -1.55432131e-03 -1.15921559e+00] [-1.59327424e-02 -4.11385413e-04 9.99872981e-01 -3.77892823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.208623853000002 meters 0.030887167895964265 Centerline is valid? [True, True] Translation: X:17.41, Y:-1.17, Z:-0.38 [[ 9.92128831e-01 1.24268835e-01 1.54155354e-02 1.74147857e+01] [-1.24260319e-01 9.92248499e-01 -1.51278097e-03 -1.16518989e+00] [-1.54840334e-02 -4.14665731e-04 9.99880029e-01 -3.77910576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.238623853 meters 0.03209221754991333 Centerline is valid? [True, True] Translation: X:17.45, Y:-1.17, Z:-0.38 [[ 9.92032417e-01 1.25055647e-01 1.52567918e-02 1.74456536e+01] [-1.25047357e-01 9.92149640e-01 -1.49983173e-03 -1.16507567e+00] [-1.53245829e-02 -4.19939800e-04 9.99882483e-01 -3.79040115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.268623853 meters 0.030945299347551775 Centerline is valid? [True, True] Translation: X:17.48, Y:-1.17, Z:-0.38 [[ 9.92039080e-01 1.24938161e-01 1.57771637e-02 1.74782157e+01] [-1.24929233e-01 9.92164438e-01 -1.55412639e-03 -1.16804215e+00] [-1.58477105e-02 -4.29274843e-04 9.99874325e-01 -3.78690441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.298623853000002 meters 0.03553111521842172 Centerline is valid? [True, True] Translation: X:17.51, Y:-1.16, Z:-0.38 [[ 9.92035465e-01 1.24959105e-01 1.58384868e-02 1.75104905e+01] [-1.24950099e-01 9.92161800e-01 -1.56078972e-03 -1.16396253e+00] [-1.59093765e-02 -4.30661748e-04 9.99873345e-01 -3.81556060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.328623853 meters 0.03135759272701781 Centerline is valid? [True, True] Translation: X:17.54, Y:-1.17, Z:-0.38 [[ 9.92173533e-01 1.23859742e-01 1.58254238e-02 1.75425938e+01] [-1.23850549e-01 9.92299651e-01 -1.56342006e-03 -1.17089912e+00] [-1.58972074e-02 -4.08803437e-04 9.99873548e-01 -3.80449203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.358623853 meters 0.02903991323937845 Centerline is valid? [True, True] Translation: X:17.57, Y:-1.18, Z:-0.38 [[ 9.92233957e-01 1.23353585e-01 1.59895951e-02 1.75745112e+01] [-1.23344136e-01 9.92362700e-01 -1.57959059e-03 -1.17572268e+00] [-1.60623259e-02 -4.04899362e-04 9.99870911e-01 -3.80205210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.388623853000002 meters 0.026337293237810932 Centerline is valid? [True, True] Translation: X:17.61, Y:-1.18, Z:-0.38 [[ 9.92493829e-01 1.21243872e-01 1.59976118e-02 1.76067916e+01] [-1.21234096e-01 9.92622682e-01 -1.58304194e-03 -1.17936018e+00] [-1.60715265e-02 -3.68296653e-04 9.99870777e-01 -3.80312299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.418623853 meters 0.03248637339263141 Centerline is valid? [True, True] Translation: X:17.64, Y:-1.18, Z:-0.38 [[ 9.92633047e-01 1.20122125e-01 1.58211545e-02 1.76382797e+01] [-1.20112377e-01 9.92759063e-01 -1.56835076e-03 -1.18034823e+00] [-1.58949882e-02 -3.43519691e-04 9.99873608e-01 -3.78831432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.448623853 meters 0.024246777122891704 Centerline is valid? [True, True] Translation: X:17.67, Y:-1.19, Z:-0.38 [[ 9.92798797e-01 1.18619752e-01 1.67303293e-02 1.76696537e+01] [-1.18608592e-01 9.92939697e-01 -1.66125459e-03 -1.18557674e+00] [-1.68092657e-02 -3.35069236e-04 9.99858658e-01 -3.80884252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.478623853000002 meters 0.024940759704898237 Centerline is valid? [True, True] Translation: X:17.70, Y:-1.19, Z:-0.38 [[ 9.92979517e-01 1.17101066e-01 1.67038940e-02 1.77011490e+01] [-1.17089678e-01 9.93119956e-01 -1.66155133e-03 -1.18624792e+00] [-1.67835399e-02 -3.05967125e-04 9.99859100e-01 -3.83176237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.508623853 meters 0.019973369021727125 Centerline is valid? [True, True] Translation: X:17.73, Y:-1.19, Z:-0.38 [[ 9.93450067e-01 1.13081427e-01 1.64181178e-02 1.77317234e+01] [-1.13069816e-01 9.93585697e-01 -1.63677217e-03 -1.19377313e+00] [-1.64978955e-02 -2.30342135e-04 9.99863874e-01 -3.82526447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.538623853 meters 0.0287938389370442 Centerline is valid? [True, True] Translation: X:17.76, Y:-1.20, Z:-0.38 [[ 9.93632438e-01 1.11460202e-01 1.64681952e-02 1.77638673e+01] [-1.11448310e-01 9.93768877e-01 -1.64094427e-03 -1.19748304e+00] [-1.65484798e-02 -2.04857071e-04 9.99863044e-01 -3.80626087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.568623853000002 meters 0.016534231949822002 Centerline is valid? [True, True] Translation: X:17.79, Y:-1.20, Z:-0.38 [[ 9.93967110e-01 1.08347811e-01 1.70333959e-02 1.77947029e+01] [-1.08334580e-01 9.94113036e-01 -1.70032503e-03 -1.20214867e+00] [-1.71173474e-02 -1.55238628e-04 9.99853475e-01 -3.83878234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.598623853 meters 0.01542389221793807 Centerline is valid? [True, True] Translation: X:17.83, Y:-1.21, Z:-0.38 [[ 9.94097736e-01 1.07088198e-01 1.73726724e-02 1.78262729e+01] [-1.07074196e-01 9.94249516e-01 -1.73685206e-03 -1.20647490e+00] [-1.74587675e-02 -1.33564220e-04 9.99847575e-01 -3.84149722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.628623853 meters 0.014468623331502119 Centerline is valid? [True, True] Translation: X:17.86, Y:-1.21, Z:-0.38 [[ 9.94223743e-01 1.05916235e-01 1.73464702e-02 1.78578612e+01] [-1.05902047e-01 9.94375050e-01 -1.73704853e-03 -1.21122319e+00] [-1.74328788e-02 -1.10011810e-04 9.99848030e-01 -3.84221742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.658623853 meters 0.014346905346917505 Centerline is valid? [True, True] Translation: X:17.89, Y:-1.21, Z:-0.39 [[ 9.94344568e-01 1.04888719e-01 1.66504224e-02 1.78899662e+01] [-1.04875460e-01 9.94483961e-01 -1.66993427e-03 -1.21470895e+00] [-1.67337353e-02 -8.57306388e-05 9.99859978e-01 -3.86905025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.688623853 meters 0.013905978838386773 Centerline is valid? [True, True] Translation: X:17.92, Y:-1.22, Z:-0.39 [[ 9.94593000e-01 1.02702203e-01 1.53954861e-02 1.79219882e+01] [-1.02690567e-01 9.94712147e-01 -1.54650996e-03 -1.21913837e+00] [-1.54729071e-02 -4.28232264e-05 9.99880286e-01 -3.90141748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.718623853 meters 0.013781707547193295 Centerline is valid? [True, True] Translation: X:17.95, Y:-1.22, Z:-0.39 [[ 9.94697870e-01 1.01720753e-01 1.51338974e-02 1.79545421e+01] [-1.01709355e-01 9.94812991e-01 -1.52297981e-03 -1.22306644e+00] [-1.52103164e-02 -2.43541690e-05 9.99884316e-01 -3.91652623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.748623853 meters 0.01458800210542015 Centerline is valid? [True, True] Translation: X:17.99, Y:-1.23, Z:-0.40 [[ 9.95019860e-01 9.86960710e-02 1.39486012e-02 1.79854253e+01] [-9.86860545e-02 9.95117624e-01 -1.40626922e-03 -1.22971422e+00] [-1.40192921e-02 2.27333885e-05 9.99901725e-01 -3.95678884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.778623853 meters 0.01458800210542015 Centerline is valid? [True, True] Translation: X:18.02, Y:-1.23, Z:-0.40 [[ 9.95001835e-01 9.88776511e-02 1.39483884e-02 1.80177208e+01] [-9.88676229e-02 9.95099598e-01 -1.40837523e-03 -1.23318184e+00] [-1.40192925e-02 2.22919334e-05 9.99901725e-01 -3.96496679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.808623853 meters 0.01492803026343335 Centerline is valid? [True, True] Translation: X:18.05, Y:-1.24, Z:-0.40 [[ 9.95183834e-01 9.70753160e-02 1.36205729e-02 1.80490238e+01] [-9.70655494e-02 9.95277037e-01 -1.37786603e-03 -1.23881625e+00] [-1.36900003e-02 4.91415997e-05 9.99906286e-01 -3.96720318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.838623853 meters 0.015869764095060496 Centerline is valid? [True, True] Translation: X:18.08, Y:-1.24, Z:-0.40 [[ 9.95368153e-01 9.51655922e-02 1.36289937e-02 1.80810245e+01] [-9.51556030e-02 9.95461453e-01 -1.38101341e-03 -1.24472034e+00] [-1.36985628e-02 7.77416502e-05 9.99906167e-01 -3.97723357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.868623853000003 meters 0.029275930137008455 Centerline is valid? [True, True] Translation: X:18.11, Y:-1.25, Z:-0.39 [[ 9.95659437e-01 9.19883511e-02 1.41573145e-02 1.81125273e+01] [-9.19772159e-02 9.95760075e-01 -1.43702571e-03 -1.25169117e+00] [-1.42294782e-02 1.28637830e-04 9.99898748e-01 -3.92926592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.898623853 meters 0.03050317304881556 Centerline is valid? [True, True] Translation: X:18.14, Y:-1.26, Z:-0.39 [[ 9.95721091e-01 9.12576815e-02 1.45445882e-02 1.81444685e+01] [-9.12458142e-02 9.95827302e-01 -1.47884124e-03 -1.25677121e+00] [-1.46188536e-02 1.45380622e-04 9.99893128e-01 -3.92735556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.928623853 meters 0.02061591980028476 Centerline is valid? [True, True] Translation: X:18.18, Y:-1.26, Z:-0.39 [[ 9.95778384e-01 9.04932216e-02 1.53748516e-02 1.81764026e+01] [-9.04798214e-02 9.95897057e-01 -1.56637025e-03 -1.26264745e+00] [-1.54535153e-02 1.68643815e-04 9.99880573e-01 -3.94867929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.958623853000002 meters 0.018828653848790792 Centerline is valid? [True, True] Translation: X:18.21, Y:-1.27, Z:-0.40 [[ 9.95792958e-01 9.01779191e-02 1.62581855e-02 1.82087895e+01] [-9.01628418e-02 9.95925654e-01 -1.65948113e-03 -1.26656524e+00] [-1.63415925e-02 1.86615415e-04 9.99866450e-01 -3.95148214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.988623853 meters 0.01913893615702075 Centerline is valid? [True, True] Translation: X:18.24, Y:-1.27, Z:-0.40 [[ 9.95823520e-01 8.98386171e-02 1.62646831e-02 1.82417934e+01] [-8.98234307e-02 9.95956317e-01 -1.66331329e-03 -1.27157251e+00] [-1.63483436e-02 1.95416864e-04 9.99866338e-01 -3.95502588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.018623853 meters 0.020639009673482075 Centerline is valid? [True, True] Translation: X:18.27, Y:-1.28, Z:-0.40 [[ 9.95806634e-01 9.00815577e-02 1.59518372e-02 1.82734303e+01] [-9.00669217e-02 9.95934374e-01 -1.63502363e-03 -1.27717873e+00] [-1.60342685e-02 1.91434504e-04 9.99871425e-01 -3.98376897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.048623853000002 meters 0.020492226176053042 Centerline is valid? [True, True] Translation: X:18.31, Y:-1.28, Z:-0.40 [[ 9.95765838e-01 9.06829590e-02 1.50664310e-02 1.83060599e+01] [-9.06699556e-02 9.95879798e-01 -1.54532418e-03 -1.28113934e+00] [-1.51444889e-02 1.72708389e-04 9.99885301e-01 -4.00675800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.078623853 meters 0.019248211230000284 Centerline is valid? [True, True] Translation: X:18.34, Y:-1.28, Z:-0.40 [[ 9.95718065e-01 9.12925837e-02 1.45327248e-02 1.83391418e+01] [-9.12805149e-02 9.95824100e-01 -1.49300378e-03 -1.28340105e+00] [-1.46083377e-02 1.60056237e-04 9.99893280e-01 -4.00708823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.108623853 meters 0.01905065563884737 Centerline is valid? [True, True] Translation: X:18.37, Y:-1.29, Z:-0.40 [[ 9.95673241e-01 9.18496540e-02 1.40868402e-02 1.83717331e+01] [-9.18383339e-02 9.95772875e-01 -1.44975951e-03 -1.28670446e+00] [-1.41604532e-02 1.49774820e-04 9.99899725e-01 -4.02525476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.138623853000002 meters 0.018683795181514723 Centerline is valid? [True, True] Translation: X:18.40, Y:-1.29, Z:-0.41 [[ 9.95582629e-01 9.29340090e-02 1.33603391e-02 1.84037947e+01] [-9.29238909e-02 9.95672262e-01 -1.37746311e-03 -1.28935789e+00] [-1.34305322e-02 1.29883650e-04 9.99909798e-01 -4.05581146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.168623853 meters 0.018510004805266447 Centerline is valid? [True, True] Translation: X:18.44, Y:-1.29, Z:-0.41 [[ 9.95536803e-01 9.34334678e-02 1.32914229e-02 1.84363297e+01] [-9.34234686e-02 9.95625518e-01 -1.37257811e-03 -1.29359408e+00] [-1.33615246e-02 1.24721187e-04 9.99910723e-01 -4.06021675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.198623853 meters 0.017697918301776958 Centerline is valid? [True, True] Translation: X:18.47, Y:-1.30, Z:-0.41 [[ 9.95469624e-01 9.41355182e-02 1.33690522e-02 1.84686099e+01] [-9.41254273e-02 9.95559386e-01 -1.38341546e-03 -1.29700667e+00] [-1.34399140e-02 1.18780315e-04 9.99909673e-01 -4.05784020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.228623853000002 meters 0.016694620580024543 Centerline is valid? [True, True] Translation: X:18.50, Y:-1.30, Z:-0.41 [[ 9.95260383e-01 9.63656073e-02 1.30552544e-02 1.84995639e+01] [-9.63561462e-02 9.95346001e-01 -1.35323925e-03 -1.29850514e+00] [-1.31249010e-02 8.88714125e-05 9.99913861e-01 -4.06830199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.258623853 meters 0.02816377224373819 Centerline is valid? [True, True] Translation: X:18.53, Y:-1.30, Z:-0.40 [[ 9.95097932e-01 9.80230151e-02 1.30993974e-02 1.85309334e+01] [-9.80136057e-02 9.95184146e-01 -1.35992791e-03 -1.29992784e+00] [-1.31696168e-02 6.93422762e-05 9.99913274e-01 -4.04567619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.288623853 meters 0.015108877079248396 Centerline is valid? [True, True] Translation: X:18.56, Y:-1.30, Z:-0.41 [[ 9.94885669e-01 1.00085806e-01 1.36138588e-02 1.85631409e+01] [-1.00075806e-01 9.94978808e-01 -1.41550398e-03 -1.30054534e+00] [-1.36871729e-02 4.58467304e-05 9.99906325e-01 -4.07609342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.318623853000002 meters 0.014519126957327086 Centerline is valid? [True, True] Translation: X:18.59, Y:-1.30, Z:-0.41 [[ 9.94418031e-01 1.04635747e-01 1.35698367e-02 1.85943470e+01] [-1.04626203e-01 9.94510613e-01 -1.41331682e-03 -1.29725026e+00] [-1.36432301e-02 -1.43327643e-05 9.99906927e-01 -4.08858641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.348623853 meters 0.014703792487578738 Centerline is valid? [True, True] Translation: X:18.63, Y:-1.30, Z:-0.41 [[ 9.94142569e-01 1.07207928e-01 1.36752536e-02 1.86276009e+01] [-1.07198454e-01 9.94236621e-01 -1.42599730e-03 -1.29715951e+00] [-1.37493161e-02 -4.83214265e-05 9.99905473e-01 -4.07668728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.378623853 meters 0.022370850670340788 Centerline is valid? [True, True] Translation: X:18.66, Y:-1.30, Z:-0.40 [[ 9.93880800e-01 1.09576035e-01 1.39301403e-02 1.86613245e+01] [-1.09566400e-01 9.93978413e-01 -1.45526800e-03 -1.29722985e+00] [-1.40057213e-02 -7.99124018e-05 9.99901912e-01 -4.03930237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.408623853 meters 0.016280119535856123 Centerline is valid? [True, True] Translation: X:18.69, Y:-1.30, Z:-0.41 [[ 9.93621641e-01 1.11808172e-01 1.46617701e-02 1.86932142e+01] [-1.11797693e-01 9.93729802e-01 -1.53495840e-03 -1.29736055e+00] [-1.47414588e-02 -1.13984193e-04 9.99891332e-01 -4.07339121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.438623853 meters 0.017070564018761638 Centerline is valid? [True, True] Translation: X:18.73, Y:-1.30, Z:-0.40 [[ 9.93261728e-01 1.14734951e-01 1.63411022e-02 1.87267093e+01] [-1.14722274e-01 9.93396125e-01 -1.71414338e-03 -1.29773392e+00] [-1.64298597e-02 -1.72095391e-04 9.99865006e-01 -4.03499785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.468623853 meters 0.017592731377808982 Centerline is valid? [True, True] Translation: X:18.76, Y:-1.30, Z:-0.40 [[ 9.93157610e-01 1.15541978e-01 1.69709553e-02 1.87590380e+01] [-1.15528362e-01 9.93302580e-01 -1.78381153e-03 -1.29959879e+00] [-1.70633988e-02 -1.89020676e-04 9.99854392e-01 -4.03361094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.498623853 meters 0.017593642528318035 Centerline is valid? [True, True] Translation: X:18.79, Y:-1.30, Z:-0.40 [[ 9.93173877e-01 1.15395827e-01 1.70133416e-02 1.87905634e+01] [-1.15382060e-01 9.93319571e-01 -1.79186458e-03 -1.30268837e+00] [-1.71064589e-02 -1.83401317e-04 9.99853657e-01 -4.04408492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.528623853 meters 0.017167526747023966 Centerline is valid? [True, True] Translation: X:18.82, Y:-1.31, Z:-0.41 [[ 9.93224929e-01 1.14971364e-01 1.69063616e-02 1.88229751e+01] [-1.14957683e-01 9.93368791e-01 -1.78202474e-03 -1.30704551e+00] [-1.69991338e-02 -1.73564765e-04 9.99855489e-01 -4.05054832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.558623853 meters 0.016695768851576094 Centerline is valid? [True, True] Translation: X:18.86, Y:-1.31, Z:-0.41 [[ 9.93300447e-01 1.14360776e-01 1.66082981e-02 1.88556432e+01] [-1.14347436e-01 9.93439273e-01 -1.75372718e-03 -1.31143785e+00] [-1.66998932e-02 -1.57138321e-04 9.99860535e-01 -4.06354698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.588623853 meters 0.016221620261858513 Centerline is valid? [True, True] Translation: X:18.89, Y:-1.32, Z:-0.41 [[ 9.93557292e-01 1.12250461e-01 1.56122527e-02 1.88867109e+01] [-1.12238365e-01 9.93679939e-01 -1.65159607e-03 -1.31711922e+00] [-1.56989748e-02 -1.11338401e-04 9.99876757e-01 -4.10646565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.618623853000003 meters 0.014845660731190292 Centerline is valid? [True, True] Translation: X:18.92, Y:-1.32, Z:-0.41 [[ 9.93706335e-01 1.10991498e-01 1.51197533e-02 1.89193496e+01] [-1.10979980e-01 9.93821352e-01 -1.60130739e-03 -1.32470879e+00] [-1.52040651e-02 -8.67606284e-05 9.99884408e-01 -4.10597205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.648623853 meters 0.015152222653747655 Centerline is valid? [True, True] Translation: X:18.95, Y:-1.33, Z:-0.41 [[ 9.93821824e-01 1.10011152e-01 1.46876779e-02 1.89513701e+01] [-1.10000134e-01 9.93930351e-01 -1.55840991e-03 -1.33003156e+00] [-1.47699713e-02 -6.68647535e-05 9.99890916e-01 -4.13637465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.678623853 meters 0.014480899909430476 Centerline is valid? [True, True] Translation: X:18.98, Y:-1.34, Z:-0.41 [[ 9.93910448e-01 1.09191102e-01 1.48096197e-02 1.89842059e+01] [-1.09179769e-01 9.94020775e-01 -1.57402058e-03 -1.33640850e+00] [-1.48929387e-02 -5.24753488e-05 9.99889093e-01 -4.13238202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.708623853000002 meters 0.014223005021657232 Centerline is valid? [True, True] Translation: X:19.02, Y:-1.34, Z:-0.41 [[ 9.94059781e-01 1.07895350e-01 1.42739396e-02 1.90170167e+01] [-1.07884653e-01 9.94162257e-01 -1.51956477e-03 -1.34237274e+00] [-1.43545660e-02 -2.94007999e-05 9.99896967e-01 -4.13985773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.738623853 meters 0.014308016225523001 Centerline is valid? [True, True] Translation: X:19.05, Y:-1.35, Z:-0.42 [[ 9.94095636e-01 1.07612008e-01 1.39112554e-02 1.90499765e+01] [-1.07601784e-01 9.94192967e-01 -1.48352019e-03 -1.34643847e+00] [-1.39901168e-02 -2.21149493e-05 9.99902133e-01 -4.15630658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.768623853 meters 0.01834002482083158 Centerline is valid? [True, True] Translation: X:19.08, Y:-1.35, Z:-0.42 [[ 9.94148581e-01 1.07186434e-01 1.34040267e-02 1.90815435e+01] [-1.07176869e-01 9.94238939e-01 -1.43198344e-03 -1.35004571e+00] [-1.34802945e-02 -1.29973025e-05 9.99909137e-01 -4.15263462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.798623853000002 meters 0.014374067078348823 Centerline is valid? [True, True] Translation: X:19.11, Y:-1.35, Z:-0.42 [[ 9.94100035e-01 1.07629482e-01 1.34541893e-02 1.91143127e+01] [-1.07619855e-01 9.94191075e-01 -1.43962033e-03 -1.35351372e+00] [-1.35309805e-02 -1.68112759e-05 9.99908452e-01 -4.17628964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.828623853 meters 0.014374203447693416 Centerline is valid? [True, True] Translation: X:19.15, Y:-1.36, Z:-0.42 [[ 9.93978348e-01 1.08727502e-01 1.36151878e-02 1.91474440e+01] [-1.08717709e-01 9.94071592e-01 -1.45954281e-03 -1.35571443e+00] [-1.36931638e-02 -2.94580700e-05 9.99906244e-01 -4.17991232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.858623853 meters 0.014532514227621926 Centerline is valid? [True, True] Translation: X:19.18, Y:-1.36, Z:-0.42 [[ 9.93923935e-01 1.09220752e-01 1.36396092e-02 1.91794620e+01] [-1.09210924e-01 9.94017518e-01 -1.46560862e-03 -1.35884109e+00] [-1.37180853e-02 -3.28908264e-05 9.99905902e-01 -4.18878802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.888623853000002 meters 0.021945877788777428 Centerline is valid? [True, True] Translation: X:19.21, Y:-1.36, Z:-0.42 [[ 9.93862016e-01 1.09789941e-01 1.35816641e-02 1.92123290e+01] [-1.09780238e-01 9.93954811e-01 -1.46013635e-03 -1.36139709e+00] [-1.36598686e-02 -3.98242678e-05 9.99906699e-01 -4.15299340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.918623853 meters 0.014674513411820678 Centerline is valid? [True, True] Translation: X:19.24, Y:-1.36, Z:-0.42 [[ 9.93757052e-01 1.10667558e-01 1.41284713e-02 1.92446559e+01] [-1.10657105e-01 9.93857479e-01 -1.52190455e-03 -1.36360528e+00] [-1.42101123e-02 -5.10123600e-05 9.99899030e-01 -4.19589371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.948623853 meters 0.01431350707930742 Centerline is valid? [True, True] Translation: X:19.28, Y:-1.37, Z:-0.42 [[ 9.93707927e-01 1.10994227e-01 1.49945736e-02 1.92764712e+01] [-1.10982438e-01 9.93821049e-01 -1.61866016e-03 -1.36518741e+00] [-1.50815848e-02 -5.56589016e-05 9.99886265e-01 -4.18320483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.978623853000002 meters 0.014622011525701886 Centerline is valid? [True, True] Translation: X:19.31, Y:-1.37, Z:-0.42 [[ 9.93683971e-01 1.11229914e-01 1.48348122e-02 1.93082240e+01] [-1.11218366e-01 9.93794699e-01 -1.60377697e-03 -1.36830066e+00] [-1.49211457e-02 -5.62561070e-05 9.99888672e-01 -4.20209288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.008623853 meters 0.014868646292367175 Centerline is valid? [True, True] Translation: X:19.34, Y:-1.37, Z:-0.42 [[ 9.93661454e-01 1.11461976e-01 1.45994372e-02 1.93397662e+01] [-1.11450777e-01 9.93768698e-01 -1.58098901e-03 -1.37193907e+00] [-1.46846838e-02 -5.61507806e-05 9.99892173e-01 -4.22195645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.038623853 meters 0.01495870246782542 Centerline is valid? [True, True] Translation: X:19.37, Y:-1.38, Z:-0.42 [[ 9.93668737e-01 1.11433451e-01 1.43187807e-02 1.93729771e+01] [-1.11422642e-01 9.93771897e-01 -1.55292350e-03 -1.37558306e+00] [-1.44026495e-02 -5.23448458e-05 9.99896275e-01 -4.23194180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.068623853000002 meters 0.014582762875695873 Centerline is valid? [True, True] Translation: X:19.41, Y:-1.38, Z:-0.42 [[ 9.93651437e-01 1.11604873e-01 1.41835799e-02 1.94056533e+01] [-1.11594249e-01 9.93752660e-01 -1.54073054e-03 -1.37943778e+00] [-1.42669233e-02 -5.18568383e-05 9.99898221e-01 -4.22155377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.098623853 meters 0.015294666704791479 Centerline is valid? [True, True] Translation: X:19.44, Y:-1.38, Z:-0.43 [[ 9.93575374e-01 1.12340713e-01 1.36945290e-02 1.94380416e+01] [-1.12330843e-01 9.93669744e-01 -1.49027705e-03 -1.38093702e+00] [-1.37752579e-02 -5.76153996e-05 9.99905115e-01 -4.25166692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.128623853 meters 0.014982612680155369 Centerline is valid? [True, True] Translation: X:19.47, Y:-1.38, Z:-0.42 [[ 9.93527189e-01 1.12738083e-01 1.39229868e-02 1.94708184e+01] [-1.12727884e-01 9.93624738e-01 -1.51765430e-03 -1.38401430e+00] [-1.40053216e-02 -6.16780420e-05 9.99901919e-01 -4.24598152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.158623853 meters 0.015282966997490441 Centerline is valid? [True, True] Translation: X:19.50, Y:-1.39, Z:-0.43 [[ 9.93490813e-01 1.13056123e-01 1.39397797e-02 1.95029938e+01] [-1.13045891e-01 9.93588602e-01 -1.52231042e-03 -1.38655138e+00] [-1.40225127e-02 -6.34333965e-05 9.99901678e-01 -4.26833507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.188623853 meters 0.014931794550932154 Centerline is valid? [True, True] Translation: X:19.54, Y:-1.39, Z:-0.43 [[ 9.93494395e-01 1.13039412e-01 1.38194836e-02 1.95362109e+01] [-1.13029323e-01 9.93590503e-01 -1.51142580e-03 -1.39076722e+00] [-1.39017584e-02 -6.04138170e-05 9.99903364e-01 -4.25922529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.218623853 meters 0.014868739560931576 Centerline is valid? [True, True] Translation: X:19.57, Y:-1.39, Z:-0.43 [[ 9.93504460e-01 1.12955318e-01 1.37835011e-02 1.95694983e+01] [-1.12945236e-01 9.93600067e-01 -1.51014697e-03 -1.39413439e+00] [-1.38658667e-02 -5.64430367e-05 9.99903863e-01 -4.26925434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.248623853 meters 0.014819240050750191 Centerline is valid? [True, True] Translation: X:19.60, Y:-1.40, Z:-0.43 [[ 9.93500302e-01 1.12974871e-01 1.39222408e-02 1.96012484e+01] [-1.12964547e-01 9.93597844e-01 -1.52824145e-03 -1.39748340e+00] [-1.40057613e-02 -5.44112814e-05 9.99901913e-01 -4.27754113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.278623853000003 meters 0.014820240418873422 Centerline is valid? [True, True] Translation: X:19.63, Y:-1.40, Z:-0.43 [[ 9.93475298e-01 1.13168005e-01 1.41362612e-02 1.96336232e+01] [-1.13157346e-01 9.93575865e-01 -1.55423030e-03 -1.40040131e+00] [-1.42213371e-02 -5.55323835e-05 9.99898870e-01 -4.28335169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.308623853 meters 0.014856255996550547 Centerline is valid? [True, True] Translation: X:19.67, Y:-1.40, Z:-0.43 [[ 9.93437965e-01 1.13463947e-01 1.43855098e-02 1.96666682e+01] [-1.13452898e-01 9.93542113e-01 -1.58446147e-03 -1.40350494e+00] [-1.44723891e-02 -5.80136033e-05 9.99895268e-01 -4.29067639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.338623853 meters 0.01501859834141442 Centerline is valid? [True, True] Translation: X:19.70, Y:-1.41, Z:-0.43 [[ 9.93385714e-01 1.13931534e-01 1.42978488e-02 1.96989924e+01] [-1.13920627e-01 9.93488602e-01 -1.57763621e-03 -1.40624210e+00] [-1.43844923e-02 -6.16186295e-05 9.99896536e-01 -4.30449840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.368623853000003 meters 0.015216230661060799 Centerline is valid? [True, True] Translation: X:19.73, Y:-1.41, Z:-0.43 [[ 9.93296712e-01 1.14723773e-01 1.41455753e-02 1.97319416e+01] [-1.14713145e-01 9.93397429e-01 -1.56314531e-03 -1.40844131e+00] [-1.42315081e-02 -7.00163320e-05 9.99898725e-01 -4.30821298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.398623853 meters 0.015103149927871918 Centerline is valid? [True, True] Translation: X:19.76, Y:-1.41, Z:-0.43 [[ 9.93239295e-01 1.15171591e-01 1.45330146e-02 1.97646826e+01] [-1.15160378e-01 9.93345609e-01 -1.60882630e-03 -1.41139223e+00] [-1.46215974e-02 -7.56779655e-05 9.99893096e-01 -4.30754083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.428623853 meters 0.015357901253874762 Centerline is valid? [True, True] Translation: X:19.80, Y:-1.41, Z:-0.43 [[ 9.93067501e-01 1.16583498e-01 1.50075295e-02 1.97981105e+01] [-1.16571657e-01 9.93180889e-01 -1.66435429e-03 -1.41175291e+00] [-1.50992277e-02 -9.66364276e-05 9.99885995e-01 -4.29766517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.458623853000002 meters 0.017576397880947524 Centerline is valid? [True, True] Translation: X:19.83, Y:-1.41, Z:-0.43 [[ 9.92972331e-01 1.17386259e-01 1.50470957e-02 1.98317168e+01] [-1.17374404e-01 9.93086328e-01 -1.67168770e-03 -1.41264941e+00] [-1.51392982e-02 -1.06204247e-04 9.99885389e-01 -4.28529919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.488623853 meters 0.01609002218732719 Centerline is valid? [True, True] Translation: X:19.86, Y:-1.41, Z:-0.43 [[ 9.92844179e-01 1.18434207e-01 1.52897172e-02 1.98639709e+01] [-1.18422041e-01 9.92961895e-01 -1.70185221e-03 -1.41362508e+00] [-1.53836641e-02 -1.20965456e-04 9.99881657e-01 -4.31219691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.518623853 meters 0.01634823794664006 Centerline is valid? [True, True] Translation: X:19.90, Y:-1.41, Z:-0.43 [[ 9.92751010e-01 1.19239375e-01 1.50799112e-02 1.98968536e+01] [-1.19227595e-01 9.92865527e-01 -1.68105415e-03 -1.41494663e+00] [-1.51727718e-02 -1.29073338e-04 9.99884879e-01 -4.32018360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.548623853000002 meters 0.01744334016253557 Centerline is valid? [True, True] Translation: X:19.93, Y:-1.41, Z:-0.43 [[ 9.92615104e-01 1.20460092e-01 1.43046328e-02 1.99283671e+01] [-1.20449576e-01 9.92718161e-01 -1.59756932e-03 -1.41265339e+00] [-1.43929122e-02 -1.37215522e-04 9.99896407e-01 -4.34388897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.578623853 meters 0.01742310267398506 Centerline is valid? [True, True] Translation: X:19.96, Y:-1.41, Z:-0.44 [[ 9.92564567e-01 1.20880134e-01 1.42679066e-02 1.99615822e+01] [-1.20869689e-01 9.92667101e-01 -1.59532372e-03 -1.41420669e+00] [-1.43561244e-02 -1.41095630e-04 9.99896936e-01 -4.35352285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.608623853 meters 0.017778620678796368 Centerline is valid? [True, True] Translation: X:19.99, Y:-1.42, Z:-0.44 [[ 9.92530872e-01 1.21190268e-01 1.39781012e-02 1.99936253e+01] [-1.21180234e-01 9.92629286e-01 -1.56566815e-03 -1.41544155e+00] [-1.40648164e-02 -1.39895610e-04 9.99901076e-01 -4.37326773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.638623853000002 meters 0.03060082767220001 Centerline is valid? [True, True] Translation: X:20.03, Y:-1.41, Z:-0.44 [[ 9.92608339e-01 1.20622858e-01 1.33720577e-02 2.00265013e+01] [-1.20613585e-01 9.92698399e-01 -1.50071464e-03 -1.41407275e+00] [-1.34554408e-02 -1.23229955e-04 9.99909464e-01 -4.36222333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.668623853 meters 0.03060082767220001 Centerline is valid? [True, True] Translation: X:20.06, Y:-1.42, Z:-0.44 [[ 9.92586253e-01 1.20804470e-01 1.33719672e-02 2.00587657e+01] [-1.20795202e-01 9.92676314e-01 -1.50152129e-03 -1.41789887e+00] [-1.34554256e-02 -1.24880094e-04 9.99909464e-01 -4.37040040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.698623853 meters 0.017359330492949354 Centerline is valid? [True, True] Translation: X:20.09, Y:-1.42, Z:-0.44 [[ 9.92604222e-01 1.20627050e-01 1.36372143e-02 2.00911953e+01] [-1.20617356e-01 9.92697890e-01 -1.53414463e-03 -1.42080570e+00] [-1.37226932e-02 -1.22086286e-04 9.99905832e-01 -4.40612754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.728623853000002 meters 0.017084855194757102 Centerline is valid? [True, True] Translation: X:20.12, Y:-1.42, Z:-0.44 [[ 9.92649451e-01 1.20208460e-01 1.40354693e-02 2.01228286e+01] [-1.20198114e-01 9.92748665e-01 -1.58140565e-03 -1.42259077e+00] [-1.41237918e-02 -1.17255497e-04 9.99900247e-01 -4.41291819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.758623853 meters 0.01550854832937816 Centerline is valid? [True, True] Translation: X:20.16, Y:-1.43, Z:-0.44 [[ 9.92833459e-01 1.18647768e-01 1.42978813e-02 2.01550183e+01] [-1.18636836e-01 9.92936402e-01 -1.61333804e-03 -1.42568007e+00] [-1.43883058e-02 -9.44794091e-05 9.99896479e-01 -4.39993104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.788623853 meters 0.015626855264120394 Centerline is valid? [True, True] Translation: X:20.19, Y:-1.43, Z:-0.44 [[ 9.92880709e-01 1.18221569e-01 1.45450143e-02 2.01859223e+01] [-1.18210171e-01 9.92987237e-01 -1.64393100e-03 -1.42784533e+00] [-1.46373616e-02 -8.71412407e-05 9.99892864e-01 -4.41583291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.818623853000002 meters 0.015195629006268545 Centerline is valid? [True, True] Translation: X:20.22, Y:-1.43, Z:-0.44 [[ 9.92929954e-01 1.17847620e-01 1.42142323e-02 2.02191070e+01] [-1.17836670e-01 9.93031688e-01 -1.60833258e-03 -1.43118040e+00] [-1.43047213e-02 -7.79962115e-05 9.99897679e-01 -4.41593935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.848623853 meters 0.01516329355500382 Centerline is valid? [True, True] Translation: X:20.25, Y:-1.43, Z:-0.44 [[ 9.92960263e-01 1.17658052e-01 1.36564828e-02 2.02527286e+01] [-1.17647893e-01 9.93054167e-01 -1.54769081e-03 -1.43034306e+00] [-1.37437254e-02 -6.98609593e-05 9.99905548e-01 -4.43025607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.878623853 meters 0.015275699551447943 Centerline is valid? [True, True] Translation: X:20.29, Y:-1.43, Z:-0.44 [[ 9.92939077e-01 1.17861898e-01 1.34373764e-02 2.02850294e+01] [-1.17852045e-01 9.93029994e-01 -1.52556073e-03 -1.43103161e+00] [-1.35235233e-02 -6.88334233e-05 9.99908551e-01 -4.44518307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.908623853 meters 0.016898446942369767 Centerline is valid? [True, True] Translation: X:20.32, Y:-1.43, Z:-0.44 [[ 9.92993690e-01 1.17432124e-01 1.31616284e-02 2.03185203e+01] [-1.17422605e-01 9.93080909e-01 -1.49635066e-03 -1.43324028e+00] [-1.32462815e-02 -5.96059275e-05 9.99912262e-01 -4.42815177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.938623853 meters 0.014803394657447611 Centerline is valid? [True, True] Translation: X:20.35, Y:-1.44, Z:-0.45 [[ 9.93041972e-01 1.17000989e-01 1.33570293e-02 2.03504399e+01] [-1.16991107e-01 9.93131797e-01 -1.52147739e-03 -1.43574809e+00] [-1.34433049e-02 -5.17627445e-05 9.99909633e-01 -4.45772976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.968623853 meters 0.0142080464603939 Centerline is valid? [True, True] Translation: X:20.38, Y:-1.44, Z:-0.45 [[ 9.93301447e-01 1.14714978e-01 1.38819692e-02 2.03820590e+01] [-1.14704040e-01 9.93398446e-01 -1.58420983e-03 -1.43871044e+00] [-1.39720592e-02 -1.87200380e-05 9.99902386e-01 -4.45180979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.998623853 meters 0.014400069677306877 Centerline is valid? [True, True] Translation: X:20.41, Y:-1.44, Z:-0.45 [[ 9.93441537e-01 1.13470421e-01 1.40845897e-02 2.04136987e+01] [-1.13459003e-01 9.93541375e-01 -1.60971938e-03 -1.44306113e+00] [-1.41762781e-02 1.13859042e-06 9.99899512e-01 -4.47637729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.028623853000003 meters 0.01490083653821384 Centerline is valid? [True, True] Translation: X:20.45, Y:-1.45, Z:-0.45 [[ 9.93793093e-01 1.10457547e-01 1.32067842e-02 2.04456212e+01] [-1.10447211e-01 9.93880842e-01 -1.51164813e-03 -1.44838065e+00] [-1.32929428e-02 4.36129841e-05 9.99911644e-01 -4.47874388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.058623853 meters 0.015529964574882897 Centerline is valid? [True, True] Translation: X:20.48, Y:-1.45, Z:-0.45 [[ 9.93916516e-01 1.09334293e-01 1.32653936e-02 2.04768569e+01] [-1.09323736e-01 9.94005034e-01 -1.52059200e-03 -1.45292418e+00] [-1.33521208e-02 6.11191210e-05 9.99910855e-01 -4.49998973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.088623853 meters 0.01637120815808817 Centerline is valid? [True, True] Translation: X:20.51, Y:-1.46, Z:-0.45 [[ 9.94109551e-01 1.07520046e-01 1.36249723e-02 2.05100796e+01] [-1.07508702e-01 9.94202913e-01 -1.56445128e-03 -1.45667666e+00] [-1.37141971e-02 9.04328625e-05 9.99905952e-01 -4.49883526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.118623853000003 meters 0.016592732060515352 Centerline is valid? [True, True] Translation: X:20.54, Y:-1.46, Z:-0.45 [[ 9.94153253e-01 1.07133498e-01 1.34804573e-02 2.05427335e+01] [-1.07122323e-01 9.94244640e-01 -1.55043450e-03 -1.45997620e+00] [-1.35689759e-02 9.73116041e-05 9.99907932e-01 -4.50668152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.148623853 meters 0.016963875355077176 Centerline is valid? [True, True] Translation: X:20.57, Y:-1.46, Z:-0.45 [[ 9.94179626e-01 1.06888196e-01 1.34827257e-02 2.05742219e+01] [-1.06876955e-01 9.94271041e-01 -1.55354346e-03 -1.46392874e+00] [-1.35715392e-02 1.03508581e-04 9.99907897e-01 -4.51613661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.178623853 meters 0.01739817488637781 Centerline is valid? [True, True] Translation: X:20.61, Y:-1.47, Z:-0.45 [[ 9.94210430e-01 1.06570139e-01 1.37268472e-02 2.06062734e+01] [-1.06558421e-01 9.94305181e-01 -1.58434385e-03 -1.46733747e+00] [-1.38175190e-02 1.12460015e-04 9.99904527e-01 -4.52279968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.208623853000002 meters 0.017966452448540206 Centerline is valid? [True, True] Translation: X:20.64, Y:-1.47, Z:-0.45 [[ 9.94205938e-01 1.06617522e-01 1.36842019e-02 2.06380972e+01] [-1.06605846e-01 9.94300101e-01 -1.58194098e-03 -1.47186155e+00] [-1.37748659e-02 1.13959198e-04 9.99905116e-01 -4.54138286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.238623853 meters 0.01774252911969821 Centerline is valid? [True, True] Translation: X:20.67, Y:-1.48, Z:-0.45 [[ 9.94206829e-01 1.06573323e-01 1.39609125e-02 2.06708102e+01] [-1.06561130e-01 9.94304839e-01 -1.61645393e-03 -1.47561875e+00] [-1.40536738e-02 1.19398921e-04 9.99901235e-01 -4.53687573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.268623853 meters 0.01737197115648426 Centerline is valid? [True, True] Translation: X:20.70, Y:-1.48, Z:-0.45 [[ 9.94148601e-01 1.06931247e-01 1.53058215e-02 2.07022440e+01] [-1.06916568e-01 9.94266409e-01 -1.77650040e-03 -1.47817380e+00] [-1.54080276e-02 1.29659481e-04 9.99881281e-01 -4.52072420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.298623853000002 meters 0.017105583009596106 Centerline is valid? [True, True] Translation: X:20.74, Y:-1.48, Z:-0.45 [[ 9.94085254e-01 1.07569966e-01 1.49402244e-02 2.07350480e+01] [-1.07556045e-01 9.94197510e-01 -1.73448629e-03 -1.48104483e+00] [-1.50401125e-02 1.17315803e-04 9.99886884e-01 -4.53137843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.328623853 meters 0.016697179153381023 Centerline is valid? [True, True] Translation: X:20.77, Y:-1.48, Z:-0.45 [[ 9.93959238e-01 1.08734827e-01 1.48919527e-02 2.07666204e+01] [-1.08721080e-01 9.94070786e-01 -1.73206907e-03 -1.48249632e+00] [-1.49919914e-02 1.02536880e-04 9.99887609e-01 -4.54866180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.358623853 meters 0.01645659159792429 Centerline is valid? [True, True] Translation: X:20.80, Y:-1.49, Z:-0.46 [[ 9.93881286e-01 1.09490306e-01 1.45554532e-02 2.07990783e+01] [-1.09477227e-01 9.93987859e-01 -1.69471979e-03 -1.48547411e+00] [-1.46534992e-02 9.08596243e-05 9.99892628e-01 -4.56300410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.388623853000002 meters 0.015895533776728615 Centerline is valid? [True, True] Translation: X:20.83, Y:-1.49, Z:-0.46 [[ 9.93798409e-01 1.10267138e-01 1.43485513e-02 2.08318197e+01] [-1.10254472e-01 9.93901983e-01 -1.67318946e-03 -1.48831309e+00] [-1.44455514e-02 8.08210756e-05 9.99895654e-01 -4.57005846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.418623853 meters 0.01598932353265479 Centerline is valid? [True, True] Translation: X:20.86, Y:-1.49, Z:-0.46 [[ 9.93730699e-01 1.10916811e-01 1.40270659e-02 2.08631012e+01] [-1.10904733e-01 9.93829691e-01 -1.63842281e-03 -1.49209362e+00] [-1.41222432e-02 7.24830480e-05 9.99900274e-01 -4.59154626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.448623853 meters 0.01504666239024507 Centerline is valid? [True, True] Translation: X:20.90, Y:-1.49, Z:-0.46 [[ 9.93539943e-01 1.12649099e-01 1.37317695e-02 2.08964242e+01] [-1.12637659e-01 9.93634831e-01 -1.60613062e-03 -1.49342290e+00] [-1.38252936e-02 4.90405486e-05 9.99904425e-01 -4.58850532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.478623853000002 meters 0.014714321393754858 Centerline is valid? [True, True] Translation: X:20.93, Y:-1.50, Z:-0.46 [[ 9.93417000e-01 1.13723527e-01 1.37704071e-02 2.09298242e+01] [-1.13712089e-01 9.93512435e-01 -1.61332184e-03 -1.49610075e+00] [-1.38645433e-02 3.68395927e-05 9.99903882e-01 -4.59222665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.508623853 meters 0.014350234793949052 Centerline is valid? [True, True] Translation: X:20.96, Y:-1.50, Z:-0.46 [[ 9.93255431e-01 1.15114549e-01 1.38668425e-02 2.09626405e+01] [-1.15103047e-01 9.93352224e-01 -1.62737572e-03 -1.49844219e+00] [-1.39619935e-02 2.02839444e-05 9.99902526e-01 -4.59808861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.538623853 meters 0.027495759279934643 Centerline is valid? [True, True] Translation: X:20.99, Y:-1.50, Z:-0.46 [[ 9.92825402e-01 1.18738838e-01 1.40999906e-02 2.09948395e+01] [-1.18727269e-01 9.92925520e-01 -1.65772030e-03 -1.49628350e+00] [-1.41970763e-02 -2.82265491e-05 9.99899216e-01 -4.56151503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.568623853000002 meters 0.014803776097785337 Centerline is valid? [True, True] Translation: X:21.03, Y:-1.50, Z:-0.46 [[ 9.92552391e-01 1.20978405e-01 1.42820523e-02 2.10274914e+01] [-1.20966730e-01 9.92655138e-01 -1.68170749e-03 -1.49710351e+00] [-1.43806029e-02 -5.84703799e-05 9.99896592e-01 -4.60982430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.598623853 meters 0.016911762128419255 Centerline is valid? [True, True] Translation: X:21.06, Y:-1.49, Z:-0.46 [[ 9.92005703e-01 1.25440736e-01 1.37588767e-02 2.10603350e+01] [-1.25430292e-01 9.92101108e-01 -1.62278456e-03 -1.49247365e+00] [-1.38537601e-02 -1.15968396e-04 9.99904025e-01 -4.61947077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.628623853 meters 0.01840224134998525 Centerline is valid? [True, True] Translation: X:21.09, Y:-1.49, Z:-0.46 [[ 9.91738711e-01 1.27559462e-01 1.35245344e-02 2.10914601e+01] [-1.27549536e-01 9.91830915e-01 -1.59749958e-03 -1.49105789e+00] [-1.36178275e-02 -1.40745906e-04 9.99907263e-01 -4.63696828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.658623853 meters 0.019745320631277083 Centerline is valid? [True, True] Translation: X:21.12, Y:-1.49, Z:-0.47 [[ 9.91516402e-01 1.29309759e-01 1.31988604e-02 2.11236274e+01] [-1.29300437e-01 9.91604236e-01 -1.56085430e-03 -1.49053653e+00] [-1.32898796e-02 -1.59005771e-04 9.99911673e-01 -4.65546038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.688623853000003 meters 0.02170690849498403 Centerline is valid? [True, True] Translation: X:21.16, Y:-1.49, Z:-0.47 [[ 9.91251951e-01 1.31427929e-01 1.20941754e-02 2.11559403e+01] [-1.31420238e-01 9.91325714e-01 -1.43188141e-03 -1.48844630e+00] [-1.21774562e-02 -1.70064169e-04 9.99925838e-01 -4.68760056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.718623853 meters 0.021934541663669337 Centerline is valid? [True, True] Translation: X:21.19, Y:-1.49, Z:-0.47 [[ 9.91205353e-01 1.31781027e-01 1.20709777e-02 2.11890258e+01] [-1.31773372e-01 9.91278836e-01 -1.43082243e-03 -1.49098525e+00] [-1.21542600e-02 -1.72394590e-04 9.99926119e-01 -4.69702771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.748623853 meters 0.020200984529489912 Centerline is valid? [True, True] Translation: X:21.22, Y:-1.50, Z:-0.47 [[ 9.91205293e-01 1.31699402e-01 1.29357860e-02 2.12209344e+01] [-1.31690565e-01 9.91289683e-01 -1.53628270e-03 -1.49583077e+00] [-1.30254387e-02 -1.80749430e-04 9.99915149e-01 -4.67270332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.778623853000003 meters 0.01994157492906824 Centerline is valid? [True, True] Translation: X:21.25, Y:-1.50, Z:-0.47 [[ 9.91440110e-01 1.29788555e-01 1.41929364e-02 2.12522802e+01] [-1.29777678e-01 9.91541680e-01 -1.68860059e-03 -1.49706305e+00] [-1.42920491e-02 -1.67779976e-04 9.99897849e-01 -4.67417541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.808623853 meters 0.017830693739615818 Centerline is valid? [True, True] Translation: X:21.28, Y:-1.50, Z:-0.47 [[ 9.91640258e-01 1.28186718e-01 1.47568071e-02 2.12840326e+01] [-1.28174747e-01 9.91750041e-01 -1.75810562e-03 -1.50301823e+00] [-1.48604298e-02 -1.48041696e-04 9.99889567e-01 -4.65911141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.838623853 meters 0.015085369962982936 Centerline is valid? [True, True] Translation: X:21.32, Y:-1.51, Z:-0.46 [[ 9.92105483e-01 1.24345712e-01 1.62743565e-02 2.13159128e+01] [-1.24330584e-01 9.92238950e-01 -1.94203274e-03 -1.51081515e+00] [-1.63895338e-02 -9.66989078e-05 9.99865678e-01 -4.63441529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.868623853000003 meters 0.013946032060243656 Centerline is valid? [True, True] Translation: X:21.35, Y:-1.52, Z:-0.46 [[ 9.92352401e-01 1.22265889e-01 1.69636302e-02 2.13477301e+01] [-1.22249095e-01 9.92497380e-01 -2.02731526e-03 -1.51752821e+00] [-1.70842301e-02 -6.19772909e-05 9.99854052e-01 -4.63195944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.898623853 meters 0.013541122448557513 Centerline is valid? [True, True] Translation: X:21.38, Y:-1.52, Z:-0.46 [[ 9.92599530e-01 1.20159023e-01 1.75494161e-02 2.13783993e+01] [-1.20140664e-01 9.92754657e-01 -2.10052778e-03 -1.52418097e+00] [-1.76746619e-02 -2.34156091e-05 9.99843791e-01 -4.63494430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.928623853 meters 0.013564353667197292 Centerline is valid? [True, True] Translation: X:21.41, Y:-1.53, Z:-0.46 [[ 9.92831973e-01 1.18151159e-01 1.80271282e-02 2.14096683e+01] [-1.18131405e-01 9.92995621e-01 -2.16048152e-03 -1.53097157e+00] [-1.81561227e-02 1.54251464e-05 9.99835164e-01 -4.63955922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.958623853000002 meters 0.01466211971788371 Centerline is valid? [True, True] Translation: X:21.44, Y:-1.54, Z:-0.46 [[ 9.93263196e-01 1.14471347e-01 1.80148176e-02 2.14407682e+01] [-1.14450955e-01 9.93426547e-01 -2.16231780e-03 -1.53978603e+00] [-1.81439215e-02 8.59376124e-05 9.99835382e-01 -4.64149665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.988623853 meters 0.015628668066720395 Centerline is valid? [True, True] Translation: X:21.47, Y:-1.55, Z:-0.47 [[ 9.93441202e-01 1.12940085e-01 1.78638055e-02 2.14725561e+01] [-1.12919733e-01 9.93601793e-01 -2.14714640e-03 -1.54556389e+00] [-1.79920081e-02 1.15887552e-04 9.99838124e-01 -4.65762103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.018623853 meters 0.01664101491167039 Centerline is valid? [True, True] Translation: X:21.50, Y:-1.55, Z:-0.47 [[ 9.93578336e-01 1.11812785e-01 1.73202282e-02 2.15037270e+01] [-1.11793431e-01 9.93729280e-01 -2.08467585e-03 -1.55108039e+00] [-1.74447114e-02 1.35001019e-04 9.99847820e-01 -4.68070884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.048623853000002 meters 0.018299881577310755 Centerline is valid? [True, True] Translation: X:21.53, Y:-1.56, Z:-0.47 [[ 9.93776311e-01 1.10327335e-01 1.53792801e-02 2.15341253e+01] [-1.10311868e-01 9.93895295e-01 -1.85300216e-03 -1.55734039e+00] [-1.54898309e-02 1.44952542e-04 9.99880015e-01 -4.72664616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.078623853 meters 0.017676217406709174 Centerline is valid? [True, True] Translation: X:21.57, Y:-1.56, Z:-0.47 [[ 9.93827545e-01 1.09923259e-01 1.49562211e-02 2.15665871e+01] [-1.09908556e-01 9.93940066e-01 -1.80399421e-03 -1.56063815e+00] [-1.50638883e-02 1.49042483e-04 9.99886522e-01 -4.72448300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.108623853 meters 0.025016152928498528 Centerline is valid? [True, True] Translation: X:21.60, Y:-1.57, Z:-0.47 [[ 9.93819655e-01 1.10051689e-01 1.45299664e-02 2.15994211e+01] [-1.10037794e-01 9.93925855e-01 -1.75473268e-03 -1.56538258e+00] [-1.46348205e-02 1.45042384e-04 9.99892895e-01 -4.70070246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.138623853000002 meters 0.018895243304774115 Centerline is valid? [True, True] Translation: X:21.63, Y:-1.57, Z:-0.48 [[ 9.93804353e-01 1.10158488e-01 1.47653349e-02 2.16304756e+01] [-1.10144104e-01 9.93914023e-01 -1.78635578e-03 -1.57196766e+00] [-1.48722557e-02 1.48973567e-04 9.99889391e-01 -4.75451016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.168623853 meters 0.01843413807601733 Centerline is valid? [True, True] Translation: X:21.66, Y:-1.58, Z:-0.48 [[ 9.93778423e-01 1.10374576e-01 1.48963021e-02 2.16637463e+01] [-1.10359917e-01 9.93890050e-01 -1.80500276e-03 -1.57505354e+00] [-1.50045128e-02 1.49818134e-04 9.99887415e-01 -4.75145825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.198623853 meters 0.017948996183216666 Centerline is valid? [True, True] Translation: X:21.70, Y:-1.58, Z:-0.47 [[ 9.93724551e-01 1.10781444e-01 1.54592712e-02 2.16956033e+01] [-1.10765653e-01 9.93844781e-01 -1.87660632e-03 -1.57805171e+00] [-1.55720092e-02 1.52473503e-04 9.99878737e-01 -4.74951945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.228623853000002 meters 0.01810002942348521 Centerline is valid? [True, True] Translation: X:21.73, Y:-1.58, Z:-0.48 [[ 9.93717769e-01 1.10811891e-01 1.56754931e-02 2.17283478e+01] [-1.10795620e-01 9.93841386e-01 -1.90536473e-03 -1.58317416e+00] [-1.57900909e-02 1.56618822e-04 9.99875316e-01 -4.75876153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.258623853 meters 0.018088240556293128 Centerline is valid? [True, True] Translation: X:21.76, Y:-1.59, Z:-0.48 [[ 9.93755230e-01 1.10496929e-01 1.55232868e-02 2.17607796e+01] [-1.10480888e-01 9.93876452e-01 -1.88978228e-03 -1.58835299e+00] [-1.56370444e-02 1.62954509e-04 9.99877721e-01 -4.76370123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.288623853 meters 0.01891712095446172 Centerline is valid? [True, True] Translation: X:21.79, Y:-1.59, Z:-0.48 [[ 9.93785219e-01 1.10321585e-01 1.48353413e-02 2.17915596e+01] [-1.10306868e-01 9.93895931e-01 -1.80914271e-03 -1.59438922e+00] [-1.49443728e-02 1.61459240e-04 9.99888314e-01 -4.79021154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.318623853000002 meters 0.020116718881348795 Centerline is valid? [True, True] Translation: X:21.82, Y:-1.60, Z:-0.48 [[ 9.93903775e-01 1.09326811e-01 1.42455222e-02 2.18221221e+01] [-1.09313108e-01 9.94005845e-01 -1.73938814e-03 -1.60108181e+00] [-1.43502941e-02 1.71562124e-04 9.99897015e-01 -4.81312112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.348623853 meters 0.028477520803885797 Centerline is valid? [True, True] Translation: X:21.86, Y:-1.61, Z:-0.48 [[ 9.93935932e-01 1.09057876e-01 1.40620967e-02 2.18550734e+01] [-1.09044472e-01 9.94035386e-01 -1.71874064e-03 -1.60582290e+00] [-1.41656640e-02 1.74924165e-04 9.99899647e-01 -4.78456256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.378623853 meters 0.02026436534052813 Centerline is valid? [True, True] Translation: X:21.89, Y:-1.61, Z:-0.48 [[ 9.93939296e-01 1.08976076e-01 1.44530684e-02 2.18876244e+01] [-1.08961865e-01 9.94044356e-01 -1.76941160e-03 -1.61120576e+00] [-1.45598146e-02 1.83854430e-04 9.99893983e-01 -4.82141784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.408623853 meters 0.019136414360101744 Centerline is valid? [True, True] Translation: X:21.92, Y:-1.61, Z:-0.48 [[ 9.93815931e-01 1.10091269e-01 1.44847234e-02 2.19195150e+01] [-1.10077070e-01 9.93921467e-01 -1.77634688e-03 -1.61443893e+00] [-1.45922378e-02 1.70925921e-04 9.99893513e-01 -4.82046830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.438623853000003 meters 0.02344195784953956 Centerline is valid? [True, True] Translation: X:21.95, Y:-1.62, Z:-0.48 [[ 9.93685538e-01 1.11290240e-01 1.42665638e-02 2.19508939e+01] [-1.11276552e-01 9.93787935e-01 -1.75216188e-03 -1.61725415e+00] [-1.43729375e-02 1.53563892e-04 9.99896692e-01 -4.79867764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.468623853 meters 0.017800507463738357 Centerline is valid? [True, True] Translation: X:21.98, Y:-1.62, Z:-0.48 [[ 9.93554015e-01 1.12400838e-01 1.47129820e-02 2.19822792e+01] [-1.12386354e-01 9.93662936e-01 -1.81014803e-03 -1.62120825e+00] [-1.48232071e-02 1.44941430e-04 9.99890120e-01 -4.83758420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.498623853 meters 0.015883172405612003 Centerline is valid? [True, True] Translation: X:22.01, Y:-1.62, Z:-0.48 [[ 9.93201118e-01 1.15291018e-01 1.61096612e-02 2.20137790e+01] [-1.15274006e-01 9.93331751e-01 -1.98375693e-03 -1.62339987e+00] [-1.62309473e-02 1.13244421e-04 9.99868263e-01 -4.82014200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.528623853000003 meters 0.015099931287519614 Centerline is valid? [True, True] Translation: X:22.05, Y:-1.63, Z:-0.48 [[ 9.93025793e-01 1.16723370e-01 1.65960598e-02 2.20455924e+01] [-1.16705496e-01 9.93164461e-01 -2.04475226e-03 -1.62560276e+00] [-1.67212871e-02 9.36403473e-05 9.99860185e-01 -4.81792730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.558623853 meters 0.015099931287519614 Centerline is valid? [True, True] Translation: X:22.08, Y:-1.63, Z:-0.48 [[ 9.93002780e-01 1.16919031e-01 1.65957350e-02 2.20778183e+01] [-1.16901140e-01 9.93141446e-01 -2.04738449e-03 -1.62976806e+00] [-1.67212904e-02 9.29981506e-05 9.99860185e-01 -4.82610528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.588623853 meters 0.01403468186305057 Centerline is valid? [True, True] Translation: X:22.11, Y:-1.63, Z:-0.48 [[ 9.92668832e-01 1.19728862e-01 1.65405258e-02 2.21106418e+01] [-1.19711422e-01 9.92806626e-01 -2.04407376e-03 -1.62981211e+00] [-1.66662783e-02 4.89984422e-05 9.99861107e-01 -4.83486120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.618623853000003 meters 0.013958756551038221 Centerline is valid? [True, True] Translation: X:22.14, Y:-1.63, Z:-0.49 [[ 9.92554342e-01 1.20660554e-01 1.66405981e-02 2.21424638e+01] [-1.20642985e-01 9.92693825e-01 -2.05928815e-03 -1.63347412e+00] [-1.67674938e-02 3.63839653e-05 9.99859415e-01 -4.85647407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.648623853 meters 0.014076442944396117 Centerline is valid? [True, True] Translation: X:22.17, Y:-1.64, Z:-0.49 [[ 9.92489669e-01 1.21231852e-01 1.63430418e-02 2.21744195e+01] [-1.21214934e-01 9.92624217e-01 -2.02549177e-03 -1.63793856e+00] [-1.64680532e-02 2.92589241e-05 9.99864392e-01 -4.87579200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.678623853 meters 0.014247314568166693 Centerline is valid? [True, True] Translation: X:22.21, Y:-1.64, Z:-0.49 [[ 9.92460564e-01 1.21584230e-01 1.54694514e-02 2.22056880e+01] [-1.21569075e-01 9.92581117e-01 -1.91978990e-03 -1.64409711e+00] [-1.55881015e-02 2.47088787e-05 9.99878498e-01 -4.90099439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.708623853000002 meters 0.014247226051293194 Centerline is valid? [True, True] Translation: X:22.24, Y:-1.65, Z:-0.49 [[ 9.92426766e-01 1.21867847e-01 1.54059367e-02 2.22386213e+01] [-1.21852810e-01 9.92546335e-01 -1.91451985e-03 -1.64961936e+00] [-1.55244245e-02 2.27640633e-05 9.99879489e-01 -4.91078944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.738623853 meters 0.014035687459244517 Centerline is valid? [True, True] Translation: X:22.27, Y:-1.65, Z:-0.49 [[ 9.92361917e-01 1.22425692e-01 1.51583263e-02 2.22713121e+01] [-1.22411157e-01 9.92477682e-01 -1.88651914e-03 -1.65463688e+00] [-1.52752589e-02 1.65614886e-05 9.99883326e-01 -4.91046102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.768623853 meters 0.014023286665118297 Centerline is valid? [True, True] Translation: X:22.30, Y:-1.66, Z:-0.49 [[ 9.92272558e-01 1.23126398e-01 1.53317078e-02 2.23033556e+01] [-1.23111553e-01 9.92390997e-01 -1.91190245e-03 -1.65897031e+00] [-1.54504545e-02 9.61797544e-06 9.99880635e-01 -4.91977506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.798623853000002 meters 0.013707610153647833 Centerline is valid? [True, True] Translation: X:22.34, Y:-1.66, Z:-0.49 [[ 9.91976706e-01 1.25343717e-01 1.64671298e-02 2.23355427e+01] [-1.25326867e-01 9.92113377e-01 -2.05537265e-03 -1.66156285e+00] [-1.65948878e-02 -2.48919950e-05 9.99862295e-01 -4.91259928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.828623853 meters 0.013900861248991989 Centerline is valid? [True, True] Translation: X:22.37, Y:-1.66, Z:-0.49 [[ 9.91761911e-01 1.26974518e-01 1.69051505e-02 2.23685781e+01] [-1.26956949e-01 9.91905978e-01 -2.11280740e-03 -1.66488869e+00] [-1.70365926e-02 -5.08244250e-05 9.99854865e-01 -4.91121628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.858623853 meters 0.014017098176000263 Centerline is valid? [True, True] Translation: X:22.40, Y:-1.67, Z:-0.49 [[ 9.91552477e-01 1.28598272e-01 1.69165363e-02 2.24015398e+01] [-1.28580862e-01 9.91696767e-01 -2.11737645e-03 -1.66877245e+00] [-1.70483653e-02 -7.56529561e-05 9.99854663e-01 -4.90417359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.888623853000002 meters 0.01538542240461552 Centerline is valid? [True, True] Translation: X:22.43, Y:-1.67, Z:-0.49 [[ 9.91108425e-01 1.31904764e-01 1.74706536e-02 2.24328066e+01] [-1.31886638e-01 9.91262385e-01 -2.19070112e-03 -1.66914872e+00] [-1.76069656e-02 -1.32923438e-04 9.99844977e-01 -4.90496505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.918623853 meters 0.020465639088851108 Centerline is valid? [True, True] Translation: X:22.46, Y:-1.67, Z:-0.49 [[ 9.90874586e-01 1.33688701e-01 1.71722188e-02 2.24639467e+01] [-1.33671410e-01 9.91023363e-01 -2.15601117e-03 -1.66939051e+00] [-1.73063044e-02 -1.59098018e-04 9.99850222e-01 -4.89946230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.948623853 meters 0.019673881228319284 Centerline is valid? [True, True] Translation: X:22.50, Y:-1.67, Z:-0.49 [[ 9.90398378e-01 1.37260885e-01 1.64469353e-02 2.24953889e+01] [-1.37245474e-01 9.90534909e-01 -2.06745430e-03 -1.66702702e+00] [-1.65750442e-02 -2.09664048e-04 9.99862603e-01 -4.94380182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.978623853000002 meters 0.025591426421064115 Centerline is valid? [True, True] Translation: X:22.53, Y:-1.67, Z:-0.49 [[ 9.90142765e-01 1.39100383e-01 1.63825939e-02 2.25272159e+01] [-1.39085301e-01 9.90278258e-01 -2.06195044e-03 -1.66789456e+00] [-1.65101446e-02 -2.36952706e-04 9.99863670e-01 -4.92655237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.008623853 meters 0.021891517277306614 Centerline is valid? [True, True] Translation: X:22.56, Y:-1.67, Z:-0.50 [[ 9.89907875e-01 1.40740313e-01 1.65699193e-02 2.25592783e+01] [-1.40725073e-01 9.90046511e-01 -2.08802253e-03 -1.67024200e+00] [-1.66988597e-02 -2.64853153e-04 9.99860529e-01 -4.95579491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.038623853 meters 0.03613292383169323 Centerline is valid? [True, True] Translation: X:22.59, Y:-1.67, Z:-0.49 [[ 9.89565391e-01 1.43254413e-01 1.54437642e-02 2.25908597e+01] [-1.43241442e-01 9.89685855e-01 -1.94855566e-03 -1.66901966e+00] [-1.55636142e-02 -2.83963811e-04 9.99878839e-01 -4.94472676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.068623853000002 meters 0.027188367268921487 Centerline is valid? [True, True] Translation: X:22.62, Y:-1.67, Z:-0.50 [[ 9.89422540e-01 1.44251912e-01 1.53108734e-02 2.26219151e+01] [-1.44239245e-01 9.89540954e-01 -1.93417336e-03 -1.67066708e+00] [-1.54297444e-02 -2.94714100e-04 9.99880911e-01 -4.98436448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.098623853 meters 0.029481986916287988 Centerline is valid? [True, True] Translation: X:22.66, Y:-1.67, Z:-0.50 [[ 9.89351770e-01 1.44740627e-01 1.52717229e-02 2.26552060e+01] [-1.44728053e-01 9.89469586e-01 -1.93121932e-03 -1.67452686e+00] [-1.53904312e-02 -2.99591469e-04 9.99881515e-01 -4.97716799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.128623853 meters 0.025693960090549774 Centerline is valid? [True, True] Translation: X:22.69, Y:-1.68, Z:-0.50 [[ 9.89439362e-01 1.44074824e-01 1.58806112e-02 2.26864129e+01] [-1.44061084e-01 9.89566752e-01 -2.01179920e-03 -1.67637897e+00] [-1.60047744e-02 -2.97224744e-04 9.99871871e-01 -5.01332452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.158623853 meters 0.024192253368928447 Centerline is valid? [True, True] Translation: X:22.72, Y:-1.68, Z:-0.50 [[ 9.89531074e-01 1.43385991e-01 1.63924034e-02 2.27179875e+01] [-1.43371214e-01 9.89666798e-01 -2.07921444e-03 -1.68148571e+00] [-1.65211476e-02 -2.92751481e-04 9.99863474e-01 -5.00775516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.188623853000003 meters 0.02297634196592799 Centerline is valid? [True, True] Translation: X:22.75, Y:-1.69, Z:-0.50 [[ 9.89694075e-01 1.42198485e-01 1.68887401e-02 2.27499126e+01] [-1.42182577e-01 9.89838125e-01 -2.14508747e-03 -1.68663003e+00] [-1.70221471e-02 -2.78304232e-04 9.99855074e-01 -5.00653913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.218623853 meters 0.030292819610907743 Centerline is valid? [True, True] Translation: X:22.78, Y:-1.69, Z:-0.50 [[ 9.90139524e-01 1.39025299e-01 1.71956082e-02 2.27807099e+01] [-1.39008277e-01 9.90288804e-01 -2.18706263e-03 -1.69404376e+00] [-1.73326754e-02 -2.24834725e-04 9.99849753e-01 -4.97744568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.248623853 meters 0.03153104034951031 Centerline is valid? [True, True] Translation: X:22.81, Y:-1.70, Z:-0.50 [[ 9.90313846e-01 1.37776784e-01 1.72059296e-02 2.28127109e+01] [-1.37759509e-01 9.90463284e-01 -2.19089833e-03 -1.69985861e+00] [-1.73436965e-02 -2.00603471e-04 9.99849567e-01 -4.97715487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.278623853000003 meters 0.015896401733097504 Centerline is valid? [True, True] Translation: X:22.84, Y:-1.71, Z:-0.50 [[ 9.90902672e-01 1.33511481e-01 1.69286360e-02 2.28436292e+01] [-1.33494089e-01 9.91047259e-01 -2.15828958e-03 -1.70992720e+00] [-1.70652347e-02 -1.21217932e-04 9.99854371e-01 -5.03887547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.308623853 meters 0.014870733706863598 Centerline is valid? [True, True] Translation: X:22.87, Y:-1.72, Z:-0.51 [[ 9.91142615e-01 1.31712728e-01 1.69727134e-02 2.28744508e+01] [-1.31694934e-01 9.91287925e-01 -2.16677239e-03 -1.71698977e+00] [-1.71102373e-02 -8.76399138e-05 9.99853605e-01 -5.05279391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.338623853 meters 0.013890067224443307 Centerline is valid? [True, True] Translation: X:22.91, Y:-1.72, Z:-0.50 [[ 9.91367600e-01 1.30002538e-01 1.70183052e-02 2.29063864e+01] [-1.29984354e-01 9.91513660e-01 -2.17500650e-03 -1.72470964e+00] [-1.71566384e-02 -5.58824340e-05 9.99852812e-01 -5.04682340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.368623853000003 meters 0.013955412251208978 Centerline is valid? [True, True] Translation: X:22.94, Y:-1.73, Z:-0.51 [[ 9.91557308e-01 1.28585524e-01 1.67292292e-02 2.29382372e+01] [-1.28567706e-01 9.91698423e-01 -2.14073933e-03 -1.73135441e+00] [-1.68656183e-02 -2.81728785e-05 9.99857765e-01 -5.07000225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.398623853 meters 0.014066305779178827 Centerline is valid? [True, True] Translation: X:22.97, Y:-1.74, Z:-0.51 [[ 9.91873847e-01 1.26183874e-01 1.62450745e-02 2.29697285e+01] [-1.26166695e-01 9.92006870e-01 -2.08216648e-03 -1.73943877e+00] [-1.63779614e-02 1.56591192e-05 9.99865872e-01 -5.09072650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.428623853 meters 0.013940088257906243 Centerline is valid? [True, True] Translation: X:23.00, Y:-1.74, Z:-0.51 [[ 9.91933263e-01 1.25675602e-01 1.65543056e-02 2.30025531e+01] [-1.25657670e-01 9.92071390e-01 -2.12312660e-03 -1.74410129e+00] [-1.66898781e-02 2.58244289e-05 9.99860714e-01 -5.08460807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.458623853000002 meters 0.014193529407039355 Centerline is valid? [True, True] Translation: X:23.03, Y:-1.75, Z:-0.51 [[ 9.91955304e-01 1.25477209e-01 1.67375288e-02 2.30341968e+01] [-1.25458793e-01 9.92096502e-01 -2.14999197e-03 -1.74792073e+00] [-1.68750188e-02 3.28257804e-05 9.99857606e-01 -5.09918014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.488623853 meters 0.014254985697965879 Centerline is valid? [True, True] Translation: X:23.07, Y:-1.75, Z:-0.51 [[ 9.91917495e-01 1.25701982e-01 1.72828158e-02 2.30660882e+01] [-1.25682322e-01 9.92068047e-01 -2.22336052e-03 -1.75207267e+00] [-1.74252102e-02 3.32457690e-05 9.99848169e-01 -5.10360858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.518623853 meters 0.013749279695474851 Centerline is valid? [True, True] Translation: X:23.10, Y:-1.76, Z:-0.51 [[ 9.91868906e-01 1.26012534e-01 1.78021101e-02 2.30991242e+01] [-1.25991671e-01 9.92028649e-01 -2.29315283e-03 -1.75627000e+00] [-1.79491692e-02 3.15893876e-05 9.99838900e-01 -5.08657605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.548623853000002 meters 0.013702195243500354 Centerline is valid? [True, True] Translation: X:23.13, Y:-1.76, Z:-0.51 [[ 9.91808744e-01 1.26500377e-01 1.76938033e-02 2.31306122e+01] [-1.26479783e-01 9.91966559e-01 -2.28262264e-03 -1.76107662e+00] [-1.78404138e-02 2.60166750e-05 9.99840847e-01 -5.09161482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.578623853 meters 0.013758304291216232 Centerline is valid? [True, True] Translation: X:23.16, Y:-1.76, Z:-0.51 [[ 9.91755331e-01 1.26941152e-01 1.75301905e-02 2.31635947e+01] [-1.26920953e-01 9.91910250e-01 -2.26450470e-03 -1.76488268e+00] [-1.76758344e-02 2.08861194e-05 9.99843770e-01 -5.10806694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.608623853 meters 0.013759611511819527 Centerline is valid? [True, True] Translation: X:23.20, Y:-1.77, Z:-0.51 [[ 9.91718086e-01 1.27272725e-01 1.72305184e-02 2.31952415e+01] [-1.27253205e-01 9.91867760e-01 -2.22905100e-03 -1.76837418e+00] [-1.73740931e-02 1.79514970e-05 9.99849059e-01 -5.12515503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.638623853000002 meters 0.013719459690693986 Centerline is valid? [True, True] Translation: X:23.23, Y:-1.77, Z:-0.51 [[ 9.91684572e-01 1.27536829e-01 1.72065740e-02 2.32276196e+01] [-1.27517352e-01 9.91833835e-01 -2.22886579e-03 -1.77192633e+00] [-1.73503248e-02 1.61950529e-05 9.99849472e-01 -5.13306441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.668623853 meters 0.013986372595248327 Centerline is valid? [True, True] Translation: X:23.26, Y:-1.78, Z:-0.52 [[ 9.91655057e-01 1.27908453e-01 1.61144770e-02 2.32582011e+01] [-1.27891370e-01 9.91785979e-01 -2.09044116e-03 -1.77614428e+00] [-1.62494975e-02 1.20940030e-05 9.99867968e-01 -5.16457068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.698623853 meters 0.014246150948056481 Centerline is valid? [True, True] Translation: X:23.29, Y:-1.78, Z:-0.52 [[ 9.91627949e-01 1.28204609e-01 1.54139023e-02 2.32897328e+01] [-1.28188984e-01 9.91747739e-01 -2.00152606e-03 -1.78072877e+00] [-1.55433076e-02 8.87670464e-06 9.99879195e-01 -5.18640577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.728623853000002 meters 0.014132091720647638 Centerline is valid? [True, True] Translation: X:23.32, Y:-1.78, Z:-0.52 [[ 9.91466206e-01 1.29396940e-01 1.58491081e-02 2.33218342e+01] [-1.29380526e-01 9.91592876e-01 -2.06091686e-03 -1.78383313e+00] [-1.59825390e-02 -7.23652818e-06 9.99872271e-01 -5.19081195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.758623853 meters 0.014074260126747245 Centerline is valid? [True, True] Translation: X:23.35, Y:-1.79, Z:-0.52 [[ 9.91349005e-01 1.30287013e-01 1.58884741e-02 2.33543247e+01] [-1.30270591e-01 9.91476320e-01 -2.06868881e-03 -1.78718632e+00] [-1.60225691e-02 -1.90083067e-05 9.99871630e-01 -5.19000292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.788623853 meters 0.013924896535569888 Centerline is valid? [True, True] Translation: X:23.39, Y:-1.79, Z:-0.52 [[ 9.91189078e-01 1.31440537e-01 1.63583799e-02 2.33876291e+01] [-1.31423235e-01 9.91324056e-01 -2.13290483e-03 -1.79020627e+00] [-1.64968057e-02 -3.57592383e-05 9.99863918e-01 -5.18061508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.818623853000002 meters 0.014647829084862288 Centerline is valid? [True, True] Translation: X:23.42, Y:-1.79, Z:-0.52 [[ 9.90782991e-01 1.34333482e-01 1.74235605e-02 2.34196329e+01] [-1.34314227e-01 9.90936178e-01 -2.27596987e-03 -1.78946178e+00] [-1.75713754e-02 -8.52398192e-05 9.99845608e-01 -5.16539894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.848623853000003 meters 0.015364484545692104 Centerline is valid? [True, True] Translation: X:23.45, Y:-1.79, Z:-0.52 [[ 9.90532014e-01 1.36136863e-01 1.76941988e-02 2.34527762e+01] [-1.36117263e-01 9.90690033e-01 -2.31298122e-03 -1.79077541e+00] [-1.78443484e-02 -1.17403971e-04 9.99840770e-01 -5.16783925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.878623853 meters 0.01656087682875057 Centerline is valid? [True, True] Translation: X:23.49, Y:-1.79, Z:-0.52 [[ 9.90263621e-01 1.38110910e-01 1.74166035e-02 2.34854754e+01] [-1.38092166e-01 9.90416758e-01 -2.28006519e-03 -1.79164058e+00] [-1.75645979e-02 -1.47230895e-04 9.99845720e-01 -5.17597615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.908623853 meters 0.019180796763619574 Centerline is valid? [True, True] Translation: X:23.52, Y:-1.79, Z:-0.52 [[ 9.89778679e-01 1.41561732e-01 1.72754841e-02 2.35168198e+01] [-1.41543765e-01 9.89929409e-01 -2.26450913e-03 -1.78947389e+00] [-1.74220776e-02 -2.03874207e-04 9.99848203e-01 -5.19772366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.938623853000003 meters 0.019441934311005327 Centerline is valid? [True, True] Translation: X:23.55, Y:-1.79, Z:-0.52 [[ 9.89648743e-01 1.42520472e-01 1.68309679e-02 2.35490036e+01] [-1.42503517e-01 9.89791832e-01 -2.20858502e-03 -1.79239859e+00] [-1.69739231e-02 -2.12748735e-04 9.99855910e-01 -5.20936404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.968623853 meters 0.020136687842679937 Centerline is valid? [True, True] Translation: X:23.58, Y:-1.79, Z:-0.52 [[ 9.89562222e-01 1.43155011e-01 1.65303191e-02 2.35810812e+01] [-1.43138699e-01 9.89700256e-01 -2.17183097e-03 -1.79473836e+00] [-1.66709695e-02 -2.16966490e-04 9.99861006e-01 -5.22874817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.998623853 meters 0.020066575838724447 Centerline is valid? [True, True] Translation: X:23.61, Y:-1.80, Z:-0.53 [[ 9.89624978e-01 1.42825072e-01 1.56013190e-02 2.36132024e+01] [-1.42810467e-01 9.89747927e-01 -2.05202238e-03 -1.79760887e+00] [-1.57344534e-02 -1.97299046e-04 9.99876186e-01 -5.25570558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.028623853000003 meters 0.01897327154529061 Centerline is valid? [True, True] Translation: X:23.65, Y:-1.80, Z:-0.53 [[ 9.89810511e-01 1.41506304e-01 1.58466961e-02 2.36452119e+01] [-1.41491018e-01 9.89937339e-01 -2.08730954e-03 -1.80390316e+00] [-1.59826036e-02 -1.76124244e-04 9.99872255e-01 -5.26377000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.058623853 meters 0.01795076276267676 Centerline is valid? [True, True] Translation: X:23.68, Y:-1.81, Z:-0.53 [[ 9.90048313e-01 1.39809359e-01 1.60524716e-02 2.36760458e+01] [-1.39793405e-01 9.90178429e-01 -2.11719620e-03 -1.81086751e+00] [-1.61908149e-02 -1.47903136e-04 9.99868909e-01 -5.27409000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.088623853 meters 0.014630428153402313 Centerline is valid? [True, True] Translation: X:23.71, Y:-1.83, Z:-0.53 [[ 9.90740652e-01 1.34793563e-01 1.62375094e-02 2.37065980e+01] [-1.34776526e-01 9.90873701e-01 -2.14401023e-03 -1.82505500e+00] [-1.63783198e-02 -6.42770135e-05 9.99865864e-01 -5.27475754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.118623853000003 meters 0.01410352668872362 Centerline is valid? [True, True] Translation: X:23.74, Y:-1.84, Z:-0.53 [[ 9.91129116e-01 1.31907920e-01 1.62288685e-02 2.37374086e+01] [-1.31890471e-01 9.91261974e-01 -2.14549498e-03 -1.83510679e+00] [-1.63700680e-02 -1.39705692e-05 9.99866001e-01 -5.28407082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.148623853 meters 0.014403583951344657 Centerline is valid? [True, True] Translation: X:23.77, Y:-1.85, Z:-0.53 [[ 9.91516190e-01 1.28934015e-01 1.64822320e-02 2.37688755e+01] [-1.28915564e-01 9.91653174e-01 -2.18152622e-03 -1.84618050e+00] [-1.66259306e-02 3.82023345e-05 9.99861779e-01 -5.29102761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.178623853 meters 0.018023889034019778 Centerline is valid? [True, True] Translation: X:23.80, Y:-1.86, Z:-0.53 [[ 9.92273209e-01 1.23025798e-01 1.60789527e-02 2.37977961e+01] [-1.23007402e-01 9.92403463e-01 -2.13190946e-03 -1.86335426e+00] [-1.62190882e-02 1.37606447e-04 9.99868452e-01 -5.30451575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.208623853000002 meters 0.02020928799924672 Centerline is valid? [True, True] Translation: X:23.83, Y:-1.87, Z:-0.53 [[ 9.92564430e-01 1.20660198e-01 1.60302675e-02 2.38288052e+01] [-1.20641594e-01 9.92693853e-01 -2.12610012e-03 -1.87359363e+00] [-1.61696837e-02 1.76374325e-04 9.99869247e-01 -5.31728626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.238623853 meters 0.023951086883898916 Centerline is valid? [True, True] Translation: X:23.86, Y:-1.89, Z:-0.53 [[ 9.93022651e-01 1.16819304e-01 1.61017212e-02 2.38590563e+01] [-1.16799970e-01 9.93153156e-01 -2.13916447e-03 -1.88873746e+00] [-1.62413709e-02 2.43558223e-04 9.99868071e-01 -5.32245417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.268623853 meters 0.023883965652150438 Centerline is valid? [True, True] Translation: X:23.89, Y:-1.90, Z:-0.53 [[ 9.93152081e-01 1.15756500e-01 1.57916522e-02 2.38902293e+01] [-1.15737776e-01 9.93277588e-01 -2.09756255e-03 -1.89611870e+00] [-1.59283007e-02 2.55507903e-04 9.99873104e-01 -5.32177974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.298623853000002 meters 0.0267109917965773 Centerline is valid? [True, True] Translation: X:23.92, Y:-1.91, Z:-0.53 [[ 9.93220909e-01 1.15173826e-01 1.57230759e-02 2.39203617e+01] [-1.15155139e-01 9.93345317e-01 -2.09175144e-03 -1.90755040e+00] [-1.58593588e-02 2.66978268e-04 9.99874197e-01 -5.34768294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.328623853 meters 0.02696055082876249 Centerline is valid? [True, True] Translation: X:23.95, Y:-1.92, Z:-0.54 [[ 9.93231497e-01 1.15096873e-01 1.56173766e-02 2.39531090e+01] [-1.15078417e-01 9.93354236e-01 -2.07829344e-03 -1.91511242e+00] [-1.57527923e-02 2.67003526e-04 9.99875881e-01 -5.35721909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.358623853 meters 0.026491108776903523 Centerline is valid? [True, True] Translation: X:23.98, Y:-1.92, Z:-0.54 [[ 9.93161357e-01 1.15776041e-01 1.50474788e-02 2.39841689e+01] [-1.15758929e-01 9.93275312e-01 -2.00619055e-03 -1.92327453e+00] [-1.51785580e-02 2.50590914e-04 9.99884768e-01 -5.37484784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.388623853000002 meters 0.023090872557343496 Centerline is valid? [True, True] Translation: X:24.02, Y:-1.93, Z:-0.54 [[ 9.93071650e-01 1.16540511e-01 1.50667854e-02 2.40169259e+01] [-1.16523435e-01 9.93185910e-01 -2.00924750e-03 -1.92500734e+00] [-1.51982777e-02 2.39693136e-04 9.99884471e-01 -5.35692411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.418623853 meters 0.03322163042083043 Centerline is valid? [True, True] Translation: X:24.05, Y:-1.93, Z:-0.53 [[ 9.92943142e-01 1.17663236e-01 1.48080830e-02 2.40479364e+01] [-1.17646848e-01 9.93053531e-01 -1.97602420e-03 -1.93000375e+00] [-1.49377245e-02 2.19955388e-04 9.99888402e-01 -5.33146601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.448623853 meters 0.03322163042083043 Centerline is valid? [True, True] Translation: X:24.08, Y:-1.93, Z:-0.53 [[ 9.92920859e-01 1.17851133e-01 1.48080247e-02 2.40801155e+01] [-1.17834759e-01 9.93031250e-01 -1.97646194e-03 -1.93449942e+00] [-1.49377596e-02 2.17570258e-04 9.99888402e-01 -5.33964267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.478623853000002 meters 0.02235202162746299 Centerline is valid? [True, True] Translation: X:24.11, Y:-1.94, Z:-0.54 [[ 9.92577915e-01 1.20624459e-01 1.54538688e-02 2.41097879e+01] [-1.20606907e-01 9.92698194e-01 -2.06620217e-03 -1.94441571e+00] [-1.55902621e-02 1.87023336e-04 9.99878447e-01 -5.39867822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.508623853 meters 0.027332443734155207 Centerline is valid? [True, True] Translation: X:24.14, Y:-1.94, Z:-0.53 [[ 9.92349698e-01 1.22575992e-01 1.47378186e-02 2.41422074e+01] [-1.22560216e-01 9.92459119e-01 -1.97234331e-03 -1.94327590e+00] [-1.48684444e-02 1.50984064e-04 9.99889447e-01 -5.33186723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.538623853 meters 0.015728778088749774 Centerline is valid? [True, True] Translation: X:24.17, Y:-1.95, Z:-0.54 [[ 9.91728173e-01 1.27448044e-01 1.52389813e-02 2.41734677e+01] [-1.27431707e-01 9.91845244e-01 -2.04229069e-03 -1.94756269e+00] [-1.53749971e-02 8.34678095e-05 9.99881794e-01 -5.38454606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.568623853000002 meters 0.01414288727061322 Centerline is valid? [True, True] Translation: X:24.21, Y:-1.95, Z:-0.54 [[ 9.91301568e-01 1.30676855e-01 1.56448356e-02 2.42061156e+01] [-1.30659992e-01 9.91425014e-01 -2.09962368e-03 -1.94907232e+00] [-1.57850536e-02 3.72061613e-05 9.99875408e-01 -5.37247780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.598623853000003 meters 0.013817185036954418 Centerline is valid? [True, True] Translation: X:24.24, Y:-1.95, Z:-0.54 [[ 9.90818718e-01 1.34265773e-01 1.58420649e-02 2.42395154e+01] [-1.34248898e-01 9.90945358e-01 -2.12870802e-03 -1.95000154e+00] [-1.59844333e-02 -1.76160009e-05 9.99872241e-01 -5.37408791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.628623853 meters 0.014533309083846594 Centerline is valid? [True, True] Translation: X:24.27, Y:-1.95, Z:-0.54 [[ 9.90253747e-01 1.38328954e-01 1.62054429e-02 2.42725405e+01] [-1.38311785e-01 9.90386336e-01 -2.18087272e-03 -1.95019996e+00] [-1.63513270e-02 -8.17863428e-05 9.99866305e-01 -5.37950921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.658623853 meters 0.019879265340986857 Centerline is valid? [True, True] Translation: X:24.31, Y:-1.94, Z:-0.54 [[ 9.89091553e-01 1.46397802e-01 1.62967490e-02 2.43051481e+01] [-1.46381463e-01 9.89225777e-01 -2.19742083e-03 -1.94366653e+00] [-1.64428618e-02 -2.12091584e-04 9.99864785e-01 -5.38798530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.688623853000003 meters 0.02250594965406351 Centerline is valid? [True, True] Translation: X:24.34, Y:-1.94, Z:-0.54 [[ 9.88497106e-01 1.50362694e-01 1.62644192e-02 2.43377131e+01] [-1.50346929e-01 9.88630863e-01 -2.19470539e-03 -1.94353539e+00] [-1.64095087e-02 -2.75845559e-04 9.99865317e-01 -5.38935901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.718623853 meters 0.02704201576973804 Centerline is valid? [True, True] Translation: X:24.37, Y:-1.94, Z:-0.54 [[ 9.87900963e-01 1.54217550e-01 1.63900874e-02 2.43691605e+01] [-1.54202062e-01 9.88036857e-01 -2.21216879e-03 -1.94076817e+00] [-1.65351657e-02 -3.41981606e-04 9.99863226e-01 -5.40437080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.748623853 meters 0.04097609061450557 Centerline is valid? [True, True] Translation: X:24.40, Y:-1.92, Z:-0.54 [[ 9.86832479e-01 1.60908582e-01 1.64343399e-02 2.44013707e+01] [-1.60893904e-01 9.86969211e-01 -2.22012357e-03 -1.92436544e+00] [-1.65774244e-02 -4.53295048e-04 9.99862482e-01 -5.44315076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.778623853000003 meters 0.035891683054665634 Centerline is valid? [True, True] Translation: X:24.43, Y:-1.93, Z:-0.54 [[ 9.86350775e-01 1.63828104e-01 1.65075769e-02 2.44318822e+01] [-1.63813699e-01 9.86488772e-01 -2.23023418e-03 -1.93387464e+00] [-1.66499143e-02 -5.04374035e-04 9.99861253e-01 -5.41373729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.808623853 meters 0.041443386270437324 Centerline is valid? [True, True] Translation: X:24.46, Y:-1.93, Z:-0.54 [[ 9.85505617e-01 1.68822536e-01 1.66622482e-02 2.44630791e+01] [-1.68808561e-01 9.85646285e-01 -2.25181062e-03 -1.92723105e+00] [-1.68032394e-02 -5.93558126e-04 9.99858639e-01 -5.41716457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.838623853 meters 0.04226196917722125 Centerline is valid? [True, True] Translation: X:24.50, Y:-1.93, Z:-0.54 [[ 9.85200276e-01 1.70573165e-01 1.68881815e-02 2.44952730e+01] [-1.70559076e-01 9.85344810e-01 -2.28172269e-03 -1.92888969e+00] [-1.70298827e-02 -6.32478804e-04 9.99854781e-01 -5.42169205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.868623853000003 meters 0.04409675436152707 Centerline is valid? [True, True] Translation: X:24.53, Y:-1.93, Z:-0.54 [[ 9.85012241e-01 1.71644054e-01 1.70059640e-02 2.45258330e+01] [-1.71629908e-01 9.85158815e-01 -2.29874342e-03 -1.92885683e+00] [-1.71481410e-02 -6.54441630e-04 9.99852746e-01 -5.42775398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.898623853 meters 0.04672993578774789 Centerline is valid? [True, True] Translation: X:24.56, Y:-1.93, Z:-0.54 [[ 9.84886385e-01 1.72376677e-01 1.68845886e-02 2.45563782e+01] [-1.72362841e-01 9.85030884e-01 -2.28223477e-03 -1.92779377e+00] [-1.70252453e-02 -6.62533711e-04 9.99854840e-01 -5.44498012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.928623853 meters 0.04554792118441881 Centerline is valid? [True, True] Translation: X:24.59, Y:-1.93, Z:-0.55 [[ 9.84975253e-01 1.71913621e-01 1.64151624e-02 2.45869397e+01] [-1.71900460e-01 9.85111823e-01 -2.21997740e-03 -1.92949178e+00] [-1.65524149e-02 -6.35151173e-04 9.99862798e-01 -5.46209904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.958623853000002 meters 0.04471468221919317 Centerline is valid? [True, True] Translation: X:24.62, Y:-1.93, Z:-0.55 [[ 9.85133607e-01 1.70978081e-01 1.66814896e-02 2.46172029e+01] [-1.70964356e-01 9.85274632e-01 -2.25599533e-03 -1.93231726e+00] [-1.68215742e-02 -6.29483295e-04 9.99858309e-01 -5.46404672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.988623853 meters 0.04182609258062857 Centerline is valid? [True, True] Translation: X:24.65, Y:-1.94, Z:-0.55 [[ 9.85688050e-01 1.67641931e-01 1.77553291e-02 2.46470195e+01] [-1.67625841e-01 9.85847763e-01 -2.40122080e-03 -1.93557103e+00] [-1.79065968e-02 -6.09397327e-04 9.99839478e-01 -5.45421201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.018623853 meters 0.03924602806875186 Centerline is valid? [True, True] Translation: X:24.68, Y:-1.94, Z:-0.55 [[ 9.86084527e-01 1.65255709e-01 1.81067955e-02 2.46778892e+01] [-1.65238577e-01 9.86250585e-01 -2.44859473e-03 -1.94120165e+00] [-1.82624819e-02 -5.77419741e-04 9.99833060e-01 -5.45549416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.048623853000002 meters 0.03595692888820741 Centerline is valid? [True, True] Translation: X:24.71, Y:-1.95, Z:-0.55 [[ 9.86523472e-01 1.62580352e-01 1.84138026e-02 2.47087570e+01] [-1.62562159e-01 9.86695161e-01 -2.49054795e-03 -1.94804158e+00] [-1.85737240e-02 -5.36403490e-04 9.99827350e-01 -5.46074620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.078623853 meters 0.0311902671975283 Centerline is valid? [True, True] Translation: X:24.74, Y:-1.96, Z:-0.55 [[ 9.86982683e-01 1.59769922e-01 1.84053164e-02 2.47390004e+01] [-1.59751250e-01 9.87154162e-01 -2.48982399e-03 -1.95747646e+00] [-1.85666836e-02 -4.82859136e-04 9.99827508e-01 -5.46175819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.108623853 meters 0.0256775416285805 Centerline is valid? [True, True] Translation: X:24.77, Y:-1.97, Z:-0.55 [[ 9.87927462e-01 1.53833425e-01 1.82922432e-02 2.47692309e+01] [-1.53813956e-01 9.88096727e-01 -2.47496550e-03 -1.96716103e+00] [-1.84552380e-02 -3.68515895e-04 9.99829620e-01 -5.47723825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.138623853000002 meters 0.02365900120143572 Centerline is valid? [True, True] Translation: X:24.80, Y:-1.97, Z:-0.55 [[ 9.88328294e-01 1.51299425e-01 1.77670494e-02 2.47998819e+01] [-1.51280658e-01 9.88487929e-01 -2.40336715e-03 -1.97363839e+00] [-1.79261419e-02 -3.12495160e-04 9.99839265e-01 -5.49556410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.168623853 meters 0.021392360274281583 Centerline is valid? [True, True] Translation: X:24.83, Y:-1.98, Z:-0.55 [[ 9.88700381e-01 1.48913431e-01 1.72146993e-02 2.48314521e+01] [-1.48895408e-01 9.88850203e-01 -2.33114809e-03 -1.98059466e+00] [-1.73698981e-02 -2.58382673e-04 9.99849099e-01 -5.51484978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.198623853 meters 0.018714547962392365 Centerline is valid? [True, True] Translation: X:24.86, Y:-1.99, Z:-0.55 [[ 9.89079977e-01 1.46418159e-01 1.68083789e-02 2.48624545e+01] [-1.46400570e-01 9.89222766e-01 -2.27880472e-03 -1.98837930e+00] [-1.69608895e-02 -2.06836144e-04 9.99856132e-01 -5.52484062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.228623853000002 meters 0.015857326023427366 Centerline is valid? [True, True] Translation: X:24.89, Y:-2.00, Z:-0.55 [[ 9.89772587e-01 1.41734261e-01 1.61748372e-02 2.48937508e+01] [-1.41717305e-01 9.89904735e-01 -2.19553811e-03 -1.99688689e+00] [-1.63227309e-02 -1.19170900e-04 9.99866768e-01 -5.54384494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.258623853000003 meters 0.01499819625111869 Centerline is valid? [True, True] Translation: X:24.92, Y:-2.00, Z:-0.56 [[ 9.90066880e-01 1.39654539e-01 1.62537171e-02 2.49246017e+01] [-1.39637089e-01 9.90200284e-01 -2.20916857e-03 -2.00252096e+00] [-1.64029557e-02 -8.23971093e-05 9.99865459e-01 -5.55717957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.288623853 meters 0.014314958495391002 Centerline is valid? [True, True] Translation: X:24.95, Y:-2.01, Z:-0.56 [[ 9.90374656e-01 1.37490762e-01 1.59477650e-02 2.49547248e+01] [-1.37473642e-01 9.90503048e-01 -2.17008333e-03 -2.00856887e+00] [-1.60946762e-02 -4.32017948e-05 9.99870471e-01 -5.57146183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.318623853000002 meters 0.01407612410498107 Centerline is valid? [True, True] Translation: X:24.99, Y:-2.02, Z:-0.56 [[ 9.90903347e-01 1.33569097e-01 1.64271894e-02 2.49863516e+01] [-1.33550350e-01 9.91039503e-01 -2.23787106e-03 -2.01634710e+00] [-1.65789040e-02 2.36570254e-05 9.99862560e-01 -5.56217947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.348623853000003 meters 0.0149110471856491 Centerline is valid? [True, True] Translation: X:25.02, Y:-2.02, Z:-0.56 [[ 9.91081914e-01 1.32205676e-01 1.66822676e-02 2.50172814e+01] [-1.32186102e-01 9.91222304e-01 -2.27544806e-03 -2.02288384e+00] [-1.68366628e-02 4.99914990e-05 9.99858252e-01 -5.58712850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.378623853 meters 0.015001381969111747 Centerline is valid? [True, True] Translation: X:25.05, Y:-2.03, Z:-0.56 [[ 9.91250176e-01 1.30921323e-01 1.68135603e-02 2.50495672e+01] [-1.30901204e-01 9.91392758e-01 -2.29636841e-03 -2.02859674e+00] [-1.69694855e-02 7.53603048e-05 9.99856005e-01 -5.57437938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.408623853 meters 0.016470091537447832 Centerline is valid? [True, True] Translation: X:25.08, Y:-2.04, Z:-0.56 [[ 9.91532096e-01 1.28787259e-01 1.66716810e-02 2.50797291e+01] [-1.28767118e-01 9.91672239e-01 -2.28047243e-03 -2.03501226e+00] [-1.68265390e-02 1.14397305e-04 9.99858417e-01 -5.59040414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.438623853000003 meters 0.01779251391172462 Centerline is valid? [True, True] Translation: X:25.11, Y:-2.04, Z:-0.56 [[ 9.91595553e-01 1.28342460e-01 1.63239634e-02 2.51110498e+01] [-1.28323052e-01 9.91729902e-01 -2.23521348e-03 -2.04048169e+00] [-1.64758354e-02 1.21686942e-04 9.99864257e-01 -5.62068455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.468623853 meters 0.01822609032217804 Centerline is valid? [True, True] Translation: X:25.14, Y:-2.04, Z:-0.56 [[ 9.91624069e-01 1.28122387e-01 1.63205416e-02 2.51432054e+01] [-1.28102908e-01 9.91758356e-01 -2.23772678e-03 -2.04493063e+00] [-1.64727364e-02 1.28274897e-04 9.99864307e-01 -5.63532453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.498623853 meters 0.016794547774930595 Centerline is valid? [True, True] Translation: X:25.18, Y:-2.05, Z:-0.56 [[ 9.91651618e-01 1.27928080e-01 1.61702032e-02 2.51760781e+01] [-1.27908895e-01 9.91783438e-01 -2.21946098e-03 -2.04541734e+00] [-1.63212711e-02 1.32619252e-04 9.99866790e-01 -5.61779938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.528623853000003 meters 0.01799514126666465 Centerline is valid? [True, True] Translation: X:25.21, Y:-2.05, Z:-0.56 [[ 9.91632105e-01 1.28101632e-01 1.59918759e-02 2.52076260e+01] [-1.28082837e-01 9.91761037e-01 -2.19823710e-03 -2.05111054e+00] [-1.61417172e-02 1.31557648e-04 9.99869705e-01 -5.64417285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.558623853 meters 0.017834632446589557 Centerline is valid? [True, True] Translation: X:25.24, Y:-2.05, Z:-0.57 [[ 9.91607403e-01 1.28323931e-01 1.57393425e-02 2.52399504e+01] [-1.28305707e-01 9.91732299e-01 -2.16638783e-03 -2.05490410e+00] [-1.58872138e-02 1.28758730e-04 9.99873782e-01 -5.65483015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.588623853 meters 0.0184665595356519 Centerline is valid? [True, True] Translation: X:25.27, Y:-2.06, Z:-0.57 [[ 9.91680086e-01 1.27836263e-01 1.51161357e-02 2.52717310e+01] [-1.27819354e-01 9.91795277e-01 -2.08347279e-03 -2.06032732e+00] [-1.52584554e-02 1.34003763e-04 9.99883574e-01 -5.67407138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.618623853000003 meters 0.019013295767481748 Centerline is valid? [True, True] Translation: X:25.30, Y:-2.07, Z:-0.57 [[ 9.91726514e-01 1.27458881e-01 1.52563038e-02 2.53037424e+01] [-1.27441575e-01 9.91843845e-01 -2.10520099e-03 -2.06571770e+00] [-1.54001976e-02 1.43496248e-04 9.99881400e-01 -5.68448557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.648623853 meters 0.019084279100663397 Centerline is valid? [True, True] Translation: X:25.34, Y:-2.07, Z:-0.57 [[ 9.91730187e-01 1.27406731e-01 1.54519088e-02 2.53368455e+01] [-1.27388931e-01 9.91850545e-01 -2.13481528e-03 -2.07058930e+00] [-1.55979740e-02 1.48758610e-04 9.99878333e-01 -5.68969275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.678623853 meters 0.019823473712848403 Centerline is valid? [True, True] Translation: X:25.37, Y:-2.08, Z:-0.57 [[ 9.91788749e-01 1.26960353e-01 1.53670137e-02 2.53673742e+01] [-1.26942637e-01 9.91907780e-01 -2.12682115e-03 -2.07642080e+00] [-1.55126824e-02 1.58628043e-04 9.99879659e-01 -5.70000314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.708623853000002 meters 0.02934304751329727 Centerline is valid? [True, True] Translation: X:25.40, Y:-2.08, Z:-0.57 [[ 9.91738669e-01 1.27373903e-01 1.51756813e-02 2.54000099e+01] [-1.27356668e-01 9.91854761e-01 -2.10074078e-03 -2.08083719e+00] [-1.53196513e-02 1.50661670e-04 9.99882636e-01 -5.66304785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.738623853 meters 0.019739551159827774 Centerline is valid? [True, True] Translation: X:25.43, Y:-2.09, Z:-0.57 [[ 9.91738397e-01 1.27331418e-01 1.55455034e-02 2.54324053e+01] [-1.27313281e-01 9.91860214e-01 -2.15490304e-03 -2.08694453e+00] [-1.56933532e-02 1.57951055e-04 9.99876839e-01 -5.71114910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.768623853 meters 0.01988966339991902 Centerline is valid? [True, True] Translation: X:25.47, Y:-2.09, Z:-0.57 [[ 9.91718073e-01 1.27475124e-01 1.56638551e-02 2.54652962e+01] [-1.27456682e-01 9.91841755e-01 -2.17420204e-03 -2.09257206e+00] [-1.58132222e-02 1.59732475e-04 9.99874950e-01 -5.72167096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.798623853000002 meters 0.019331700818636128 Centerline is valid? [True, True] Translation: X:25.50, Y:-2.10, Z:-0.57 [[ 9.91737002e-01 1.27284116e-01 1.60147618e-02 2.54974649e+01] [-1.27264765e-01 9.91866284e-01 -2.22583043e-03 -2.09902647e+00] [-1.61678151e-02 1.69323504e-04 9.99869278e-01 -5.71430626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.828623853 meters 0.025967808515852408 Centerline is valid? [True, True] Translation: X:25.53, Y:-2.11, Z:-0.57 [[ 9.91719751e-01 1.27391846e-01 1.62250472e-02 2.55286359e+01] [-1.27371945e-01 9.91852453e-01 -2.25831330e-03 -2.10599515e+00] [-1.63805435e-02 1.72998085e-04 9.99865815e-01 -5.69192583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.858623853 meters 0.02032499308479748 Centerline is valid? [True, True] Translation: X:25.56, Y:-2.11, Z:-0.57 [[ 9.91679281e-01 1.27661591e-01 1.65747447e-02 2.55610885e+01] [-1.27640810e-01 9.91817769e-01 -2.31002814e-03 -2.11144578e+00] [-1.67340282e-02 1.75193213e-04 9.99859961e-01 -5.72587559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.888623853000002 meters 0.020325067313388605 Centerline is valid? [True, True] Translation: X:25.59, Y:-2.12, Z:-0.57 [[ 9.91642255e-01 1.27960308e-01 1.64863021e-02 2.55941080e+01] [-1.27939741e-01 9.91779275e-01 -2.30062236e-03 -2.11659167e+00] [-1.66451610e-02 1.72141131e-04 9.99861445e-01 -5.74255279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.918623853 meters 0.019023000420830206 Centerline is valid? [True, True] Translation: X:25.63, Y:-2.12, Z:-0.58 [[ 9.91616188e-01 1.28286663e-01 1.54876493e-02 2.56270699e+01] [-1.28268515e-01 9.91737116e-01 -2.16361750e-03 -2.12170486e+00] [-1.56372400e-02 1.58900359e-04 9.99877718e-01 -5.75197108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.948623853 meters 0.030900919700136593 Centerline is valid? [True, True] Translation: X:25.66, Y:-2.13, Z:-0.57 [[ 9.91592899e-01 1.28539183e-01 1.48728597e-02 2.56586561e+01] [-1.28522434e-01 9.91704419e-01 -2.08052891e-03 -2.12989556e+00] [-1.50169101e-02 1.51541570e-04 9.99887228e-01 -5.73889460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.978623853000002 meters 0.021344767818998935 Centerline is valid? [True, True] Translation: X:25.69, Y:-2.14, Z:-0.58 [[ 9.91631604e-01 1.28167337e-01 1.54885692e-02 2.56894038e+01] [-1.28149078e-01 9.91752543e-01 -2.16975369e-03 -2.13849765e+00] [-1.56389195e-02 1.66750464e-04 9.99877691e-01 -5.79560613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.008623853000003 meters 0.019626703362962697 Centerline is valid? [True, True] Translation: X:25.72, Y:-2.14, Z:-0.58 [[ 9.91610872e-01 1.28286320e-01 1.58271439e-02 2.57227290e+01] [-1.28267230e-01 9.91737158e-01 -2.21963622e-03 -2.14212303e+00] [-1.59811157e-02 1.70911492e-04 9.99872279e-01 -5.77366989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.038623853 meters 0.01877285326362601 Centerline is valid? [True, True] Translation: X:25.75, Y:-2.15, Z:-0.58 [[ 9.91505147e-01 1.29059241e-01 1.61634244e-02 2.57544228e+01] [-1.29039379e-01 9.91636872e-01 -2.27015620e-03 -2.14719823e+00] [-1.63212323e-02 1.65153309e-04 9.99866786e-01 -5.76865034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.068623853000002 meters 0.01816252806063143 Centerline is valid? [True, True] Translation: X:25.79, Y:-2.15, Z:-0.58 [[ 9.91354456e-01 1.30158459e-01 1.65866728e-02 2.57855389e+01] [-1.30137639e-01 9.91493193e-01 -2.33310951e-03 -2.15181578e+00] [-1.67492471e-02 1.54388077e-04 9.99859710e-01 -5.76932534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.098623853000003 meters 0.015544194675281127 Centerline is valid? [True, True] Translation: X:25.82, Y:-2.15, Z:-0.58 [[ 9.90907952e-01 1.33414759e-01 1.73761965e-02 2.58182197e+01] [-1.33392388e-01 9.91060286e-01 -2.44535536e-03 -2.15210476e+00] [-1.75471048e-02 1.05269717e-04 9.99846032e-01 -5.75184163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.128623853 meters 0.01533177312084244 Centerline is valid? [True, True] Translation: X:25.85, Y:-2.16, Z:-0.58 [[ 9.90663892e-01 1.35232736e-01 1.72383291e-02 2.58496006e+01] [-1.35210941e-01 9.90813858e-01 -2.42902414e-03 -2.15520884e+00] [-1.74084590e-02 7.55358013e-05 9.99848458e-01 -5.77496052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.158623853 meters 0.014526860819895545 Centerline is valid? [True, True] Translation: X:25.88, Y:-2.16, Z:-0.58 [[ 9.90441092e-01 1.36878084e-01 1.70538474e-02 2.58825381e+01] [-1.36856955e-01 9.90587900e-01 -2.40546629e-03 -2.15780800e+00] [-1.72225905e-02 4.85350387e-05 9.99851679e-01 -5.77851321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.188623853000003 meters 0.01439802641236625 Centerline is valid? [True, True] Translation: X:25.92, Y:-2.16, Z:-0.58 [[ 9.90271882e-01 1.38127194e-01 1.68071014e-02 2.59156686e+01] [-1.38106796e-01 9.90414498e-01 -2.37390120e-03 -2.16182453e+00] [-1.69738972e-02 2.96326802e-05 9.99855933e-01 -5.79640604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.218623853 meters 0.020038356012513636 Centerline is valid? [True, True] Translation: X:25.95, Y:-2.17, Z:-0.58 [[ 9.90006416e-01 1.40064909e-01 1.64048104e-02 2.59482078e+01] [-1.40045691e-01 9.90142324e-01 -2.32018520e-03 -2.16554044e+00] [-1.65680736e-02 -4.24761726e-07 9.99862740e-01 -5.76634463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.248623853 meters 0.014170940470868754 Centerline is valid? [True, True] Translation: X:25.98, Y:-2.17, Z:-0.58 [[ 9.89964021e-01 1.40336900e-01 1.66370454e-02 2.59807044e+01] [-1.40317116e-01 9.90103810e-01 -2.35635650e-03 -2.17051593e+00] [-1.68030858e-02 -1.75407174e-06 9.99858818e-01 -5.81320818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.278623853000003 meters 0.014097799774394385 Centerline is valid? [True, True] Translation: X:26.01, Y:-2.18, Z:-0.58 [[ 9.89911082e-01 1.40709263e-01 1.66419207e-02 2.60129456e+01] [-1.40689466e-01 9.90050960e-01 -2.36030653e-03 -2.17512271e+00] [-1.68084666e-02 -4.84934559e-06 9.99858728e-01 -5.82233432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.308623853 meters 0.014219028687559004 Centerline is valid? [True, True] Translation: X:26.05, Y:-2.18, Z:-0.58 [[ 9.89927743e-01 1.40621530e-01 1.63904931e-02 2.60456405e+01] [-1.40602263e-01 9.90063425e-01 -2.32776517e-03 -2.18139469e+00] [-1.65549616e-02 -2.21096706e-07 9.99862957e-01 -5.83874053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.338623853 meters 0.01453444471052767 Centerline is valid? [True, True] Translation: X:26.08, Y:-2.19, Z:-0.59 [[ 9.90011979e-01 1.40070818e-01 1.60139681e-02 2.60771564e+01] [-1.40052303e-01 9.90141488e-01 -2.27745085e-03 -2.18808945e+00] [-1.61750986e-02 1.19105180e-05 9.99869174e-01 -5.86360714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.368623853000003 meters 0.014683376242823946 Centerline is valid? [True, True] Translation: X:26.11, Y:-2.19, Z:-0.59 [[ 9.90076475e-01 1.39651059e-01 1.56893676e-02 2.61091587e+01] [-1.39633191e-01 9.90200778e-01 -2.23401618e-03 -2.19496006e+00] [-1.58476067e-02 2.10904100e-05 9.99874419e-01 -5.88145798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.398623853 meters 0.014683376242823946 Centerline is valid? [True, True] Translation: X:26.14, Y:-2.20, Z:-0.59 [[ 9.90050205e-01 1.39837223e-01 1.56889471e-02 2.61412971e+01] [-1.39819331e-01 9.90174505e-01 -2.23696427e-03 -2.19974595e+00] [-1.58476063e-02 2.10888536e-05 9.99874419e-01 -5.88963640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.428623853 meters 0.015035045983637781 Centerline is valid? [True, True] Translation: X:26.17, Y:-2.21, Z:-0.59 [[ 9.90199029e-01 1.38881333e-01 1.47600376e-02 2.61721590e+01] [-1.38865350e-01 9.90309030e-01 -2.10727892e-03 -2.20769687e+00] [-1.49096602e-02 3.69677583e-05 9.99888844e-01 -5.90730358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.458623853000002 meters 0.014933025372859643 Centerline is valid? [True, True] Translation: X:26.20, Y:-2.21, Z:-0.59 [[ 9.90222106e-01 1.38716869e-01 1.47584322e-02 2.62047285e+01] [-1.38700839e-01 9.90332080e-01 -2.10924217e-03 -2.21379604e+00] [-1.49083364e-02 4.16112948e-05 9.99888864e-01 -5.90334600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.488623853 meters 0.01517116626100052 Centerline is valid? [True, True] Translation: X:26.24, Y:-2.22, Z:-0.59 [[ 9.90213471e-01 1.38772957e-01 1.48103972e-02 2.62365128e+01] [-1.38756762e-01 9.90324222e-01 -2.12047418e-03 -2.21977813e+00] [-1.49613595e-02 4.46793326e-05 9.99888072e-01 -5.92206072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.518623853 meters 0.01513987904196177 Centerline is valid? [True, True] Translation: X:26.27, Y:-2.22, Z:-0.59 [[ 9.90169321e-01 1.39108915e-01 1.46090898e-02 2.62688202e+01] [-1.39093179e-01 9.90277087e-01 -2.09275317e-03 -2.22458612e+00] [-1.47581675e-02 4.01552562e-05 9.99891092e-01 -5.93098263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.548623853000002 meters 0.014924630834987362 Centerline is valid? [True, True] Translation: X:26.30, Y:-2.23, Z:-0.59 [[ 9.90010159e-01 1.40178736e-01 1.51594100e-02 2.62998675e+01] [-1.40161863e-01 9.90126215e-01 -2.17511292e-03 -2.22800479e+00] [-1.53146338e-02 2.86127515e-05 9.99882724e-01 -5.93094769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.578623853 meters 0.014971518474265904 Centerline is valid? [True, True] Translation: X:26.33, Y:-2.23, Z:-0.59 [[ 9.89912546e-01 1.40854969e-01 1.52653113e-02 2.63315828e+01] [-1.40837905e-01 9.90030241e-01 -2.19252254e-03 -2.23281688e+00] [-1.54219475e-02 2.04711022e-05 9.99881074e-01 -5.94685557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.608623853 meters 0.014926726454493826 Centerline is valid? [True, True] Translation: X:26.36, Y:-2.24, Z:-0.60 [[ 9.89841985e-01 1.41314610e-01 1.55893041e-02 2.63634628e+01] [-1.41296824e-01 9.89964737e-01 -2.24204420e-03 -2.23763039e+00] [-1.57496949e-02 1.65503164e-05 9.99875966e-01 -5.95237706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.638623853000002 meters 0.014440959879400321 Centerline is valid? [True, True] Translation: X:26.40, Y:-2.24, Z:-0.59 [[ 9.89772469e-01 1.41785972e-01 1.57225537e-02 2.63962766e+01] [-1.41767900e-01 9.89897337e-01 -2.26371975e-03 -2.24279350e+00] [-1.58846778e-02 1.16140584e-05 9.99873830e-01 -5.93791997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.668623853 meters 0.014616736621502516 Centerline is valid? [True, True] Translation: X:26.43, Y:-2.25, Z:-0.60 [[ 9.89756594e-01 1.41904331e-01 1.56539154e-02 2.64277351e+01] [-1.41886371e-01 9.89880377e-01 -2.25767108e-03 -2.24835933e+00] [-1.58158770e-02 1.34675963e-05 9.99874921e-01 -5.95315768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.698623853 meters 0.01455597605801462 Centerline is valid? [True, True] Translation: X:26.46, Y:-2.25, Z:-0.60 [[ 9.89749069e-01 1.41940229e-01 1.58035272e-02 2.64604669e+01] [-1.41921907e-01 9.89875230e-01 -2.28060474e-03 -2.25376622e+00] [-1.59672297e-02 1.43596978e-05 9.99872516e-01 -5.95660851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.728623853000002 meters 0.026039190533549077 Centerline is valid? [True, True] Translation: X:26.49, Y:-2.26, Z:-0.59 [[ 9.89726724e-01 1.42110132e-01 1.56755210e-02 2.64923941e+01] [-1.42092077e-01 9.89850852e-01 -2.26529211e-03 -2.25857852e+00] [-1.58383488e-02 1.46528039e-05 9.99874565e-01 -5.91305092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.758623853000003 meters 0.01847512658462324 Centerline is valid? [True, True] Translation: X:26.52, Y:-2.26, Z:-0.59 [[ 9.89765154e-01 1.41805100e-01 1.60079035e-02 2.65244837e+01] [-1.41786184e-01 9.89894597e-01 -2.31625394e-03 -2.26389820e+00] [-1.61745938e-02 2.28478963e-05 9.99869182e-01 -5.93414953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.788623853 meters 0.014537247439226502 Centerline is valid? [True, True] Translation: X:26.56, Y:-2.27, Z:-0.60 [[ 9.89819411e-01 1.41391792e-01 1.63063105e-02 2.65555244e+01] [-1.41372051e-01 9.89953716e-01 -2.36283834e-03 -2.27005458e+00] [-1.64765786e-02 3.35266847e-05 9.99864251e-01 -5.96857890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.818623853000002 meters 0.023826176035468532 Centerline is valid? [True, True] Translation: X:26.59, Y:-2.28, Z:-0.59 [[ 9.89839903e-01 1.41300976e-01 1.58430151e-02 2.65882229e+01] [-1.41282287e-01 9.89966683e-01 -2.29838581e-03 -2.27683182e+00] [-1.60088213e-02 3.66965676e-05 9.99871850e-01 -5.93682446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.848623853000003 meters 0.02051221829292122 Centerline is valid? [True, True] Translation: X:26.62, Y:-2.28, Z:-0.60 [[ 9.89829079e-01 1.41400129e-01 1.56332303e-02 2.66198771e+01] [-1.41381895e-01 9.89952525e-01 -2.27106601e-03 -2.28164954e+00] [-1.57972848e-02 3.77114537e-05 9.99875214e-01 -5.95496563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.878623853 meters 0.01490279633773447 Centerline is valid? [True, True] Translation: X:26.65, Y:-2.29, Z:-0.60 [[ 9.89835070e-01 1.41347505e-01 1.57295123e-02 2.66528559e+01] [-1.41328994e-01 9.89960040e-01 -2.28783888e-03 -2.28688424e+00] [-1.58949690e-02 4.15470035e-05 9.99873666e-01 -5.99861005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.908623853 meters 0.0144548825261239 Centerline is valid? [True, True] Translation: X:26.68, Y:-2.29, Z:-0.60 [[ 9.89672384e-01 1.42362208e-01 1.67801652e-02 2.66840782e+01] [-1.42341214e-01 9.89814630e-01 -2.44500630e-03 -2.29065363e+00] [-1.69573295e-02 3.12461338e-05 9.99856214e-01 -5.98505015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.938623853000003 meters 0.01413142755374809 Centerline is valid? [True, True] Translation: X:26.72, Y:-2.29, Z:-0.60 [[ 9.89520761e-01 1.43344112e-01 1.73530482e-02 2.67156992e+01] [-1.43321790e-01 9.89672908e-01 -2.52969199e-03 -2.29366836e+00] [-1.75364581e-02 1.61128153e-05 9.99846224e-01 -5.98310133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.968623853 meters 0.014153628918679398 Centerline is valid? [True, True] Translation: X:26.75, Y:-2.30, Z:-0.60 [[ 9.89357014e-01 1.44481619e-01 1.72557268e-02 2.67481955e+01] [-1.44459673e-01 9.89507484e-01 -2.51818629e-03 -2.29620938e+00] [-1.74385025e-02 -1.37137954e-06 9.99847938e-01 -5.99446246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.998623853 meters 0.014314869361921953 Centerline is valid? [True, True] Translation: X:26.78, Y:-2.30, Z:-0.60 [[ 9.89193239e-01 1.45631316e-01 1.69781064e-02 2.67796145e+01] [-1.45610183e-01 9.89338931e-01 -2.48093164e-03 -2.29915120e+00] [-1.71584030e-02 -1.80643822e-05 9.99852784e-01 -6.00895145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.028623853000003 meters 0.01429635601823826 Centerline is valid? [True, True] Translation: X:26.81, Y:-2.30, Z:-0.60 [[ 9.89054652e-01 1.46560620e-01 1.70552094e-02 2.68124659e+01] [-1.46539382e-01 9.89201690e-01 -2.49517508e-03 -2.30346437e+00] [-1.72367363e-02 -3.13953212e-05 9.99851436e-01 -6.01750058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.058623853 meters 0.014560241859678892 Centerline is valid? [True, True] Translation: X:26.84, Y:-2.31, Z:-0.60 [[ 9.88940451e-01 1.47374340e-01 1.66609641e-02 2.68440496e+01] [-1.47354135e-01 9.89080787e-01 -2.44063348e-03 -2.30826119e+00] [-1.68387262e-02 -4.14207707e-05 9.99858218e-01 -6.03956684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.088623853 meters 0.014532590578787714 Centerline is valid? [True, True] Translation: X:26.88, Y:-2.31, Z:-0.61 [[ 9.88944465e-01 1.47376403e-01 1.64024684e-02 2.68751140e+01] [-1.47356773e-01 9.89080479e-01 -2.40558688e-03 -2.31381550e+00] [-1.65778881e-02 -3.80229973e-05 9.99862577e-01 -6.05059023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.118623853000003 meters 0.014300712273741715 Centerline is valid? [True, True] Translation: X:26.91, Y:-2.32, Z:-0.60 [[ 9.89001743e-01 1.46863073e-01 1.75154313e-02 2.69058475e+01] [-1.46840539e-01 9.89156831e-01 -2.57276933e-03 -2.32081575e+00] [-1.77033533e-02 -2.75020190e-05 9.99843283e-01 -6.03182027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.148623853 meters 0.013905320112277889 Centerline is valid? [True, True] Translation: X:26.94, Y:-2.33, Z:-0.60 [[ 9.88946369e-01 1.47151890e-01 1.82044032e-02 2.69381628e+01] [-1.47127576e-01 9.89113907e-01 -2.67506557e-03 -2.32638421e+00] [-1.83998693e-02 -3.28733334e-05 9.99830708e-01 -6.01807821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.178623853 meters 0.013925009820959646 Centerline is valid? [True, True] Translation: X:26.97, Y:-2.33, Z:-0.60 [[ 9.88924955e-01 1.47259966e-01 1.84914830e-02 2.69697392e+01] [-1.47234823e-01 9.89097822e-01 -2.72132122e-03 -2.33127010e+00] [-1.86906273e-02 -3.14077544e-05 9.99825314e-01 -6.02304221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.208623853000002 meters 0.014218992114469349 Centerline is valid? [True, True] Translation: X:27.00, Y:-2.34, Z:-0.60 [[ 9.88740882e-01 1.48429667e-01 1.89763624e-02 2.70025338e+01] [-1.48403366e-01 9.88922965e-01 -2.79463486e-03 -2.33513218e+00] [-1.91809672e-02 -5.29863114e-05 9.99816027e-01 -6.02318569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.238623853 meters 0.014350920964194576 Centerline is valid? [True, True] Translation: X:27.04, Y:-2.34, Z:-0.60 [[ 9.88562454e-01 1.49621595e-01 1.89116941e-02 2.70354541e+01] [-1.49595625e-01 9.88743330e-01 -2.78851510e-03 -2.33998624e+00] [-1.91160335e-02 -7.24853703e-05 9.99817269e-01 -6.02916356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.268623853 meters 0.014959992200524158 Centerline is valid? [True, True] Translation: X:27.07, Y:-2.34, Z:-0.60 [[ 9.88384139e-01 1.50808623e-01 1.88029972e-02 2.70667702e+01] [-1.50783096e-01 9.88562973e-01 -2.77615625e-03 -2.34339699e+00] [-1.90066151e-02 -9.12653226e-05 9.99819354e-01 -6.04577976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.298623853000002 meters 0.016796540490639587 Centerline is valid? [True, True] Translation: X:27.10, Y:-2.34, Z:-0.61 [[ 9.87865702e-01 1.54262535e-01 1.80117889e-02 2.70992070e+01] [-1.54239634e-01 9.88029882e-01 -2.66212299e-03 -2.34417203e+00] [-1.82068515e-02 -1.48311730e-04 9.99834231e-01 -6.06448693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.328623853 meters 0.019014155248925708 Centerline is valid? [True, True] Translation: X:27.13, Y:-2.34, Z:-0.61 [[ 9.87549967e-01 1.56310945e-01 1.76621460e-02 2.71303139e+01] [-1.56289193e-01 9.87707880e-01 -2.61376073e-03 -2.34395788e+00] [-1.78536002e-02 -1.79183225e-04 9.99840596e-01 -6.08597967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.358623853 meters 0.021112672799922412 Centerline is valid? [True, True] Translation: X:27.16, Y:-2.34, Z:-0.61 [[ 9.87200648e-01 1.58506624e-01 1.76218531e-02 2.71616114e+01] [-1.58485292e-01 9.87357890e-01 -2.60945406e-03 -2.34401509e+00] [-1.78126915e-02 -2.16749787e-04 9.99841318e-01 -6.10313774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.388623853000002 meters 0.023733596145730323 Centerline is valid? [True, True] Translation: X:27.19, Y:-2.34, Z:-0.61 [[ 9.86669118e-01 1.61858642e-01 1.69065878e-02 2.71940083e+01] [-1.61839467e-01 9.86813919e-01 -2.50529486e-03 -2.34267400e+00] [-1.70891598e-02 -2.64256096e-04 9.99853935e-01 -6.12131196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.418623853000003 meters 0.02540060648858692 Centerline is valid? [True, True] Translation: X:27.23, Y:-2.34, Z:-0.61 [[ 9.86412861e-01 1.63434347e-01 1.66997863e-02 2.72254445e+01] [-1.63415866e-01 9.86554171e-01 -2.47456825e-03 -2.34475680e+00] [-1.68796732e-02 -2.88064080e-04 9.99857487e-01 -6.13826378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.448623853 meters 0.026639178208959478 Centerline is valid? [True, True] Translation: X:27.26, Y:-2.35, Z:-0.62 [[ 9.86222449e-01 1.64627430e-01 1.62200649e-02 2.72576982e+01] [-1.64610121e-01 9.86355778e-01 -2.40568045e-03 -2.34738366e+00] [-1.63947957e-02 -2.97450769e-04 9.99865552e-01 -6.15438457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.478623853000002 meters 0.02776369538495237 Centerline is valid? [True, True] Translation: X:27.29, Y:-2.35, Z:-0.62 [[ 9.86044508e-01 1.65720343e-01 1.59058501e-02 2.72893898e+01] [-1.65703801e-01 9.86172740e-01 -2.36152577e-03 -2.35006611e+00] [-1.60772687e-02 -3.07090301e-04 9.99870705e-01 -6.16418074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.508623853000003 meters 0.02993043096778341 Centerline is valid? [True, True] Translation: X:27.32, Y:-2.35, Z:-0.62 [[ 9.85749510e-01 1.67436567e-01 1.62142086e-02 2.73204291e+01] [-1.67419545e-01 9.85882793e-01 -2.41122931e-03 -2.34920985e+00] [-1.63890372e-02 -3.37707312e-04 9.99865634e-01 -6.16486470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.538623853 meters 0.03062786650231954 Centerline is valid? [True, True] Translation: X:27.35, Y:-2.35, Z:-0.62 [[ 9.85638603e-01 1.68075366e-01 1.63467407e-02 2.73514844e+01] [-1.68058147e-01 9.85774086e-01 -2.43122112e-03 -2.35084229e+00] [-1.65228217e-02 -3.50897557e-04 9.99863427e-01 -6.16796502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.568623853000002 meters 0.030862142957191578 Centerline is valid? [True, True] Translation: X:27.38, Y:-2.35, Z:-0.62 [[ 9.85602035e-01 1.68221864e-01 1.70303777e-02 2.73826767e+01] [-1.68203200e-01 9.85749090e-01 -2.53272292e-03 -2.35356199e+00] [-1.72137387e-02 -3.68307161e-04 9.99851765e-01 -6.16388221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.598623853000003 meters 0.02710312548058055 Centerline is valid? [True, True] Translation: X:27.41, Y:-2.36, Z:-0.61 [[ 9.85675983e-01 1.67728324e-01 1.76087116e-02 2.74145727e+01] [-1.67708304e-01 9.85833186e-01 -2.61808792e-03 -2.36018897e+00] [-1.77983798e-02 -3.72540781e-04 9.99841527e-01 -6.14572763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.628623853 meters 0.02745680039972394 Centerline is valid? [True, True] Translation: X:27.45, Y:-2.36, Z:-0.62 [[ 9.85736910e-01 1.67370027e-01 1.76073554e-02 2.74454925e+01] [-1.67349899e-01 9.85894083e-01 -2.62091929e-03 -2.36304965e+00] [-1.77976508e-02 -3.63052256e-04 9.99841543e-01 -6.15818009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.658623853 meters 0.02437417299599805 Centerline is valid? [True, True] Translation: X:27.48, Y:-2.37, Z:-0.62 [[ 9.85831772e-01 1.66816727e-01 1.75469628e-02 2.74770007e+01] [-1.66796604e-01 9.85987859e-01 -2.61449363e-03 -2.37079660e+00] [-1.77372336e-02 -3.49322920e-04 9.99842622e-01 -6.15444764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.688623853000003 meters 0.025214012370221753 Centerline is valid? [True, True] Translation: X:27.51, Y:-2.37, Z:-0.62 [[ 9.85938836e-01 1.66223698e-01 1.71550167e-02 2.75084641e+01] [-1.66204321e-01 9.86088016e-01 -2.55909212e-03 -2.37281216e+00] [-1.73417381e-02 -3.28129596e-04 9.99849567e-01 -6.17536654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.718623853 meters 0.02405466693111951 Centerline is valid? [True, True] Translation: X:27.54, Y:-2.38, Z:-0.62 [[ 9.86241602e-01 1.64410014e-01 1.72293174e-02 2.75396144e+01] [-1.64390136e-01 9.86392042e-01 -2.57347087e-03 -2.37500912e+00] [-1.74179659e-02 -2.94265784e-04 9.99848252e-01 -6.18418824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.748623853 meters 0.025982461234854155 Centerline is valid? [True, True] Translation: X:27.57, Y:-2.37, Z:-0.62 [[ 9.86332481e-01 1.63804839e-01 1.77823685e-02 2.75712116e+01] [-1.63783540e-01 9.86492722e-01 -2.65745753e-03 -2.37476700e+00] [-1.79774815e-02 -2.91322595e-04 9.99838350e-01 -6.20463710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.778623853000003 meters 0.02524110180267788 Centerline is valid? [True, True] Translation: X:27.60, Y:-2.38, Z:-0.62 [[ 9.86467601e-01 1.62930553e-01 1.83113868e-02 2.76018759e+01] [-1.62907748e-01 9.86637500e-01 -2.74026607e-03 -2.37814968e+00] [-1.85131739e-02 -2.79883085e-04 9.99828577e-01 -6.20207286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.808623853 meters 0.022386011156232753 Centerline is valid? [True, True] Translation: X:27.63, Y:-2.38, Z:-0.62 [[ 9.86750947e-01 1.61087808e-01 1.93206153e-02 2.76326460e+01] [-1.61062056e-01 9.86940045e-01 -2.89180020e-03 -2.38233490e+00] [-1.95341226e-02 -2.58331435e-04 9.99809157e-01 -6.18100933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.838623853 meters 0.02196154719451178 Centerline is valid? [True, True] Translation: X:27.66, Y:-2.39, Z:-0.62 [[ 9.86877522e-01 1.60275634e-01 1.96081134e-02 2.76627793e+01] [-1.60248951e-01 9.87072267e-01 -2.93480328e-03 -2.38508119e+00] [-1.98250024e-02 -2.45888220e-04 9.99803435e-01 -6.18839556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.868623853000003 meters 0.01894767011136362 Centerline is valid? [True, True] Translation: X:27.69, Y:-2.39, Z:-0.62 [[ 9.86959079e-01 1.59774401e-01 1.95937884e-02 2.76942546e+01] [-1.59747647e-01 9.87153527e-01 -2.93321173e-03 -2.39311150e+00] [-1.98107294e-02 -2.35101632e-04 9.99803721e-01 -6.17604216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.898623853 meters 0.01892437271009757 Centerline is valid? [True, True] Translation: X:27.73, Y:-2.40, Z:-0.62 [[ 9.87000725e-01 1.59531931e-01 1.94712819e-02 2.77256544e+01] [-1.59505401e-01 9.87192743e-01 -2.91808032e-03 -2.39629175e+00] [-1.96874352e-02 -2.25627234e-04 9.99806158e-01 -6.18980150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.928623853 meters 0.017688205168025647 Centerline is valid? [True, True] Translation: X:27.76, Y:-2.40, Z:-0.62 [[ 9.87152925e-01 1.58554293e-01 1.97392776e-02 2.77581931e+01] [-1.58526757e-01 9.87350239e-01 -2.96194855e-03 -2.39806850e+00] [-1.99592101e-02 -2.05307483e-04 9.99800774e-01 -6.19034359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.958623853000002 meters 0.01750807172451402 Centerline is valid? [True, True] Translation: X:27.79, Y:-2.40, Z:-0.62 [[ 9.87256434e-01 1.57969034e-01 1.92488385e-02 2.77901623e+01] [-1.57942679e-01 9.87444049e-01 -2.89145344e-03 -2.40079150e+00] [-1.94639111e-02 -1.85607108e-04 9.99810543e-01 -6.21556570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.988623853 meters 0.016545974863645743 Centerline is valid? [True, True] Translation: X:27.82, Y:-2.41, Z:-0.62 [[ 9.87426421e-01 1.57002532e-01 1.84192572e-02 2.78227134e+01] [-1.56978174e-01 9.87598188e-01 -2.76989394e-03 -2.40574487e+00] [-1.86257054e-02 -1.56354901e-04 9.99826514e-01 -6.23330892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.018623853 meters 0.014866548754924585 Centerline is valid? [True, True] Translation: X:27.85, Y:-2.41, Z:-0.63 [[ 9.87933768e-01 1.53859081e-01 1.77272067e-02 2.78545982e+01] [-1.53835951e-01 9.88092797e-01 -2.66927096e-03 -2.41207233e+00] [-1.79268168e-02 -9.00187856e-05 9.99839298e-01 -6.25118519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.048623853000002 meters 0.014337821826192 Centerline is valid? [True, True] Translation: X:27.89, Y:-2.42, Z:-0.63 [[ 9.88198715e-01 1.52130925e-01 1.78740612e-02 2.78854459e+01] [-1.52107061e-01 9.88360349e-01 -2.69505800e-03 -2.41754814e+00] [-1.80760150e-02 -5.55180589e-05 9.99836614e-01 -6.25850732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.078623853 meters 0.013931412425637495 Centerline is valid? [True, True] Translation: X:27.92, Y:-2.42, Z:-0.63 [[ 9.88485326e-01 1.50221930e-01 1.81695559e-02 2.79174243e+01] [-1.50196923e-01 9.88652301e-01 -2.74095414e-03 -2.42376550e+00] [-1.83751246e-02 -1.96184456e-05 9.99831163e-01 -6.25941412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.108623853 meters 0.014436609367556127 Centerline is valid? [True, True] Translation: X:27.95, Y:-2.43, Z:-0.63 [[ 9.88779417e-01 1.48253205e-01 1.83371489e-02 2.79481677e+01] [-1.48227339e-01 9.88949436e-01 -2.76933839e-03 -2.43095834e+00] [-1.85450763e-02 2.01980269e-05 9.99828025e-01 -6.29515098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.138623853000002 meters 0.015844281570171415 Centerline is valid? [True, True] Translation: X:27.98, Y:-2.44, Z:-0.63 [[ 9.89449309e-01 1.43702882e-01 1.84268005e-02 2.79794843e+01] [-1.43675907e-01 9.89620872e-01 -2.78640678e-03 -2.44032183e+00] [-1.86359610e-02 1.09520989e-04 9.99826329e-01 -6.27645498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.168623853000003 meters 0.01702272746153407 Centerline is valid? [True, True] Translation: X:28.01, Y:-2.45, Z:-0.63 [[ 9.89758197e-01 1.41609944e-01 1.80370254e-02 2.80106090e+01] [-1.41583698e-01 9.89922523e-01 -2.73034827e-03 -2.44642512e+00] [-1.82419021e-02 1.48635826e-04 9.99833592e-01 -6.28576443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.198623853 meters 0.019830555861484734 Centerline is valid? [True, True] Translation: X:28.04, Y:-2.45, Z:-0.63 [[ 9.90284682e-01 1.37945884e-01 1.75265868e-02 2.80418376e+01] [-1.37920484e-01 9.90439745e-01 -2.65559685e-03 -2.45442607e+00] [-1.77253568e-02 2.12521539e-04 9.99842871e-01 -6.30608495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.228623853000002 meters 0.020024120612864196 Centerline is valid? [True, True] Translation: X:28.07, Y:-2.46, Z:-0.63 [[ 9.90439455e-01 1.36881573e-01 1.71207512e-02 2.80740675e+01] [-1.36857130e-01 9.90587393e-01 -2.59681677e-03 -2.45891473e+00] [-1.73150567e-02 2.28892904e-04 9.99850057e-01 -6.31196251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.258623853000003 meters 0.0213693671857297 Centerline is valid? [True, True] Translation: X:28.10, Y:-2.47, Z:-0.63 [[ 9.90559713e-01 1.36068798e-01 1.66354003e-02 2.81046996e+01] [-1.36045558e-01 9.90699362e-01 -2.52609647e-03 -2.46539087e+00] [-1.68244034e-02 2.39077084e-04 9.99858431e-01 -6.33357625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.288623853 meters 0.0213693671857297 Centerline is valid? [True, True] Translation: X:28.14, Y:-2.47, Z:-0.63 [[ 9.90533919e-01 1.36256491e-01 1.66350378e-02 2.81368040e+01] [-1.36233237e-01 9.90673565e-01 -2.52848063e-03 -2.47046018e+00] [-1.68244141e-02 2.38300778e-04 9.99858431e-01 -6.34175503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.318623853000002 meters 0.023275361167129083 Centerline is valid? [True, True] Translation: X:28.17, Y:-2.48, Z:-0.64 [[ 9.90678738e-01 1.35328499e-01 1.55510416e-02 2.81667593e+01] [-1.35308015e-01 9.90800757e-01 -2.36676432e-03 -2.47781525e+00] [-1.57282744e-02 2.40522520e-04 9.99876274e-01 -6.37404708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.348623853000003 meters 0.02297906080054583 Centerline is valid? [True, True] Translation: X:28.20, Y:-2.48, Z:-0.64 [[ 9.90686012e-01 1.35320941e-01 1.51482138e-02 2.81997277e+01] [-1.35301474e-01 9.90801790e-01 -2.30737466e-03 -2.48257389e+00] [-1.53211134e-02 2.36308155e-04 9.99882597e-01 -6.38383120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.378623853 meters 0.02298821638594535 Centerline is valid? [True, True] Translation: X:28.23, Y:-2.49, Z:-0.64 [[ 9.90673349e-01 1.35457368e-01 1.47518490e-02 2.82319666e+01] [-1.35438882e-01 9.90783149e-01 -2.24971665e-03 -2.48728597e+00] [-1.49206241e-02 2.30760407e-04 9.99888655e-01 -6.39759709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.408623853 meters 0.02381399846945255 Centerline is valid? [True, True] Translation: X:28.26, Y:-2.49, Z:-0.64 [[ 9.90648524e-01 1.35601433e-01 1.50915151e-02 2.82637044e+01] [-1.35582053e-01 9.90763441e-01 -2.30467027e-03 -2.49352900e+00] [-1.52646380e-02 2.36979592e-04 9.99883461e-01 -6.40820539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.438623853000003 meters 0.021990876969940315 Centerline is valid? [True, True] Translation: X:28.30, Y:-2.50, Z:-0.64 [[ 9.90573066e-01 1.36072789e-01 1.57859982e-02 2.82958680e+01] [-1.36051594e-01 9.90698812e-01 -2.41385389e-03 -2.49603533e+00] [-1.59676295e-02 2.43388420e-04 9.99872480e-01 -6.39079474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.468623853 meters 0.0209720075243085 Centerline is valid? [True, True] Translation: X:28.33, Y:-2.50, Z:-0.64 [[ 9.90475965e-01 1.36707779e-01 1.63812704e-02 2.83272972e+01] [-1.36684994e-01 9.90611389e-01 -2.50783102e-03 -2.50040586e+00] [-1.65703130e-02 2.44872509e-04 9.99862673e-01 -6.38354353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.498623853 meters 0.029520404777829145 Centerline is valid? [True, True] Translation: X:28.36, Y:-2.51, Z:-0.63 [[ 9.90310970e-01 1.37738087e-01 1.76749146e-02 2.83575032e+01] [-1.37711661e-01 9.90468655e-01 -2.70944685e-03 -2.50746285e+00] [-1.78796429e-02 2.49153077e-04 9.99840115e-01 -6.32746853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.528623853000003 meters 0.020704539699113688 Centerline is valid? [True, True] Translation: X:28.39, Y:-2.51, Z:-0.64 [[ 9.90227465e-01 1.38276972e-01 1.81396566e-02 2.83890606e+01] [-1.38249173e-01 9.90393567e-01 -2.78373261e-03 -2.51166298e+00] [-1.83503253e-02 2.48735967e-04 9.99831588e-01 -6.37342140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.558623853 meters 0.023467099878469802 Centerline is valid? [True, True] Translation: X:28.42, Y:-2.52, Z:-0.64 [[ 9.90123121e-01 1.39043986e-01 1.79715363e-02 2.84200623e+01] [-1.39016769e-01 9.90286178e-01 -2.76103882e-03 -2.51625836e+00] [-1.81808699e-02 2.35423456e-04 9.99834687e-01 -6.35620753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.588623853 meters 0.01945212071029 Centerline is valid? [True, True] Translation: X:28.45, Y:-2.52, Z:-0.64 [[ 9.90028039e-01 1.39753143e-01 1.77071106e-02 2.84528967e+01] [-1.39726791e-01 9.90186351e-01 -2.72285525e-03 -2.52046616e+00] [-1.79138668e-02 2.21545296e-04 9.99839509e-01 -6.39260205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.618623853000003 meters 0.017964613561376703 Centerline is valid? [True, True] Translation: X:28.48, Y:-2.52, Z:-0.64 [[ 9.89764720e-01 1.41584816e-01 1.78756324e-02 2.84848460e+01] [-1.41558191e-01 9.89926110e-01 -2.75251237e-03 -2.52463344e+00] [-1.80852692e-02 1.93897452e-04 9.99836429e-01 -6.39529950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.648623853 meters 0.017521688609291455 Centerline is valid? [True, True] Translation: X:28.52, Y:-2.53, Z:-0.64 [[ 9.89582333e-01 1.42908063e-01 1.74382221e-02 2.85152142e+01] [-1.42882877e-01 9.89735953e-01 -2.68820704e-03 -2.52929264e+00] [-1.76434019e-02 1.68578851e-04 9.99844329e-01 -6.41088606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.678623853 meters 0.017668640950045958 Centerline is valid? [True, True] Translation: X:28.55, Y:-2.53, Z:-0.64 [[ 9.89354391e-01 1.44511904e-01 1.71522369e-02 2.85463122e+01] [-1.44487730e-01 9.89503052e-01 -2.64684316e-03 -2.53480452e+00] [-1.73546911e-02 1.40378124e-04 9.99849386e-01 -6.43885947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.708623853000002 meters 0.01493162501867302 Centerline is valid? [True, True] Translation: X:28.58, Y:-2.53, Z:-0.64 [[ 9.88778959e-01 1.48425096e-01 1.69162690e-02 2.85786181e+01] [-1.48402112e-01 9.88923650e-01 -2.61298099e-03 -2.53440250e+00] [-1.71167305e-02 7.32505711e-05 9.99853495e-01 -6.43899137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.738623853 meters 0.014387663438375765 Centerline is valid? [True, True] Translation: X:28.61, Y:-2.54, Z:-0.64 [[ 9.88467948e-01 1.50466243e-01 1.70594468e-02 2.86108380e+01] [-1.50443122e-01 9.88615147e-01 -2.63802068e-03 -2.53670485e+00] [-1.72621605e-02 4.11224611e-05 9.99850997e-01 -6.44473323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.768623853 meters 0.0139038312773773 Centerline is valid? [True, True] Translation: X:28.64, Y:-2.54, Z:-0.64 [[ 9.88180709e-01 1.52292696e-01 1.74877323e-02 2.86429450e+01] [-1.52268630e-01 9.88335436e-01 -2.70731346e-03 -2.53926072e+00] [-1.76960496e-02 1.24818814e-05 9.99843413e-01 -6.44293231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.798623853000002 meters 0.01426683270820994 Centerline is valid? [True, True] Translation: X:28.67, Y:-2.54, Z:-0.65 [[ 9.87618433e-01 1.55929558e-01 1.71989280e-02 2.86741514e+01] [-1.55906772e-01 9.87768177e-01 -2.66604026e-03 -2.53993692e+00] [-1.74042682e-02 -4.83988465e-05 9.99848533e-01 -6.46159844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.828623853000003 meters 0.014760556830597026 Centerline is valid? [True, True] Translation: X:28.71, Y:-2.54, Z:-0.65 [[ 9.87396548e-01 1.57350069e-01 1.70003768e-02 2.87050811e+01] [-1.57327980e-01 9.87542886e-01 -2.63737907e-03 -2.54309104e+00] [-1.72035930e-02 -7.04959656e-05 9.99852005e-01 -6.47615267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.858623853 meters 0.015430455808201887 Centerline is valid? [True, True] Translation: X:28.74, Y:-2.55, Z:-0.65 [[ 9.87183166e-01 1.58731547e-01 1.65436761e-02 2.87366783e+01] [-1.58710817e-01 9.87321775e-01 -2.56690952e-03 -2.54638845e+00] [-1.67413812e-02 -9.16504923e-05 9.99859849e-01 -6.49029859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.888623853000002 meters 0.01599292787303945 Centerline is valid? [True, True] Translation: X:28.77, Y:-2.55, Z:-0.65 [[ 9.86870836e-01 1.60615652e-01 1.69872037e-02 2.87681522e+01] [-1.60594067e-01 9.87017019e-01 -2.63614238e-03 -2.54907012e+00] [-1.71900649e-02 -1.26512095e-04 9.99852232e-01 -6.48194791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.918623853000003 meters 0.016842030072763498 Centerline is valid? [True, True] Translation: X:28.80, Y:-2.55, Z:-0.65 [[ 9.86741367e-01 1.61426299e-01 1.68233421e-02 2.87984225e+01] [-1.61405238e-01 9.86884761e-01 -2.61122758e-03 -2.55183243e+00] [-1.70242207e-02 -1.38769263e-04 9.99855068e-01 -6.50019383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.948623853 meters 0.017124555400560786 Centerline is valid? [True, True] Translation: X:28.83, Y:-2.56, Z:-0.65 [[ 9.86661629e-01 1.61900034e-01 1.69472199e-02 2.88282486e+01] [-1.61878726e-01 9.86807153e-01 -2.63076539e-03 -2.55586331e+00] [-1.71495588e-02 -1.47719107e-04 9.99852925e-01 -6.51177112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.978623853000002 meters 0.017315185936101048 Centerline is valid? [True, True] Translation: X:28.86, Y:-2.56, Z:-0.65 [[ 9.86545594e-01 1.62624435e-01 1.67655671e-02 2.88586528e+01] [-1.62603686e-01 9.86688030e-01 -2.60256691e-03 -2.56022644e+00] [-1.69656254e-02 -1.58592102e-04 9.99856061e-01 -6.51882408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.008623853 meters 0.017722543868383 Centerline is valid? [True, True] Translation: X:28.89, Y:-2.56, Z:-0.65 [[ 9.86507263e-01 1.62852053e-01 1.68116019e-02 2.88878527e+01] [-1.62831221e-01 9.86650486e-01 -2.60981175e-03 -2.56379270e+00] [-1.70121884e-02 -1.62855406e-04 9.99855269e-01 -6.53024105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.038623853000004 meters 0.01758657444387034 Centerline is valid? [True, True] Translation: X:28.92, Y:-2.57, Z:-0.65 [[ 9.86483191e-01 1.62972014e-01 1.70597967e-02 2.89183538e+01] [-1.62950586e-01 9.86630678e-01 -2.64803147e-03 -2.56812482e+00] [-1.72632738e-02 -1.67665331e-04 9.99850965e-01 -6.53006565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.068623853 meters 0.01761374603175029 Centerline is valid? [True, True] Translation: X:28.95, Y:-2.57, Z:-0.65 [[ 9.86491242e-01 1.62909598e-01 1.71898702e-02 2.89474748e+01] [-1.62887834e-01 9.86640986e-01 -2.66812630e-03 -2.57149092e+00] [-1.73948939e-02 -1.67937501e-04 9.99848683e-01 -6.53531792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.098623853 meters 0.017403343068134135 Centerline is valid? [True, True] Translation: X:28.98, Y:-2.58, Z:-0.65 [[ 9.86585931e-01 1.62358363e-01 1.69694317e-02 2.89775206e+01] [-1.62337067e-01 9.86731847e-01 -2.63423207e-03 -2.57515647e+00] [-1.71719683e-02 -1.55871478e-04 9.99852539e-01 -6.54405173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.128623853 meters 0.016771295431840774 Centerline is valid? [True, True] Translation: X:29.01, Y:-2.58, Z:-0.65 [[ 9.86670200e-01 1.61818732e-01 1.72225191e-02 2.90072915e+01] [-1.61796714e-01 9.86820488e-01 -2.67346828e-03 -2.58049294e+00] [-1.74281519e-02 -1.48715517e-04 9.99848107e-01 -6.54424856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.158623853 meters 0.01626459299504894 Centerline is valid? [True, True] Translation: X:29.04, Y:-2.59, Z:-0.65 [[ 9.86780684e-01 1.61121155e-01 1.74314279e-02 2.90368249e+01] [-1.61098493e-01 9.86934625e-01 -2.70580622e-03 -2.58547814e+00] [-1.76396424e-02 -1.38139443e-04 9.99844400e-01 -6.54176016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.188623853 meters 0.015175714819973502 Centerline is valid? [True, True] Translation: X:29.07, Y:-2.59, Z:-0.65 [[ 9.87078224e-01 1.59167174e-01 1.85037831e-02 2.90668641e+01] [-1.59141289e-01 9.87251639e-01 -2.87251037e-03 -2.59130318e+00] [-1.87250996e-02 -1.09323458e-04 9.99824664e-01 -6.53538374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.218623853000004 meters 0.014537204338622788 Centerline is valid? [True, True] Translation: X:29.10, Y:-2.60, Z:-0.65 [[ 9.87220312e-01 1.58210648e-01 1.91166279e-02 2.90975757e+01] [-1.58182838e-01 9.87405379e-01 -2.96782214e-03 -2.59679200e+00] [-1.93454023e-02 -9.40281444e-05 9.99812856e-01 -6.53295605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.248623853000005 meters 0.013879174104391507 Centerline is valid? [True, True] Translation: X:29.13, Y:-2.60, Z:-0.65 [[ 9.87365609e-01 1.57229065e-01 1.97021849e-02 2.91290831e+01] [-1.57199335e-01 9.87562158e-01 -3.05844137e-03 -2.60278786e+00] [-1.99380081e-02 -7.73705408e-05 9.99801215e-01 -6.52053416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.278623853 meters 0.013654201495792868 Centerline is valid? [True, True] Translation: X:29.16, Y:-2.61, Z:-0.65 [[ 9.87487921e-01 1.56382940e-01 2.02973553e-02 2.91599535e+01] [-1.56351130e-01 9.87696498e-01 -3.15458237e-03 -2.60783350e+00] [-2.05409497e-02 -5.84024693e-05 9.99789011e-01 -6.52880884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.308623853 meters 0.01323280304614111 Centerline is valid? [True, True] Translation: X:29.19, Y:-2.61, Z:-0.65 [[ 9.87745619e-01 1.54714184e-01 2.05454068e-02 2.91917852e+01] [-1.54681162e-01 9.87959271e-01 -3.19648971e-03 -2.61475276e+00] [-2.07925674e-02 -2.06686910e-05 9.99783811e-01 -6.53489356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.338623853 meters 0.013276798865168284 Centerline is valid? [True, True] Translation: X:29.22, Y:-2.62, Z:-0.65 [[ 9.87883616e-01 1.53897971e-01 2.00343546e-02 2.92241350e+01] [-1.53866339e-01 9.88086745e-01 -3.12009381e-03 -2.62090884e+00] [-2.02758563e-02 -3.23250245e-07 9.99794424e-01 -6.54534860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.368623853 meters 0.013280745049583785 Centerline is valid? [True, True] Translation: X:29.26, Y:-2.63, Z:-0.66 [[ 9.88013594e-01 1.53085474e-01 1.98488142e-02 2.92563738e+01] [-1.53054184e-01 9.88212951e-01 -3.09504749e-03 -2.62635468e+00] [-2.00886621e-02 2.00049310e-05 9.99798202e-01 -6.55908069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.398623853000004 meters 0.013816062620493876 Centerline is valid? [True, True] Translation: X:29.29, Y:-2.63, Z:-0.66 [[ 9.88290328e-01 1.51326905e-01 1.95549455e-02 2.92873474e+01] [-1.51296113e-01 9.88483770e-01 -3.05317498e-03 -2.63197152e+00] [-1.97917738e-02 5.88360547e-05 9.99804122e-01 -6.57719307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.428623853000005 meters 0.014183632087676052 Centerline is valid? [True, True] Translation: X:29.32, Y:-2.64, Z:-0.66 [[ 9.88415096e-01 1.50499039e-01 1.96376354e-02 2.93199751e+01] [-1.50467756e-01 9.88610152e-01 -3.06938787e-03 -2.63803088e+00] [-1.98759056e-02 7.89983717e-05 9.99802452e-01 -6.58554538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.458623853 meters 0.014527043128244628 Centerline is valid? [True, True] Translation: X:29.35, Y:-2.64, Z:-0.66 [[ 9.88498753e-01 1.49942198e-01 1.96863542e-02 2.93518540e+01] [-1.49910573e-01 9.88694760e-01 -3.08090551e-03 -2.64390328e+00] [-1.99257530e-02 9.42786211e-05 9.99801458e-01 -6.59503669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.488623853 meters 0.016012353727851127 Centerline is valid? [True, True] Translation: X:29.38, Y:-2.65, Z:-0.66 [[ 9.88859092e-01 1.47644827e-01 1.89394245e-02 2.93832561e+01] [-1.47615070e-01 9.89040437e-01 -2.96736722e-03 -2.65096121e+00] [-1.91699731e-02 1.38563585e-04 9.99816230e-01 -6.62420479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.518623853 meters 0.01688851816863024 Centerline is valid? [True, True] Translation: X:29.41, Y:-2.66, Z:-0.66 [[ 9.89036127e-01 1.46505911e-01 1.85352886e-02 2.94143373e+01] [-1.46477154e-01 9.89209782e-01 -2.90705583e-03 -2.65783116e+00] [-1.87611897e-02 1.60186921e-04 9.99823981e-01 -6.64417104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.548623853 meters 0.017936685689246883 Centerline is valid? [True, True] Translation: X:29.44, Y:-2.66, Z:-0.67 [[ 9.89207312e-01 1.45396888e-01 1.81284209e-02 2.94443392e+01] [-1.45369138e-01 9.89373394e-01 -2.84626805e-03 -2.66465572e+00] [-1.83496158e-02 1.80236249e-04 9.99831615e-01 -6.66006703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.578623853 meters 0.020087597551045215 Centerline is valid? [True, True] Translation: X:29.47, Y:-2.67, Z:-0.67 [[ 9.89524036e-01 1.43275430e-01 1.77294629e-02 2.94748054e+01] [-1.43248500e-01 9.89682830e-01 -2.78631131e-03 -2.67182334e+00] [-1.79457550e-02 2.17403060e-04 9.99838938e-01 -6.68561289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.608623853000005 meters 0.021076791163170256 Centerline is valid? [True, True] Translation: X:29.51, Y:-2.68, Z:-0.67 [[ 9.89654788e-01 1.42353760e-01 1.78552154e-02 2.95053799e+01] [-1.42326237e-01 9.89815816e-01 -2.80928923e-03 -2.67830936e+00] [-1.80732875e-02 2.38960906e-04 9.99836636e-01 -6.68927626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.638623853 meters 0.020396152052078054 Centerline is valid? [True, True] Translation: X:29.54, Y:-2.68, Z:-0.67 [[ 9.89784481e-01 1.41388172e-01 1.83320881e-02 2.95375234e+01] [-1.41358973e-01 9.89954198e-01 -2.88548900e-03 -2.68243884e+00] [-1.85559016e-02 2.64607089e-04 9.99827789e-01 -6.67802177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.668623853 meters 0.02384606637696916 Centerline is valid? [True, True] Translation: X:29.57, Y:-2.69, Z:-0.67 [[ 9.90017204e-01 1.39659262e-01 1.90059388e-02 2.95669777e+01] [-1.39627474e-01 9.90199572e-01 -2.99589905e-03 -2.69252137e+00] [-1.92380775e-02 3.12240385e-04 9.99814882e-01 -6.68325609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.698623853 meters 0.02461242775755349 Centerline is valid? [True, True] Translation: X:29.60, Y:-2.70, Z:-0.67 [[ 9.90085920e-01 1.39118064e-01 1.93916132e-02 2.95974557e+01] [-1.39084873e-01 9.90275747e-01 -3.05650310e-03 -2.69854803e+00] [-1.96282590e-02 3.29120633e-04 9.99807293e-01 -6.68478345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.728623853 meters 0.024170642808875542 Centerline is valid? [True, True] Translation: X:29.63, Y:-2.70, Z:-0.67 [[ 9.90142303e-01 1.38736549e-01 1.92455091e-02 2.96294154e+01] [-1.38703730e-01 9.90329267e-01 -3.03624436e-03 -2.70306936e+00] [-1.94806290e-02 3.36890089e-04 9.99810178e-01 -6.68926080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.758623853 meters 0.029195916201075044 Centerline is valid? [True, True] Translation: X:29.66, Y:-2.71, Z:-0.67 [[ 9.90243181e-01 1.37997064e-01 1.93714587e-02 2.96590957e+01] [-1.37963594e-01 9.90432573e-01 -3.06013548e-03 -2.71229348e+00] [-1.96084134e-02 3.57722233e-04 9.99807673e-01 -6.67237717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.788623853000004 meters 0.0266903051389614 Centerline is valid? [True, True] Translation: X:29.69, Y:-2.72, Z:-0.67 [[ 9.90259711e-01 1.37816516e-01 1.98068967e-02 2.96918165e+01] [-1.37781495e-01 9.90457708e-01 -3.12860007e-03 -2.71738217e+00] [-2.00490663e-02 3.69102774e-04 9.99798929e-01 -6.70921440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.818623853 meters 0.024958691647142275 Centerline is valid? [True, True] Translation: X:29.73, Y:-2.72, Z:-0.67 [[ 9.90275155e-01 1.37666363e-01 2.00770838e-02 2.97251655e+01] [-1.37630273e-01 9.90478585e-01 -3.17498289e-03 -2.72051537e+00] [-2.03230099e-02 3.80892141e-04 9.99793394e-01 -6.70706394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.848623853 meters 0.024960726496794296 Centerline is valid? [True, True] Translation: X:29.76, Y:-2.73, Z:-0.67 [[ 9.90239261e-01 1.37909316e-01 2.01798428e-02 2.97578730e+01] [-1.37872825e-01 9.90444786e-01 -3.19516730e-03 -2.72671665e+00] [-2.04276634e-02 3.81728163e-04 9.99791261e-01 -6.71700748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.878623853 meters 0.025687132316758222 Centerline is valid? [True, True] Translation: X:29.79, Y:-2.73, Z:-0.67 [[ 9.90260630e-01 1.37727612e-01 2.03712913e-02 2.97893049e+01] [-1.37690304e-01 9.90470065e-01 -3.22951105e-03 -2.73432394e+00] [-2.06219471e-02 3.93128357e-04 9.99787268e-01 -6.72798631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.908623853 meters 0.025926559790711835 Centerline is valid? [True, True] Translation: X:29.82, Y:-2.74, Z:-0.67 [[ 9.90293411e-01 1.37553508e-01 1.99497244e-02 2.98213663e+01] [-1.37517622e-01 9.90494260e-01 -3.16624369e-03 -2.74032039e+00] [-2.01956154e-02 3.92071611e-04 9.99795971e-01 -6.74256612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.938623853 meters 0.028407294360271347 Centerline is valid? [True, True] Translation: X:29.85, Y:-2.75, Z:-0.68 [[ 9.90304636e-01 1.37567791e-01 1.92829072e-02 2.98522552e+01] [-1.37534208e-01 9.90492280e-01 -3.06341589e-03 -2.74988233e+00] [-1.95209981e-02 3.81655591e-04 9.99809374e-01 -6.77418915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.968623853000004 meters 0.029837650954846116 Centerline is valid? [True, True] Translation: X:29.88, Y:-2.76, Z:-0.68 [[ 9.90414772e-01 1.36931969e-01 1.81167066e-02 2.98824914e+01] [-1.36902154e-01 9.90580383e-01 -2.88168741e-03 -2.75919879e+00] [-1.83406493e-02 3.73849625e-04 9.99831726e-01 -6.81042394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.998623853000005 meters 0.027626119791974792 Centerline is valid? [True, True] Translation: X:29.91, Y:-2.76, Z:-0.68 [[ 9.90438576e-01 1.36816375e-01 1.76835005e-02 2.99143717e+01] [-1.36787933e-01 9.90596358e-01 -2.81374691e-03 -2.76246047e+00] [-1.79021778e-02 3.67953999e-04 9.99839675e-01 -6.81500060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.028623853 meters 0.025521428412374512 Centerline is valid? [True, True] Translation: X:29.95, Y:-2.77, Z:-0.68 [[ 9.90354346e-01 1.37408259e-01 1.78112407e-02 2.99458452e+01] [-1.37379447e-01 9.90514431e-01 -2.83700761e-03 -2.76735417e+00] [-1.80321192e-02 3.62744414e-04 9.99837342e-01 -6.81389370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.058623853 meters 0.034397625388823495 Centerline is valid? [True, True] Translation: X:29.98, Y:-2.77, Z:-0.68 [[ 9.90249141e-01 1.38161036e-01 1.78372419e-02 2.99774199e+01] [-1.38132207e-01 9.90409715e-01 -2.84425179e-03 -2.77246215e+00] [-1.80591424e-02 3.52620310e-04 9.99836858e-01 -6.75827783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.088623853 meters 0.026509466507219113 Centerline is valid? [True, True] Translation: X:30.01, Y:-2.78, Z:-0.68 [[ 9.90098543e-01 1.39117409e-01 1.87409371e-02 3.00074074e+01] [-1.39085687e-01 9.90275830e-01 -2.99191821e-03 -2.78039460e+00] [-1.89749249e-02 3.55697748e-04 9.99819897e-01 -6.82351608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.118623853 meters 0.02295343515573033 Centerline is valid? [True, True] Translation: X:30.04, Y:-2.78, Z:-0.68 [[ 9.89928651e-01 1.40252562e-01 1.92479764e-02 3.00395461e+01] [-1.40219255e-01 9.90115700e-01 -3.07598744e-03 -2.78128208e+00] [-1.94891387e-02 3.46071200e-04 9.99810009e-01 -6.80775069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.148623853000004 meters 0.02368608800598083 Centerline is valid? [True, True] Translation: X:30.07, Y:-2.79, Z:-0.68 [[ 9.89586464e-01 1.42567256e-01 1.98294525e-02 3.00698082e+01] [-1.42532290e-01 9.89785067e-01 -3.17287027e-03 -2.78999171e+00] [-2.00792434e-02 3.13492185e-04 9.99798343e-01 -6.81742338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.178623853000005 meters 0.022508646201921747 Centerline is valid? [True, True] Translation: X:30.10, Y:-2.79, Z:-0.68 [[ 9.89434286e-01 1.43585130e-01 2.00774567e-02 3.01012179e+01] [-1.43549458e-01 9.89637924e-01 -3.21427804e-03 -2.79464650e+00] [-2.03309351e-02 2.98208879e-04 9.99793261e-01 -6.82500906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.208623853 meters 0.022508646201921747 Centerline is valid? [True, True] Translation: X:30.13, Y:-2.80, Z:-0.68 [[ 9.89408297e-01 1.43764175e-01 2.00769648e-02 3.01332768e+01] [-1.43728478e-01 9.89611931e-01 -3.21734693e-03 -2.79998544e+00] [-2.03309432e-02 2.97638153e-04 9.99793261e-01 -6.83318777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.238623853 meters 0.01926709564398779 Centerline is valid? [True, True] Translation: X:30.17, Y:-2.80, Z:-0.68 [[ 9.89187257e-01 1.45317879e-01 1.97809112e-02 3.01654987e+01] [-1.45283464e-01 9.89384983e-01 -3.17355655e-03 -2.80291424e+00] [-2.00321110e-02 2.65402396e-04 9.99799302e-01 -6.83678308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.268623853 meters 0.01986280426269894 Centerline is valid? [True, True] Translation: X:30.20, Y:-2.81, Z:-0.69 [[ 9.89107282e-01 1.45870657e-01 1.97113363e-02 3.01966048e+01] [-1.45836526e-01 9.89303637e-01 -3.16578447e-03 -2.81049139e+00] [-1.99622917e-02 2.56667668e-04 9.99800701e-01 -6.85953725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.298623853 meters 0.019849064506831226 Centerline is valid? [True, True] Translation: X:30.23, Y:-2.82, Z:-0.69 [[ 9.89040837e-01 1.46338110e-01 1.95800834e-02 3.02282722e+01] [-1.46304444e-01 9.89234601e-01 -3.14870288e-03 -2.81792549e+00] [-1.98300713e-02 2.49542505e-04 9.99803334e-01 -6.87145023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.328623853 meters 0.01900243998895312 Centerline is valid? [True, True] Translation: X:30.26, Y:-2.83, Z:-0.69 [[ 9.88908911e-01 1.47318335e-01 1.88804921e-02 3.02591768e+01] [-1.47287175e-01 9.89089105e-01 -3.03808555e-03 -2.82562806e+00] [-1.91220548e-02 2.23535525e-04 9.99817132e-01 -6.88489522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.358623853000005 meters 0.01888699184105565 Centerline is valid? [True, True] Translation: X:30.29, Y:-2.83, Z:-0.69 [[ 9.88789282e-01 1.48175394e-01 1.84338970e-02 3.02910247e+01] [-1.48145786e-01 9.88961076e-01 -2.96910478e-03 -2.83195958e+00] [-1.86703549e-02 2.04914816e-04 9.99825673e-01 -6.90567666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.388623853 meters 0.01773441652600974 Centerline is valid? [True, True] Translation: X:30.32, Y:-2.84, Z:-0.69 [[ 9.88655010e-01 1.49097981e-01 1.81951222e-02 3.03234039e+01] [-1.49069215e-01 9.88822409e-01 -2.93473919e-03 -2.83615899e+00] [-1.84293082e-02 1.89112018e-04 9.99830148e-01 -6.91524556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.418623853 meters 0.01655840340970811 Centerline is valid? [True, True] Translation: X:30.35, Y:-2.84, Z:-0.69 [[ 9.88259215e-01 1.51717880e-01 1.80390962e-02 3.03545865e+01] [-1.51690020e-01 9.88423829e-01 -2.91079960e-03 -2.84145631e+00] [-1.82718928e-02 1.40273678e-04 9.99833045e-01 -6.93317032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.448623853 meters 0.01550907557513467 Centerline is valid? [True, True] Translation: X:30.39, Y:-2.85, Z:-0.69 [[ 9.87970837e-01 1.53576739e-01 1.81055072e-02 3.03854385e+01] [-1.53548926e-01 9.88136718e-01 -2.92476320e-03 -2.84539086e+00] [-1.83398921e-02 1.09499558e-04 9.99831804e-01 -6.93846329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.478623853 meters 0.030634428415201573 Centerline is valid? [True, True] Translation: X:30.42, Y:-2.85, Z:-0.69 [[ 9.87745159e-01 1.54984787e-01 1.84178526e-02 3.04180662e+01] [-1.54956188e-01 9.87916853e-01 -2.97853148e-03 -2.84918520e+00] [-1.86569340e-02 8.80698188e-05 9.99825940e-01 -6.88142064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.508623853 meters 0.013380505718993308 Centerline is valid? [True, True] Translation: X:30.45, Y:-2.85, Z:-0.69 [[ 9.87182273e-01 1.58342334e-01 1.99716233e-02 3.04506827e+01] [-1.58309359e-01 9.87384274e-01 -3.23148532e-03 -2.84972058e+00] [-2.02313477e-02 2.83701365e-05 9.99795325e-01 -6.91738864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.538623853000004 meters 0.013202023256219018 Centerline is valid? [True, True] Translation: X:30.48, Y:-2.85, Z:-0.69 [[ 9.86921090e-01 1.59892228e-01 2.05240788e-02 3.04824315e+01] [-1.59857663e-01 9.87134477e-01 -3.32444257e-03 -2.85349183e+00] [-2.07915783e-02 3.12095006e-08 9.99783832e-01 -6.92370766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.568623853 meters 0.0133223069322093 Centerline is valid? [True, True] Translation: X:30.52, Y:-2.86, Z:-0.69 [[ 9.86672094e-01 1.61406410e-01 2.06434008e-02 3.05151809e+01] [-1.61371696e-01 9.86888023e-01 -3.34751191e-03 -2.85816940e+00] [-2.09130349e-02 -2.83640080e-05 9.99781298e-01 -6.93330393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.598623853 meters 0.013635327692269867 Centerline is valid? [True, True] Translation: X:30.55, Y:-2.86, Z:-0.69 [[ 9.86387585e-01 1.63154167e-01 2.05000013e-02 3.05483266e+01] [-1.63120230e-01 9.86600585e-01 -3.32816120e-03 -2.86210549e+00] [-2.07683167e-02 -6.11080407e-05 9.99784313e-01 -6.94496928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.628623853 meters 0.015275877340189582 Centerline is valid? [True, True] Translation: X:30.58, Y:-2.86, Z:-0.69 [[ 9.85726246e-01 1.67098442e-01 2.05397046e-02 3.05805272e+01] [-1.67065143e-01 9.85940207e-01 -3.33871437e-03 -2.86098600e+00] [-2.08088145e-02 -1.40410302e-04 9.99783463e-01 -6.94816445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.658623853 meters 0.016931906022426422 Centerline is valid? [True, True] Translation: X:30.61, Y:-2.86, Z:-0.70 [[ 9.85341339e-01 1.69376182e-01 2.03507917e-02 3.06118952e+01] [-1.69343914e-01 9.85551457e-01 -3.31110823e-03 -2.86247761e+00] [-2.06175753e-02 -1.83710902e-04 9.99787418e-01 -6.95663704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.688623853 meters 0.018472049122745585 Centerline is valid? [True, True] Translation: X:30.64, Y:-2.86, Z:-0.70 [[ 9.84993264e-01 1.71362086e-01 2.05743687e-02 3.06433816e+01] [-1.71329461e-01 9.85208092e-01 -3.35121865e-03 -2.86441398e+00] [-2.08443063e-02 -2.24067694e-04 9.99782709e-01 -6.96033354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.718623853000004 meters 0.020239203241091068 Centerline is valid? [True, True] Translation: X:30.67, Y:-2.87, Z:-0.70 [[ 9.84652359e-01 1.73335842e-01 2.03572487e-02 3.06735167e+01] [-1.73304311e-01 9.84862740e-01 -3.31640074e-03 -2.86571806e+00] [-2.06239468e-02 -2.62497153e-04 9.99787269e-01 -6.96929737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.748623853000005 meters 0.021693453128667425 Centerline is valid? [True, True] Translation: X:30.70, Y:-2.87, Z:-0.70 [[ 9.84167784e-01 1.76055806e-01 2.04481359e-02 3.07046294e+01] [-1.76024577e-01 9.84380135e-01 -3.33137079e-03 -2.86579246e+00] [-2.07152460e-02 -3.20746666e-04 9.99785365e-01 -6.96911349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.778623853 meters 0.023930838353521975 Centerline is valid? [True, True] Translation: X:30.73, Y:-2.87, Z:-0.70 [[ 9.84027460e-01 1.76762205e-01 2.10969576e-02 3.07349253e+01] [-1.76729126e-01 9.84253526e-01 -3.43703779e-03 -2.86591481e+00] [-2.13722933e-02 -3.46307305e-04 9.99771526e-01 -6.97577952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.808623853 meters 0.021145069695221883 Centerline is valid? [True, True] Translation: X:30.77, Y:-2.87, Z:-0.69 [[ 9.84102000e-01 1.76130481e-01 2.28321690e-02 3.07653674e+01] [-1.76091560e-01 9.84366763e-01 -3.71995513e-03 -2.87308164e+00] [-2.31304257e-02 -3.59736966e-04 9.99732391e-01 -6.94974635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.838623853 meters 0.02229569156663139 Centerline is valid? [True, True] Translation: X:30.80, Y:-2.88, Z:-0.70 [[ 9.84239111e-01 1.75256075e-01 2.36364414e-02 3.07966783e+01] [-1.75214101e-01 9.84522821e-01 -3.85143799e-03 -2.87571379e+00] [-2.39456038e-02 -3.50701923e-04 9.99713201e-01 -6.95044059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.868623853 meters 0.01982545363283832 Centerline is valid? [True, True] Translation: X:30.83, Y:-2.88, Z:-0.70 [[ 9.84463149e-01 1.73959251e-01 2.38848576e-02 3.08274913e+01] [-1.73915912e-01 9.84752800e-01 -3.89590843e-03 -2.88401015e+00] [-2.41984097e-02 -3.18578506e-04 9.99707125e-01 -6.95318954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.898623853000004 meters 0.01683027392695602 Centerline is valid? [True, True] Translation: X:30.86, Y:-2.89, Z:-0.70 [[ 9.85047094e-01 1.70682243e-01 2.34477103e-02 3.08585652e+01] [-1.70639539e-01 9.85326097e-01 -3.82495407e-03 -2.89375508e+00] [-2.37564926e-02 -2.33346586e-04 9.99717747e-01 -6.96695548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.928623853000005 meters 0.015667123470511444 Centerline is valid? [True, True] Translation: X:30.89, Y:-2.90, Z:-0.70 [[ 9.85347015e-01 1.69034611e-01 2.27719312e-02 3.08900231e+01] [-1.68993806e-01 9.85610099e-01 -3.71846582e-03 -2.90089328e+00] [-2.30727947e-02 -1.84336128e-04 9.99733771e-01 -6.98990409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.958623853 meters 0.01465702979666321 Centerline is valid? [True, True] Translation: X:30.92, Y:-2.91, Z:-0.70 [[ 9.85631713e-01 1.67431600e-01 2.22886968e-02 3.09204172e+01] [-1.67392015e-01 9.85883685e-01 -3.64329352e-03 -2.90767682e+00] [-2.25840650e-02 -1.40004227e-04 9.99744938e-01 -7.00646196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.988623853 meters 0.013264452618238817 Centerline is valid? [True, True] Translation: X:30.95, Y:-2.92, Z:-0.70 [[ 9.86315482e-01 1.63449041e-01 2.15912235e-02 3.09507131e+01] [-1.63410869e-01 9.86551777e-01 -3.53256647e-03 -2.91671743e+00] [-2.18782545e-02 -4.40155813e-05 9.99760641e-01 -7.03225062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.018623853 meters 0.013129108973853687 Centerline is valid? [True, True] Translation: X:30.98, Y:-2.93, Z:-0.70 [[ 9.86670606e-01 1.61316646e-01 2.14022386e-02 3.09825583e+01] [-1.61278569e-01 9.86902700e-01 -3.50481348e-03 -2.92505626e+00] [-2.16873118e-02 6.37402708e-06 9.99764803e-01 -7.04852608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.048623853 meters 0.01363547296379717 Centerline is valid? [True, True] Translation: X:31.01, Y:-2.93, Z:-0.71 [[ 9.87047522e-01 1.59043725e-01 2.10305260e-02 3.10147661e+01] [-1.59006359e-01 9.87271538e-01 -3.44790213e-03 -2.93404466e+00] [-2.13112070e-02 5.92558897e-05 9.99772889e-01 -7.06159708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.078623853 meters 0.01632627356303656 Centerline is valid? [True, True] Translation: X:31.04, Y:-2.95, Z:-0.71 [[ 9.87835548e-01 1.53926625e-01 2.20799552e-02 3.10444406e+01] [-1.53884054e-01 9.88082264e-01 -3.62452600e-03 -2.94757200e+00] [-2.23747232e-02 1.82682614e-04 9.99749638e-01 -7.05180867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.108623853000005 meters 0.01829171458894415 Centerline is valid? [True, True] Translation: X:31.08, Y:-2.96, Z:-0.71 [[ 9.88194301e-01 1.51553715e-01 2.24387104e-02 3.10750869e+01] [-1.51509057e-01 9.88448993e-01 -3.68696715e-03 -2.95646563e+00] [-2.27382943e-02 2.43772067e-04 9.99741422e-01 -7.05377736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.138623853 meters 0.02055454618092682 Centerline is valid? [True, True] Translation: X:31.11, Y:-2.97, Z:-0.71 [[ 9.88539034e-01 1.49236361e-01 2.27834611e-02 3.11059228e+01] [-1.49189622e-01 9.88801505e-01 -3.74716203e-03 -2.96529405e+00] [-2.30875335e-02 3.05159980e-04 9.99733401e-01 -7.05906967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.168623853 meters 0.02249196763570771 Centerline is valid? [True, True] Translation: X:31.14, Y:-2.97, Z:-0.71 [[ 9.88826706e-01 1.47283387e-01 2.30076085e-02 3.11372653e+01] [-1.47235105e-01 9.89094270e-01 -3.78786711e-03 -2.97327355e+00] [-2.33145837e-02 3.58016485e-04 9.99728114e-01 -7.06381690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.198623853 meters 0.028520740634280284 Centerline is valid? [True, True] Translation: X:31.17, Y:-2.99, Z:-0.71 [[ 9.89252018e-01 1.44373183e-01 2.31695551e-02 3.11668250e+01] [-1.44323330e-01 9.89523217e-01 -3.81840365e-03 -2.98709713e+00] [-2.34780878e-02 4.33456173e-04 9.99724258e-01 -7.07417498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.228623853 meters 0.02649710844353056 Centerline is valid? [True, True] Translation: X:31.20, Y:-2.99, Z:-0.71 [[ 9.89376660e-01 1.43598113e-01 2.26584627e-02 3.11992444e+01] [-1.43550155e-01 9.89635986e-01 -3.73750835e-03 -2.98966660e+00] [-2.29603292e-02 4.45177690e-04 9.99736278e-01 -7.08514743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.258623853 meters 0.02744837411723651 Centerline is valid? [True, True] Translation: X:31.23, Y:-3.00, Z:-0.71 [[ 9.89390097e-01 1.43543265e-01 2.24180196e-02 3.12308300e+01] [-1.43496222e-01 9.89643942e-01 -3.70160515e-03 -2.99709612e+00] [-2.27171978e-02 4.45430369e-04 9.99741832e-01 -7.10652028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.288623853000004 meters 0.02482237828530781 Centerline is valid? [True, True] Translation: X:31.26, Y:-3.00, Z:-0.71 [[ 9.89279466e-01 1.44510854e-01 2.10416546e-02 3.12625312e+01] [-1.44469584e-01 9.89503135e-01 -3.47643595e-03 -2.99979094e+00] [-2.13231659e-02 3.99287621e-04 9.99772556e-01 -7.12682335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.318623853 meters 0.02581847204022175 Centerline is valid? [True, True] Translation: X:31.29, Y:-3.01, Z:-0.71 [[ 9.89095705e-01 1.45774241e-01 2.09656029e-02 3.12928021e+01] [-1.45733472e-01 9.89317811e-01 -3.46768942e-03 -3.00641963e+00] [-2.12471442e-02 3.74486614e-04 9.99774184e-01 -7.14503528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.348623853 meters 0.020614050771118827 Centerline is valid? [True, True] Translation: X:31.33, Y:-3.00, Z:-0.72 [[ 9.88603706e-01 1.49140434e-01 2.04901054e-02 3.13265355e+01] [-1.49102175e-01 9.88815980e-01 -3.39098038e-03 -3.00257618e+00] [-2.07666759e-02 2.97216497e-04 9.99784305e-01 -7.15388392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.378623853 meters 0.019446393190945807 Centerline is valid? [True, True] Translation: X:31.36, Y:-3.01, Z:-0.72 [[ 9.88303905e-01 1.51107263e-01 2.05423237e-02 3.13574912e+01] [-1.51069198e-01 9.88517339e-01 -3.40129947e-03 -3.00525723e+00] [-2.08204042e-02 2.58205174e-04 9.99783199e-01 -7.15971105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.408623853 meters 0.018143192258372548 Centerline is valid? [True, True] Translation: X:31.39, Y:-3.01, Z:-0.72 [[ 9.88011179e-01 1.52968869e-01 2.08431070e-02 3.13901592e+01] [-1.52930016e-01 9.88230982e-01 -3.45486765e-03 -3.00774043e+00] [-2.11262913e-02 2.25911189e-04 9.99776789e-01 -7.16415175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.438623853 meters 0.015552170598911008 Centerline is valid? [True, True] Translation: X:31.42, Y:-3.01, Z:-0.72 [[ 9.87437730e-01 1.56551582e-01 2.14086745e-02 3.14227578e+01] [-1.56511412e-01 9.87669772e-01 -3.54956621e-03 -3.00781594e+00] [-2.17003909e-02 1.54273722e-04 9.99764507e-01 -7.16525280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.468623853000004 meters 0.014893056406326816 Centerline is valid? [True, True] Translation: X:31.45, Y:-3.01, Z:-0.72 [[ 9.87215688e-01 1.57884801e-01 2.18534992e-02 3.14539101e+01] [-1.57843188e-01 9.87457529e-01 -3.62709048e-03 -3.01125821e+00] [-2.21520648e-02 1.31294644e-04 9.99754604e-01 -7.16560497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.498623853000005 meters 0.014074163478474459 Centerline is valid? [True, True] Translation: X:31.49, Y:-3.01, Z:-0.72 [[ 9.86994393e-01 1.59269086e-01 2.18042938e-02 3.14860306e+01] [-1.59227917e-01 9.87235204e-01 -3.62254973e-03 -3.01448422e+00] [-2.21029266e-02 1.03583988e-04 9.99755695e-01 -7.17239991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.528623853 meters 0.01394075297871729 Centerline is valid? [True, True] Translation: X:31.52, Y:-3.02, Z:-0.72 [[ 9.86798712e-01 1.60493799e-01 2.16804605e-02 3.15178583e+01] [-1.60453310e-01 9.87036845e-01 -3.60568079e-03 -3.01920690e+00] [-2.19781028e-02 7.93795030e-05 9.99758449e-01 -7.18795282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.558623853 meters 0.01587365404134296 Centerline is valid? [True, True] Translation: X:31.55, Y:-3.02, Z:-0.72 [[ 9.86629958e-01 1.61611469e-01 2.10489548e-02 3.15504853e+01] [-1.61573480e-01 9.86854462e-01 -3.50438796e-03 -3.02344859e+00] [-2.13386042e-02 5.65812771e-05 9.99772304e-01 -7.18642816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.588623853 meters 0.013543292111799011 Centerline is valid? [True, True] Translation: X:31.58, Y:-3.03, Z:-0.72 [[ 9.86583569e-01 1.61918717e-01 2.08612107e-02 3.15832820e+01] [-1.61881387e-01 9.86804097e-01 -3.47713720e-03 -3.02885012e+00] [-2.11489418e-02 5.34447100e-05 9.99776335e-01 -7.21943163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.618623853 meters 0.020039894273385785 Centerline is valid? [True, True] Translation: X:31.62, Y:-3.03, Z:-0.72 [[ 9.86645893e-01 1.61715684e-01 1.94401672e-02 3.16153685e+01] [-1.61683159e-01 9.86837390e-01 -3.24375301e-03 -3.03479015e+00] [-1.97088496e-02 5.72879437e-05 9.99805760e-01 -7.20373002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.648623853000004 meters 0.014029958679550317 Centerline is valid? [True, True] Translation: X:31.65, Y:-3.04, Z:-0.73 [[ 9.86673734e-01 1.61523345e-01 1.96253015e-02 3.16480802e+01] [-1.61490082e-01 9.86868889e-01 -3.27852275e-03 -3.04126340e+00] [-1.98971574e-02 6.55407306e-05 9.99802030e-01 -7.26004716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.678623853000005 meters 0.014297603959937573 Centerline is valid? [True, True] Translation: X:31.68, Y:-3.05, Z:-0.73 [[ 9.86758285e-01 1.60993616e-01 1.97266767e-02 3.16796507e+01] [-1.60959823e-01 9.86955444e-01 -3.29943007e-03 -3.04763434e+00] [-2.00005381e-02 8.05375694e-05 9.99799966e-01 -7.27252919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.708623853 meters 0.014781544161235139 Centerline is valid? [True, True] Translation: X:31.71, Y:-3.06, Z:-0.73 [[ 9.86912473e-01 1.59945049e-01 2.05268572e-02 3.17117856e+01] [-1.59908150e-01 9.87125914e-01 -3.43717243e-03 -3.05709898e+00] [-2.08123513e-02 1.09776588e-04 9.99783394e-01 -7.26635969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.738623853 meters 0.014702446965453753 Centerline is valid? [True, True] Translation: X:31.74, Y:-3.06, Z:-0.73 [[ 9.86974463e-01 1.59499684e-01 2.10061962e-02 3.17444378e+01] [-1.59460853e-01 9.87197972e-01 -3.52153999e-03 -3.06397011e+00] [-2.12989588e-02 1.26004073e-04 9.99773144e-01 -7.25678566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.768623853 meters 0.015272722532786418 Centerline is valid? [True, True] Translation: X:31.78, Y:-3.07, Z:-0.73 [[ 9.86995217e-01 1.59275653e-01 2.17188373e-02 3.17752345e+01] [-1.59233985e-01 9.87234140e-01 -3.64567969e-03 -3.07198160e+00] [-2.20222457e-02 1.39891387e-04 9.99757471e-01 -7.25948693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.798623853 meters 0.016056253246925358 Centerline is valid? [True, True] Translation: X:31.81, Y:-3.08, Z:-0.73 [[ 9.87118055e-01 1.58506623e-01 2.17622605e-02 3.18063523e+01] [-1.58464509e-01 9.87357901e-01 -3.65716485e-03 -3.07953678e+00] [-2.20668247e-02 1.61507534e-04 9.99756485e-01 -7.26564964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.828623853 meters 0.01633291405393138 Centerline is valid? [True, True] Translation: X:31.84, Y:-3.09, Z:-0.73 [[ 9.87168201e-01 1.58215398e-01 2.16062736e-02 3.18389079e+01] [-1.58173733e-01 9.87404607e-01 -3.63473405e-03 -3.08639164e+00] [-2.19092050e-02 1.70548919e-04 9.99759950e-01 -7.28107593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.858623853000005 meters 0.016784842074492042 Centerline is valid? [True, True] Translation: X:31.87, Y:-3.09, Z:-0.73 [[ 9.87268770e-01 1.57602510e-01 2.14900962e-02 3.18707946e+01] [-1.57561059e-01 9.87502615e-01 -3.61920929e-03 -3.09320927e+00] [-2.17919226e-02 1.87129992e-04 9.99762510e-01 -7.28887965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.888623853 meters 0.01794193722393216 Centerline is valid? [True, True] Translation: X:31.90, Y:-3.10, Z:-0.73 [[ 9.87403502e-01 1.56750920e-01 2.15284203e-02 3.19005604e+01] [-1.56709027e-01 9.87638145e-01 -3.62990489e-03 -3.10130599e+00] [-2.18312800e-02 2.10483018e-04 9.99761647e-01 -7.30690354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.918623853 meters 0.018230519969925762 Centerline is valid? [True, True] Translation: X:31.93, Y:-3.11, Z:-0.73 [[ 9.87500742e-01 1.56168646e-01 2.12987780e-02 3.19318545e+01] [-1.56127437e-01 9.87730380e-01 -3.59438453e-03 -3.10791828e+00] [-2.15987803e-02 2.24133767e-04 9.99766694e-01 -7.32238723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.948623853 meters 0.02628685694613892 Centerline is valid? [True, True] Translation: X:31.96, Y:-3.12, Z:-0.73 [[ 9.87779288e-01 1.54599047e-01 1.97790820e-02 3.19615221e+01] [-1.54563134e-01 9.87977265e-01 -3.34096464e-03 -3.11818072e+00] [-2.00577933e-02 2.43018780e-04 9.99798793e-01 -7.31608847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.978623853 meters 0.019789084074016357 Centerline is valid? [True, True] Translation: X:31.99, Y:-3.12, Z:-0.74 [[ 9.87865943e-01 1.54096559e-01 1.93682562e-02 3.19931067e+01] [-1.54061971e-01 9.88055761e-01 -3.27435488e-03 -3.12321898e+00] [-1.96414839e-02 2.50711945e-04 9.99807056e-01 -7.37052013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.008623853 meters 0.020535001315219622 Centerline is valid? [True, True] Translation: X:32.02, Y:-3.13, Z:-0.74 [[ 9.87957130e-01 1.53565231e-01 1.89322421e-02 3.20235979e+01] [-1.53532024e-01 9.88138479e-01 -3.20386720e-03 -3.12996808e+00] [-1.91996795e-02 2.58578006e-04 9.99815636e-01 -7.38972055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.038623853000004 meters 0.019993931744497474 Centerline is valid? [True, True] Translation: X:32.06, Y:-3.14, Z:-0.74 [[ 9.87924803e-01 1.53760894e-01 1.90308066e-02 3.20561406e+01] [-1.53727321e-01 9.88108051e-01 -3.22336297e-03 -3.13569334e+00] [-1.93001204e-02 2.58885300e-04 9.99813702e-01 -7.39092336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.068623853000005 meters 0.019551558588427907 Centerline is valid? [True, True] Translation: X:32.09, Y:-3.14, Z:-0.74 [[ 9.87837345e-01 1.54243245e-01 1.96570848e-02 3.20880279e+01] [-1.54207438e-01 9.88032870e-01 -3.33363557e-03 -3.14117983e+00] [-1.99360367e-02 2.61821026e-04 9.99801223e-01 -7.38680784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.098623853 meters 0.019551558588427907 Centerline is valid? [True, True] Translation: X:32.12, Y:-3.15, Z:-0.74 [[ 9.87807265e-01 1.54435836e-01 1.96565377e-02 3.21200354e+01] [-1.54400003e-01 9.88002786e-01 -3.33685812e-03 -3.14679790e+00] [-1.99360444e-02 2.61203218e-04 9.99801223e-01 -7.39498629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.128623853 meters 0.01962870195101465 Centerline is valid? [True, True] Translation: X:32.15, Y:-3.15, Z:-0.74 [[ 9.87655960e-01 1.55302605e-01 2.04157948e-02 3.21510203e+01] [-1.55264043e-01 9.87866911e-01 -3.47020431e-03 -3.15325904e+00] [-2.07070199e-02 2.57529118e-04 9.99785554e-01 -7.39584539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.158623853 meters 0.01818674760531007 Centerline is valid? [True, True] Translation: X:32.18, Y:-3.16, Z:-0.74 [[ 9.87469293e-01 1.56400862e-01 2.10514877e-02 3.21828406e+01] [-1.56360036e-01 9.87693632e-01 -3.58174440e-03 -3.15732849e+00] [-2.13526083e-02 2.45251240e-04 9.99771977e-01 -7.38823586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.188623853 meters 0.016363178494749133 Centerline is valid? [True, True] Translation: X:32.22, Y:-3.16, Z:-0.74 [[ 9.87056406e-01 1.58939756e-01 2.13963677e-02 3.22150933e+01] [-1.58898095e-01 9.87288263e-01 -3.64422168e-03 -3.16124600e+00] [-2.17035944e-02 1.97210286e-04 9.99764430e-01 -7.38575867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.218623853000004 meters 0.015810915282010268 Centerline is valid? [True, True] Translation: X:32.25, Y:-3.17, Z:-0.74 [[ 9.86793357e-01 1.60591534e-01 2.11950525e-02 3.22458486e+01] [-1.60550953e-01 9.87020938e-01 -3.61368731e-03 -3.16585528e+00] [-2.15002882e-02 1.63076742e-04 9.99768829e-01 -7.40089691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.248623853000005 meters 0.014780793881730423 Centerline is valid? [True, True] Translation: X:32.28, Y:-3.17, Z:-0.74 [[ 9.86541324e-01 1.62159145e-01 2.09911186e-02 3.22776467e+01] [-1.62119625e-01 9.86764609e-01 -3.58227271e-03 -3.16875858e+00] [-2.12941913e-02 1.30987775e-04 9.99773244e-01 -7.41280405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.278623853 meters 0.027782198695068885 Centerline is valid? [True, True] Translation: X:32.31, Y:-3.17, Z:-0.74 [[ 9.85985929e-01 1.65570951e-01 2.04452620e-02 3.23098836e+01] [-1.65534121e-01 9.86197879e-01 -3.49258452e-03 -3.16946887e+00] [-2.07413446e-02 5.92507094e-05 9.99784873e-01 -7.37173076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.308623853 meters 0.013298565868807217 Centerline is valid? [True, True] Translation: X:32.34, Y:-3.17, Z:-0.74 [[ 9.85635525e-01 1.67560589e-01 2.11201428e-02 3.23408248e+01] [-1.67521660e-01 9.85861780e-01 -3.61177871e-03 -3.17235632e+00] [-2.14267333e-02 2.18160212e-05 9.99770421e-01 -7.44222733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.338623853 meters 0.013052370088296546 Centerline is valid? [True, True] Translation: X:32.37, Y:-3.17, Z:-0.74 [[ 9.85282086e-01 1.69607651e-01 2.12709861e-02 3.23738147e+01] [-1.69568568e-01 9.85511666e-01 -3.64095820e-03 -3.17488931e+00] [-2.15803393e-02 -1.95197576e-05 9.99767117e-01 -7.44034779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.368623853 meters 0.013871502648135184 Centerline is valid? [True, True] Translation: X:32.41, Y:-3.17, Z:-0.74 [[ 9.84617262e-01 1.73410720e-01 2.13908763e-02 3.24070053e+01] [-1.73371997e-01 9.84849589e-01 -3.66581204e-03 -3.17271566e+00] [-2.17024868e-02 -9.91571339e-05 9.99764468e-01 -7.43838220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.398623853000004 meters 0.014913441518921542 Centerline is valid? [True, True] Translation: X:32.44, Y:-3.17, Z:-0.75 [[ 9.84292503e-01 1.75230176e-01 2.15094064e-02 3.24383059e+01] [-1.75191369e-01 9.84527484e-01 -3.69016784e-03 -3.17312056e+00] [-2.18232306e-02 -1.36057821e-04 9.99761836e-01 -7.45240108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.428623853000005 meters 0.015427180246928926 Centerline is valid? [True, True] Translation: X:32.47, Y:-3.18, Z:-0.75 [[ 9.83945880e-01 1.77172282e-01 2.14589836e-02 3.24701132e+01] [-1.77134080e-01 9.84179837e-01 -3.68328903e-03 -3.17569488e+00] [-2.17720757e-02 -1.76960243e-04 9.99762945e-01 -7.45291137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.458623853 meters 0.018428269948452012 Centerline is valid? [True, True] Translation: X:32.50, Y:-3.17, Z:-0.75 [[ 9.83342645e-01 1.80473331e-01 2.16013544e-02 3.25015708e+01] [-1.80435322e-01 9.83579847e-01 -3.71200856e-03 -3.17052557e+00] [-2.19165754e-02 -2.47471019e-04 9.99759772e-01 -7.46469011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.488623853 meters 0.018573138411343663 Centerline is valid? [True, True] Translation: X:32.53, Y:-3.17, Z:-0.75 [[ 9.83070740e-01 1.81955375e-01 2.15444020e-02 3.25323835e+01] [-1.81917893e-01 9.83306750e-01 -3.70351071e-03 -3.17301644e+00] [-2.18586296e-02 -2.78499220e-04 9.99761033e-01 -7.46414653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.518623853 meters 0.020550399138500243 Centerline is valid? [True, True] Translation: X:32.56, Y:-3.17, Z:-0.75 [[ 9.82685412e-01 1.84005573e-01 2.17101464e-02 3.25632807e+01] [-1.83968012e-01 9.82925146e-01 -3.73204095e-03 -3.16951421e+00] [-2.20261651e-02 -3.26550273e-04 9.99757341e-01 -7.47434604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.548623853 meters 0.020852921735759585 Centerline is valid? [True, True] Translation: X:32.59, Y:-3.17, Z:-0.75 [[ 9.82644353e-01 1.84271301e-01 2.13111192e-02 3.25927071e+01] [-1.84235175e-01 9.82875364e-01 -3.66322874e-03 -3.17113171e+00] [-2.16212019e-02 -3.26606735e-04 9.99766181e-01 -7.49120094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.578623853 meters 0.021913044786836818 Centerline is valid? [True, True] Translation: X:32.62, Y:-3.17, Z:-0.75 [[ 9.82684072e-01 1.84120936e-01 2.07724476e-02 3.26217378e+01] [-1.84086590e-01 9.82903546e-01 -3.57018042e-03 -3.17158687e+00] [-2.10746574e-02 -3.15569619e-04 9.99777855e-01 -7.51597060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.608623853000005 meters 0.020117525440959377 Centerline is valid? [True, True] Translation: X:32.65, Y:-3.18, Z:-0.75 [[ 9.82820333e-01 1.83427888e-01 2.04549227e-02 3.26513084e+01] [-1.83394450e-01 9.83033124e-01 -3.51480352e-03 -3.17701844e+00] [-2.07525795e-02 -2.96898919e-04 9.99784598e-01 -7.52512914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.638623853 meters 0.01847989611372057 Centerline is valid? [True, True] Translation: X:32.68, Y:-3.18, Z:-0.75 [[ 9.83315321e-01 1.80763159e-01 2.03877172e-02 3.26803145e+01] [-1.80729379e-01 9.83526625e-01 -3.50274185e-03 -3.18067202e+00] [-2.06850294e-02 -2.40359740e-04 9.99786013e-01 -7.53704678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.668623853 meters 0.016854241458373293 Centerline is valid? [True, True] Translation: X:32.71, Y:-3.19, Z:-0.75 [[ 9.83720264e-01 1.78568499e-01 2.01923908e-02 3.27097368e+01] [-1.78534910e-01 9.83927464e-01 -3.46868066e-03 -3.18634174e+00] [-2.04872450e-02 -1.92835226e-04 9.99790096e-01 -7.54570193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.698623853 meters 0.013957566506652566 Centerline is valid? [True, True] Translation: X:32.74, Y:-3.20, Z:-0.76 [[ 9.84777248e-01 1.72589231e-01 2.06574008e-02 3.27380500e+01] [-1.72552773e-01 9.84993884e-01 -3.54797797e-03 -3.19503072e+00] [-2.09597563e-02 -7.05238171e-05 9.99780318e-01 -7.55527126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.728623853 meters 0.013340132606074018 Centerline is valid? [True, True] Translation: X:32.77, Y:-3.20, Z:-0.76 [[ 9.85409755e-01 1.68900995e-01 2.09778384e-02 3.27674821e+01] [-1.68862567e-01 9.85633022e-01 -3.60270209e-03 -3.20429063e+00] [-2.12849502e-02 7.76614769e-06 9.99773450e-01 -7.55652050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.758623853 meters 0.01436429973873442 Centerline is valid? [True, True] Translation: X:32.80, Y:-3.21, Z:-0.76 [[ 9.86126416e-01 1.64660278e-01 2.10162708e-02 3.27973074e+01] [-1.64620748e-01 9.86350335e-01 -3.60921022e-03 -3.21462107e+00] [-2.13236993e-02 9.94233265e-05 9.99772619e-01 -7.56306526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.788623853000004 meters 0.02041298370722507 Centerline is valid? [True, True] Translation: X:32.83, Y:-3.23, Z:-0.76 [[ 9.87642303e-01 1.55374750e-01 2.05272779e-02 3.28260000e+01] [-1.55335020e-01 9.87855557e-01 -3.52572015e-03 -3.23200179e+00] [-2.08257934e-02 2.93545233e-04 9.99783077e-01 -7.58356325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.818623853000005 meters 0.02528243628819501 Centerline is valid? [True, True] Translation: X:32.86, Y:-3.25, Z:-0.76 [[ 9.88311362e-01 1.51064147e-01 2.05006030e-02 3.28551725e+01] [-1.51023594e-01 9.88523887e-01 -3.52107145e-03 -3.24529302e+00] [-2.07972434e-02 3.83840166e-04 9.99783640e-01 -7.60345669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.848623853 meters 0.02927778285197953 Centerline is valid? [True, True] Translation: X:32.88, Y:-3.26, Z:-0.76 [[ 9.88974531e-01 1.46734510e-01 1.99589647e-02 3.28849196e+01] [-1.46695115e-01 9.89175802e-01 -3.43175258e-03 -3.25653326e+00] [-2.02464815e-02 4.66033282e-04 9.99794910e-01 -7.61438325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.878623853 meters 0.037154316383980195 Centerline is valid? [True, True] Translation: X:32.91, Y:-3.27, Z:-0.76 [[ 9.90021087e-01 1.39538534e-01 1.96785317e-02 3.29122889e+01] [-1.39498804e-01 9.90216457e-01 -3.38417405e-03 -3.27300469e+00] [-1.99582286e-02 6.05272041e-04 9.99800632e-01 -7.62798836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.908623853 meters 0.036215563079915844 Centerline is valid? [True, True] Translation: X:32.94, Y:-3.28, Z:-0.76 [[ 9.90405991e-01 1.36748899e-01 1.98924959e-02 3.29433358e+01] [-1.36707745e-01 9.90605518e-01 -3.42059561e-03 -3.27785159e+00] [-2.01733789e-02 6.68320114e-04 9.99796273e-01 -7.62271167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.938623853 meters 0.0441278489043976 Centerline is valid? [True, True] Translation: X:32.97, Y:-3.30, Z:-0.76 [[ 9.90869818e-01 1.33306458e-01 2.01591749e-02 3.29703356e+01] [-1.33263474e-01 9.91074582e-01 -3.46682757e-03 -3.29572150e+00] [-2.04413964e-02 7.48693130e-04 9.99790772e-01 -7.63456209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.968623853000004 meters 0.04166486972195022 Centerline is valid? [True, True] Translation: X:33.00, Y:-3.30, Z:-0.76 [[ 9.91051681e-01 1.31952125e-01 2.01296206e-02 3.30025543e+01] [-1.31908965e-01 9.91255786e-01 -3.46286893e-03 -3.29890075e+00] [-2.04105358e-02 7.76604653e-04 9.99791382e-01 -7.63237833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.998623853000005 meters 0.042492506021010325 Centerline is valid? [True, True] Translation: X:33.03, Y:-3.31, Z:-0.76 [[ 9.91078807e-01 1.31713647e-01 2.03546824e-02 3.30329029e+01] [-1.31669454e-01 9.91287491e-01 -3.50211851e-03 -3.30672549e+00] [-2.06386189e-02 7.90785513e-04 9.99786688e-01 -7.63920433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.028623853 meters 0.04291106603044587 Centerline is valid? [True, True] Translation: X:33.06, Y:-3.31, Z:-0.76 [[ 9.90979425e-01 1.32389212e-01 2.08056541e-02 3.30630021e+01] [-1.32343116e-01 9.91197488e-01 -3.58312064e-03 -3.31395504e+00] [-2.10968786e-02 7.97313737e-04 9.99777118e-01 -7.63806099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.058623853 meters 0.039571172125292 Centerline is valid? [True, True] Translation: X:33.10, Y:-3.32, Z:-0.76 [[ 9.90783673e-01 1.33835294e-01 2.08764625e-02 3.30950797e+01] [-1.33789136e-01 9.91003288e-01 -3.59857695e-03 -3.31576098e+00] [-2.11702596e-02 7.72367422e-04 9.99775587e-01 -7.63636688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.088623853 meters 0.03852524160300865 Centerline is valid? [True, True] Translation: X:33.13, Y:-3.32, Z:-0.76 [[ 9.90517536e-01 1.35714238e-01 2.13695289e-02 3.31255011e+01] [-1.35666215e-01 9.90747737e-01 -3.68790410e-03 -3.32056674e+00] [-2.16723135e-02 7.53810579e-04 9.99764844e-01 -7.64059399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.118623853 meters 0.03732067900531298 Centerline is valid? [True, True] Translation: X:33.16, Y:-3.33, Z:-0.76 [[ 9.89934458e-01 1.39851362e-01 2.17109631e-02 3.31552901e+01] [-1.39802771e-01 9.90172279e-01 -3.74745424e-03 -3.32590581e+00] [-2.20216804e-02 6.74481277e-04 9.99757266e-01 -7.64438825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.148623853000004 meters 0.03484677115218573 Centerline is valid? [True, True] Translation: X:33.19, Y:-3.33, Z:-0.77 [[ 9.89616797e-01 1.42055460e-01 2.18824479e-02 3.31867636e+01] [-1.42006639e-01 9.89858499e-01 -3.77698385e-03 -3.32864757e+00] [-2.21970683e-02 6.30313786e-04 9.99753416e-01 -7.65085565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.178623853000005 meters 0.028861439628345 Centerline is valid? [True, True] Translation: X:33.22, Y:-3.33, Z:-0.77 [[ 9.88951256e-01 1.46722873e-01 2.11615469e-02 3.32180166e+01] [-1.46678270e-01 9.89177507e-01 -3.65313071e-03 -3.32668632e+00] [-2.14685240e-02 5.08829110e-04 9.99769395e-01 -7.67120737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.208623853 meters 0.0259401710832288 Centerline is valid? [True, True] Translation: X:33.25, Y:-3.33, Z:-0.77 [[ 9.88598764e-01 1.49103080e-01 2.09941917e-02 3.32499833e+01] [-1.49059730e-01 9.88821554e-01 -3.62357706e-03 -3.32861378e+00] [-2.12997958e-02 4.52875245e-04 9.99773031e-01 -7.68127298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.238623853 meters 0.026124258902433767 Centerline is valid? [True, True] Translation: X:33.28, Y:-3.33, Z:-0.77 [[ 9.88246605e-01 1.51453704e-01 2.07466476e-02 3.32803962e+01] [-1.51411812e-01 9.88464271e-01 -3.58448376e-03 -3.33459930e+00] [-2.10502032e-02 4.01066412e-04 9.99778339e-01 -7.69962689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.268623853 meters 0.023764105525302552 Centerline is valid? [True, True] Translation: X:33.31, Y:-3.34, Z:-0.77 [[ 9.87901640e-01 1.53729300e-01 2.04365494e-02 3.33125624e+01] [-1.53689070e-01 9.88112939e-01 -3.53413310e-03 -3.33724005e+00] [-2.07369187e-02 3.50501600e-04 9.99784906e-01 -7.71215924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.298623853 meters 0.019835972959318923 Centerline is valid? [True, True] Translation: X:33.34, Y:-3.34, Z:-0.77 [[ 9.87306608e-01 1.57618588e-01 1.95459036e-02 3.33446838e+01] [-1.57582490e-01 9.87500032e-01 -3.38318201e-03 -3.33794155e+00] [-1.98348328e-02 2.60145807e-04 9.99803237e-01 -7.73054003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.328623853 meters 0.018215855667079832 Centerline is valid? [True, True] Translation: X:33.38, Y:-3.34, Z:-0.77 [[ 9.87019345e-01 1.59416100e-01 1.94761452e-02 3.33769143e+01] [-1.59380543e-01 9.87211454e-01 -3.37442404e-03 -3.34149325e+00] [-1.97650111e-02 2.26503208e-04 9.99804627e-01 -7.73453404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.358623853000005 meters 0.016524187001117595 Centerline is valid? [True, True] Translation: X:33.41, Y:-3.34, Z:-0.77 [[ 9.86569237e-01 1.62135440e-01 1.98302775e-02 3.34080738e+01] [-1.62099054e-01 9.86768497e-01 -3.43940716e-03 -3.34465463e+00] [-2.01255430e-02 1.78744063e-04 9.99797445e-01 -7.74013037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.388623853 meters 0.0156915065563967 Centerline is valid? [True, True] Translation: X:33.44, Y:-3.35, Z:-0.77 [[ 9.86325291e-01 1.63617873e-01 1.97891881e-02 3.34400463e+01] [-1.63581873e-01 9.86523780e-01 -3.43542575e-03 -3.34885780e+00] [-2.00846017e-02 1.51294838e-04 9.99798273e-01 -7.74660005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.418623853 meters 0.015428019934528513 Centerline is valid? [True, True] Translation: X:33.47, Y:-3.35, Z:-0.78 [[ 9.86085505e-01 1.65051856e-01 1.98308139e-02 3.34709092e+01] [-1.65015923e-01 9.86284882e-01 -3.44622202e-03 -3.35392227e+00] [-2.01276373e-02 1.25869529e-04 9.99797411e-01 -7.76099951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.448623853 meters 0.01403686381371781 Centerline is valid? [True, True] Translation: X:33.50, Y:-3.36, Z:-0.78 [[ 9.85637937e-01 1.67624740e-01 2.04891142e-02 3.35031050e+01] [-1.67586865e-01 9.85850871e-01 -3.56403346e-03 -3.35704821e+00] [-2.07966313e-02 7.91401670e-05 9.99783724e-01 -7.75978366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.478623853 meters 0.013798884945136187 Centerline is valid? [True, True] Translation: X:33.53, Y:-3.36, Z:-0.78 [[ 9.85384935e-01 1.69075745e-01 2.07345851e-02 3.35347090e+01] [-1.69037202e-01 9.85603059e-01 -3.61038258e-03 -3.36266095e+00] [-2.10464986e-02 5.27003595e-05 9.99778497e-01 -7.77159446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.508623853 meters 0.018024235275842227 Centerline is valid? [True, True] Translation: X:33.57, Y:-3.37, Z:-0.77 [[ 9.85200326e-01 1.70157228e-01 2.06599930e-02 3.35671664e+01] [-1.70119119e-01 9.85416925e-01 -3.60120797e-03 -3.36683016e+00] [-2.09714783e-02 3.32514642e-05 9.99780074e-01 -7.73143364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.538623853000004 meters 0.013425583220415217 Centerline is valid? [True, True] Translation: X:33.60, Y:-3.37, Z:-0.78 [[ 9.84822969e-01 1.72375005e-01 2.02626933e-02 3.35976737e+01] [-1.72338731e-01 9.85031399e-01 -3.53613445e-03 -3.37014576e+00] [-2.05689303e-02 -9.58042495e-06 9.99788437e-01 -7.79403965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.568623853000005 meters 0.013642620206860868 Centerline is valid? [True, True] Translation: X:33.63, Y:-3.38, Z:-0.78 [[ 9.84746370e-01 1.72913717e-01 1.93760947e-02 3.36290234e+01] [-1.72880579e-01 9.84936976e-01 -3.38515712e-03 -3.37517892e+00] [-1.96695722e-02 -1.62292892e-05 9.99806535e-01 -7.81959230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.598623853 meters 0.013633960664680016 Centerline is valid? [True, True] Translation: X:33.66, Y:-3.38, Z:-0.78 [[ 9.84734833e-01 1.73046056e-01 1.87715608e-02 3.36596516e+01] [-1.73014969e-01 9.84913733e-01 -3.27996991e-03 -3.38081883e+00] [-1.90559539e-02 -1.78603906e-05 9.99818419e-01 -7.83481927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.628623853 meters 0.013739898320240935 Centerline is valid? [True, True] Translation: X:33.69, Y:-3.39, Z:-0.79 [[ 9.84827790e-01 1.72513800e-01 1.87939844e-02 3.36895059e+01] [-1.72482531e-01 9.85007101e-01 -3.28444231e-03 -3.38732176e+00] [-1.90788198e-02 -7.02395229e-06 9.99817983e-01 -7.85514793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.658623853 meters 0.013497407997305082 Centerline is valid? [True, True] Translation: X:33.72, Y:-3.40, Z:-0.78 [[ 9.84935137e-01 1.71846699e-01 1.92740216e-02 3.37203246e+01] [-1.71813698e-01 9.85123704e-01 -3.36767345e-03 -3.39539263e+00] [-1.95660192e-02 5.39897058e-06 9.99808567e-01 -7.84781538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.688623853 meters 0.013648296871071025 Centerline is valid? [True, True] Translation: X:33.75, Y:-3.40, Z:-0.79 [[ 9.85081359e-01 1.70968881e-01 1.96050533e-02 3.37515483e+01] [-1.70934493e-01 9.85276429e-01 -3.42902346e-03 -3.40373354e+00] [-1.99026532e-02 2.66872462e-05 9.99801922e-01 -7.85005697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.718623853000004 meters 0.013960006559212729 Centerline is valid? [True, True] Translation: X:33.78, Y:-3.41, Z:-0.79 [[ 9.85396481e-01 1.69134417e-01 1.96805645e-02 3.37832875e+01] [-1.69099323e-01 9.85592991e-01 -3.44594870e-03 -3.41451557e+00] [-1.99798550e-02 6.76555770e-05 9.99800380e-01 -7.85465170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.748623853000005 meters 0.014137865808239404 Centerline is valid? [True, True] Translation: X:33.81, Y:-3.42, Z:-0.79 [[ 9.85413418e-01 1.69040322e-01 1.96408798e-02 3.38146958e+01] [-1.69005271e-01 9.85609134e-01 -3.44301838e-03 -3.42175818e+00] [-1.99402395e-02 7.33843064e-05 9.99801171e-01 -7.86874921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.778623853 meters 0.014332619237404842 Centerline is valid? [True, True] Translation: X:33.85, Y:-3.43, Z:-0.79 [[ 9.85403714e-01 1.69065903e-01 1.99057828e-02 3.38454794e+01] [-1.69029827e-01 9.85604746e-01 -3.49329533e-03 -3.42888830e+00] [-2.02098311e-02 7.76351791e-05 9.99795757e-01 -7.87802614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.808623853 meters 0.013955994311051077 Centerline is valid? [True, True] Translation: X:33.88, Y:-3.44, Z:-0.79 [[ 9.85282709e-01 1.69762752e-01 1.99647355e-02 3.38781130e+01] [-1.69726533e-01 9.85484958e-01 -3.50722114e-03 -3.43544721e+00] [-2.02703420e-02 6.70590171e-05 9.99794533e-01 -7.87971514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.838623853 meters 0.013900173146231497 Centerline is valid? [True, True] Translation: X:33.91, Y:-3.44, Z:-0.79 [[ 9.85128487e-01 1.70667762e-01 1.98589818e-02 3.39099474e+01] [-1.70632023e-01 9.85328632e-01 -3.49291428e-03 -3.44117547e+00] [-2.01637512e-02 5.23911405e-05 9.99796690e-01 -7.89608695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.868623853 meters 0.013437910143235782 Centerline is valid? [True, True] Translation: X:33.94, Y:-3.45, Z:-0.79 [[ 9.84948982e-01 1.71686257e-01 1.99833008e-02 3.39426405e+01] [-1.71650235e-01 9.85151678e-01 -3.51689509e-03 -3.44608021e+00] [-2.02903849e-02 3.38239463e-05 9.99794128e-01 -7.88961560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.898623853000004 meters 0.013512815940791768 Centerline is valid? [True, True] Translation: X:33.97, Y:-3.45, Z:-0.79 [[ 9.84578164e-01 1.73871084e-01 1.93567968e-02 3.39743525e+01] [-1.73837633e-01 9.84768423e-01 -3.41046580e-03 -3.44985433e+00] [-1.96549436e-02 -7.06958107e-06 9.99806823e-01 -7.91993175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.928623853000005 meters 0.02471435915888955 Centerline is valid? [True, True] Translation: X:34.01, Y:-3.45, Z:-0.79 [[ 9.84389630e-01 1.75005455e-01 1.87121959e-02 3.40063569e+01] [-1.74974334e-01 9.84567463e-01 -3.30036404e-03 -3.45418781e+00] [-1.90010010e-02 -2.53098835e-05 9.99819464e-01 -7.87592510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.958623853 meters 0.01373456408301162 Centerline is valid? [True, True] Translation: X:34.04, Y:-3.46, Z:-0.79 [[ 9.84172997e-01 1.76195713e-01 1.89362824e-02 3.40369693e+01] [-1.76163982e-01 9.84355154e-01 -3.34402567e-03 -3.45857230e+00] [-1.92292302e-02 -4.47911607e-05 9.99815100e-01 -7.93231779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.988623853 meters 0.01373456408301162 Centerline is valid? [True, True] Translation: X:34.07, Y:-3.46, Z:-0.79 [[ 9.84142857e-01 1.76363972e-01 1.89363516e-02 3.40681261e+01] [-1.76332280e-01 9.84325021e-01 -3.34363459e-03 -3.46421961e+00] [-1.92292214e-02 -4.84759647e-05 9.99815100e-01 -7.94028394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.018623853 meters 0.014889614786755075 Centerline is valid? [True, True] Translation: X:34.10, Y:-3.47, Z:-0.80 [[ 9.83669738e-01 1.78958868e-01 1.91721007e-02 3.40981109e+01] [-1.78926790e-01 9.83856552e-01 -3.38961353e-03 -3.46597124e+00] [-1.94691982e-02 -9.61421864e-05 9.99810453e-01 -7.95848681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.048623853 meters 0.02102828862070238 Centerline is valid? [True, True] Translation: X:34.13, Y:-3.47, Z:-0.79 [[ 9.83390937e-01 1.80469729e-01 1.93116873e-02 3.41285189e+01] [-1.80437467e-01 9.83580531e-01 -3.41460494e-03 -3.46981573e+00] [-1.96108325e-02 -1.26660405e-04 9.99807681e-01 -7.90414607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.078623853 meters 0.017224118758888993 Centerline is valid? [True, True] Translation: X:34.16, Y:-3.47, Z:-0.79 [[ 9.82691268e-01 1.84106011e-01 2.05632772e-02 3.41591409e+01] [-1.84070227e-01 9.82906370e-01 -3.63590537e-03 -3.46952984e+00] [-2.08811682e-02 -2.12114637e-04 9.99781942e-01 -7.93689681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.108623853000005 meters 0.019039913039914695 Centerline is valid? [True, True] Translation: X:34.19, Y:-3.47, Z:-0.80 [[ 9.82339736e-01 1.85996164e-01 2.03486893e-02 3.41888185e+01] [-1.85961528e-01 9.82550439e-01 -3.59801746e-03 -3.47069799e+00] [-2.06628310e-02 -2.49597812e-04 9.99786470e-01 -7.95260217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.138623853 meters 0.022198982208231778 Centerline is valid? [True, True] Translation: X:34.22, Y:-3.47, Z:-0.80 [[ 9.81997656e-01 1.87800646e-01 2.02859762e-02 3.42177399e+01] [-1.87766611e-01 9.82207124e-01 -3.58675023e-03 -3.46979381e+00] [-2.05986244e-02 -2.86848676e-04 9.99787785e-01 -7.96720207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.168623853 meters 0.030124495675703827 Centerline is valid? [True, True] Translation: X:34.25, Y:-3.47, Z:-0.79 [[ 9.81362840e-01 1.91042390e-01 2.07311712e-02 3.42484428e+01] [-1.91007580e-01 9.81581720e-01 -3.66484820e-03 -3.46942767e+00] [-2.10494800e-02 -3.63264987e-04 9.99778369e-01 -7.91081996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.198623853 meters 0.024482216032987534 Centerline is valid? [True, True] Translation: X:34.28, Y:-3.47, Z:-0.80 [[ 9.81038668e-01 1.92692032e-01 2.08065290e-02 3.42773245e+01] [-1.92657348e-01 9.81259201e-01 -3.67775887e-03 -3.47117342e+00] [-2.11252729e-02 -4.00507051e-04 9.99776756e-01 -7.96862208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.228623853 meters 0.026983503847033352 Centerline is valid? [True, True] Translation: X:34.31, Y:-3.47, Z:-0.80 [[ 9.80808379e-01 1.93889883e-01 2.05337860e-02 3.43054482e+01] [-1.93856385e-01 9.81023208e-01 -3.62860504e-03 -3.47045948e+00] [-2.08476704e-02 -4.21639290e-04 9.99782575e-01 -7.98580528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.258623853 meters 0.026689384378436393 Centerline is valid? [True, True] Translation: X:34.33, Y:-3.47, Z:-0.80 [[ 9.80650040e-01 1.94748325e-01 1.99646932e-02 3.43342609e+01] [-1.94716860e-01 9.80853152e-01 -3.52679409e-03 -3.47353474e+00] [-2.02692695e-02 -4.28911598e-04 9.99794465e-01 -7.99477021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.288623853000004 meters 0.03572135393056909 Centerline is valid? [True, True] Translation: X:34.36, Y:-3.47, Z:-0.79 [[ 9.80633097e-01 1.94920933e-01 1.90934373e-02 3.43637002e+01] [-1.94892204e-01 9.80818871e-01 -3.37200867e-03 -3.47497587e+00] [-1.93844787e-02 -4.14458783e-04 9.99812017e-01 -7.94738145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.318623853000005 meters 0.02751429680604785 Centerline is valid? [True, True] Translation: X:34.39, Y:-3.48, Z:-0.80 [[ 9.80651150e-01 1.94842166e-01 1.89697608e-02 3.43920611e+01] [-1.94813810e-01 9.80834523e-01 -3.34932044e-03 -3.47592166e+00] [-1.92587851e-02 -4.11056427e-04 9.99814448e-01 -8.03292376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.348623853 meters 0.026694106632490975 Centerline is valid? [True, True] Translation: X:34.42, Y:-3.48, Z:-0.80 [[ 9.80900018e-01 1.93516507e-01 1.96600121e-02 3.44201512e+01] [-1.93485813e-01 9.81096938e-01 -3.46975955e-03 -3.47755373e+00] [-1.99598334e-02 -4.00446213e-04 9.99800702e-01 -8.03128021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.378623853 meters 0.024262046676056824 Centerline is valid? [True, True] Translation: X:34.45, Y:-3.48, Z:-0.80 [[ 9.81110419e-01 1.92330314e-01 2.07700716e-02 3.44480483e+01] [-1.92295819e-01 9.81330164e-01 -3.66429487e-03 -3.48374412e+00] [-2.10870527e-02 -3.98920043e-04 9.99777564e-01 -8.01591898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.408623853 meters 0.023366999444620666 Centerline is valid? [True, True] Translation: X:34.48, Y:-3.49, Z:-0.80 [[ 9.81429636e-01 1.90636490e-01 2.12978317e-02 3.44753431e+01] [-1.90599843e-01 9.81660629e-01 -3.75635660e-03 -3.48774869e+00] [-2.16233415e-02 -3.72763691e-04 9.99766119e-01 -8.01557869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.438623853 meters 0.019108334715021918 Centerline is valid? [True, True] Translation: X:34.50, Y:-3.50, Z:-0.80 [[ 9.82354057e-01 1.85772227e-01 2.16607289e-02 3.45042781e+01] [-1.85733170e-01 9.82592798e-01 -3.81887818e-03 -3.49554954e+00] [-2.19931177e-02 -2.71625367e-04 9.99758085e-01 -8.02223011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.468623853000004 meters 0.016278765131526374 Centerline is valid? [True, True] Translation: X:34.53, Y:-3.50, Z:-0.80 [[ 9.82954238e-01 1.82566029e-01 2.16935936e-02 3.45328083e+01] [-1.82526083e-01 9.83193575e-01 -3.82414248e-03 -3.50461037e+00] [-2.20271603e-02 -2.00689600e-04 9.99757353e-01 -8.02912578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.498623853000005 meters 0.014870165284856149 Centerline is valid? [True, True] Translation: X:34.56, Y:-3.51, Z:-0.81 [[ 9.83598983e-01 1.79072544e-01 2.15885181e-02 3.45619220e+01] [-1.79032156e-01 9.83835865e-01 -3.80498866e-03 -3.51218609e+00] [-2.19209274e-02 -1.22455978e-04 9.99759700e-01 -8.05181949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.528623853 meters 0.013645924405748994 Centerline is valid? [True, True] Translation: X:34.59, Y:-3.53, Z:-0.81 [[ 9.84895734e-01 1.71923118e-01 2.05629280e-02 3.45900257e+01] [-1.71884917e-01 9.85110370e-01 -3.62422781e-03 -3.52563834e+00] [-2.08798421e-02 3.50293330e-05 9.99781992e-01 -8.07593430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.558623853 meters 0.014850698526885924 Centerline is valid? [True, True] Translation: X:34.62, Y:-3.54, Z:-0.81 [[ 9.85483610e-01 1.68615035e-01 1.97743534e-02 3.46193156e+01] [-1.68579044e-01 9.85681977e-01 -3.48517880e-03 -3.53510297e+00] [-2.00788773e-02 1.01045004e-04 9.99798394e-01 -8.10089491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.588623853 meters 0.016543871511576436 Centerline is valid? [True, True] Translation: X:34.65, Y:-3.54, Z:-0.81 [[ 9.86029420e-01 1.65459036e-01 1.92169470e-02 3.46497942e+01] [-1.65424442e-01 9.86216650e-01 -3.38709960e-03 -3.54446599e+00] [-1.95124993e-02 1.60827124e-04 9.99809600e-01 -8.11814935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.618623853 meters 0.01809631538077059 Centerline is valid? [True, True] Translation: X:34.68, Y:-3.55, Z:-0.81 [[ 9.86462709e-01 1.62926354e-01 1.86098708e-02 3.46807948e+01] [-1.62893470e-01 9.86638212e-01 -3.27960546e-03 -3.55343491e+00] [-1.88955438e-02 2.03782059e-04 9.99821443e-01 -8.12987195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.648623853000004 meters 0.022584465448208704 Centerline is valid? [True, True] Translation: X:34.71, Y:-3.57, Z:-0.82 [[ 9.87132876e-01 1.58882797e-01 1.80261745e-02 3.47100214e+01] [-1.58851202e-01 9.87297413e-01 -3.18037843e-03 -3.56619378e+00] [-1.83025028e-02 2.75976619e-04 9.99832457e-01 -8.15719165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.678623853000005 meters 0.023824193482189414 Centerline is valid? [True, True] Translation: X:34.74, Y:-3.57, Z:-0.82 [[ 9.87318242e-01 1.57670636e-01 1.85110553e-02 3.47414719e+01] [-1.57637083e-01 9.87491709e-01 -3.26717122e-03 -3.57402542e+00] [-1.87946506e-02 3.07708992e-04 9.99823318e-01 -8.16140464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.708623853 meters 0.02301936686603843 Centerline is valid? [True, True] Translation: X:34.77, Y:-3.58, Z:-0.81 [[ 9.87468005e-01 1.56674195e-01 1.89772261e-02 3.47736059e+01] [-1.56638684e-01 9.87650283e-01 -3.35269999e-03 -3.57844421e+00] [-1.92681443e-02 3.38116256e-04 9.99814295e-01 -8.14627947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.738623853 meters 0.027355817033043954 Centerline is valid? [True, True] Translation: X:34.80, Y:-3.59, Z:-0.81 [[ 9.87695007e-01 1.55167370e-01 1.95361121e-02 3.48037224e+01] [-1.55129368e-01 9.87888122e-01 -3.45510336e-03 -3.58718726e+00] [-1.98356124e-02 3.81963610e-04 9.99803182e-01 -8.10843840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.768623853 meters 0.0253794269566867 Centerline is valid? [True, True] Translation: X:34.84, Y:-3.59, Z:-0.81 [[ 9.87777544e-01 1.54535985e-01 2.03507463e-02 3.48351255e+01] [-1.54494542e-01 9.87987074e-01 -3.60263472e-03 -3.59272789e+00] [-2.06630110e-02 4.14522447e-04 9.99786411e-01 -8.14013284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.798623853 meters 0.026853703329085758 Centerline is valid? [True, True] Translation: X:34.87, Y:-3.60, Z:-0.81 [[ 9.87860514e-01 1.53984450e-01 2.05035316e-02 3.48654060e+01] [-1.53942188e-01 9.88073176e-01 -3.63334732e-03 -3.60076665e+00] [-2.08184686e-02 4.32881843e-04 9.99783178e-01 -8.14877002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.828623853 meters 0.02577513473174615 Centerline is valid? [True, True] Translation: X:34.90, Y:-3.61, Z:-0.82 [[ 9.87925443e-01 1.53579949e-01 2.04087708e-02 3.48976420e+01] [-1.53537924e-01 9.88136126e-01 -3.61976051e-03 -3.60575146e+00] [-2.07225663e-02 4.42533210e-04 9.99785167e-01 -8.15130976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.858623853000005 meters 0.029298849177675525 Centerline is valid? [True, True] Translation: X:34.93, Y:-3.62, Z:-0.82 [[ 9.88099132e-01 1.52461811e-01 2.03838406e-02 3.49274350e+01] [-1.52419568e-01 9.88309251e-01 -3.61930987e-03 -3.61788697e+00] [-2.06973448e-02 4.69340762e-04 9.99785677e-01 -8.16719931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.888623853 meters 0.02945457997346592 Centerline is valid? [True, True] Translation: X:34.96, Y:-3.62, Z:-0.82 [[ 9.88178319e-01 1.51967526e-01 2.02356435e-02 3.49585854e+01] [-1.51925759e-01 9.88385372e-01 -3.59459313e-03 -3.62448922e+00] [-2.05468755e-02 4.77783495e-04 9.99788777e-01 -8.17899273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.918623853 meters 0.03862587915867395 Centerline is valid? [True, True] Translation: X:34.99, Y:-3.63, Z:-0.81 [[ 9.88310772e-01 1.51183778e-01 1.96286545e-02 3.49906066e+01] [-1.51144262e-01 9.88505555e-01 -3.48993402e-03 -3.62971767e+00] [-1.99306554e-02 4.82380905e-04 9.99801248e-01 -8.12078535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.948623853 meters 0.03138697051324727 Centerline is valid? [True, True] Translation: X:35.02, Y:-3.64, Z:-0.82 [[ 9.88585924e-01 1.49207210e-01 2.08585764e-02 3.50196890e+01] [-1.49162061e-01 9.88805793e-01 -3.71259926e-03 -3.64200892e+00] [-2.11790278e-02 5.58915115e-04 9.99775543e-01 -8.18394195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.978623853 meters 0.03185874628729388 Centerline is valid? [True, True] Translation: X:35.05, Y:-3.65, Z:-0.82 [[ 9.88680405e-01 1.48508981e-01 2.13574034e-02 3.50510673e+01] [-1.48461407e-01 9.88910882e-01 -3.80491206e-03 -3.65057317e+00] [-2.16856323e-02 5.91091835e-04 9.99764664e-01 -8.18610992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.008623853 meters 0.03261078301659811 Centerline is valid? [True, True] Translation: X:35.08, Y:-3.66, Z:-0.82 [[ 9.88746873e-01 1.48010282e-01 2.17388679e-02 3.50821012e+01] [-1.47960789e-01 9.88985630e-01 -3.87671190e-03 -3.65972846e+00] [-2.20732212e-02 6.16586726e-04 9.99756167e-01 -8.18415699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.038623853000004 meters 0.034035147523981894 Centerline is valid? [True, True] Translation: X:35.11, Y:-3.67, Z:-0.82 [[ 9.88840442e-01 1.47303850e-01 2.22745571e-02 3.51119970e+01] [-1.47251617e-01 9.89091073e-01 -3.97622536e-03 -3.67188564e+00] [-2.26172789e-02 6.51887878e-04 9.99743984e-01 -8.18100721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.068623853000005 meters 0.03487906082178643 Centerline is valid? [True, True] Translation: X:35.14, Y:-3.68, Z:-0.82 [[ 9.88843419e-01 1.47314804e-01 2.20689969e-02 3.51430140e+01] [-1.47263457e-01 9.89089444e-01 -3.94295751e-03 -3.68100429e+00] [-2.24090679e-02 6.49010812e-04 9.99748675e-01 -8.19357649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.098623853 meters 0.03338625008386881 Centerline is valid? [True, True] Translation: X:35.18, Y:-3.69, Z:-0.82 [[ 9.88820181e-01 1.47524052e-01 2.17095218e-02 3.51756876e+01] [-1.47474330e-01 9.89058263e-01 -3.88257821e-03 -3.68681169e+00] [-2.20447556e-02 6.37574509e-04 9.99756782e-01 -8.20876613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.128623853 meters 0.03469439108102425 Centerline is valid? [True, True] Translation: X:35.21, Y:-3.70, Z:-0.82 [[ 9.88735232e-01 1.48185180e-01 2.10664218e-02 3.52052636e+01] [-1.48138421e-01 9.88959444e-01 -3.77176231e-03 -3.69638690e+00] [-2.13927560e-02 6.08527821e-04 9.99770964e-01 -8.23097864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.158623853 meters 0.03365006199655684 Centerline is valid? [True, True] Translation: X:35.24, Y:-3.71, Z:-0.83 [[ 9.88516260e-01 1.49842361e-01 1.95670837e-02 3.52359760e+01] [-1.49802289e-01 9.88709756e-01 -3.50615817e-03 -3.70574882e+00] [-1.98715375e-02 5.34700439e-04 9.99802399e-01 -8.26741178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.188623853 meters 0.03274445581257268 Centerline is valid? [True, True] Translation: X:35.27, Y:-3.71, Z:-0.83 [[ 9.88324093e-01 1.51190909e-01 1.88890763e-02 3.52661152e+01] [-1.51153746e-01 9.88504459e-01 -3.38812178e-03 -3.71318536e+00] [-1.91841894e-02 4.93407728e-04 9.99815845e-01 -8.28802496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.218623853000004 meters 0.034313475579477774 Centerline is valid? [True, True] Translation: X:35.30, Y:-3.72, Z:-0.82 [[ 9.88111022e-01 1.52634756e-01 1.84184280e-02 3.52980437e+01] [-1.52599650e-01 9.88282563e-01 -3.30495844e-03 -3.71966228e+00] [-1.87070628e-02 4.55020197e-04 9.99824904e-01 -8.24256039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.248623853000005 meters 0.03703314219902746 Centerline is valid? [True, True] Translation: X:35.33, Y:-3.72, Z:-0.82 [[ 9.87482044e-01 1.56617988e-01 1.87088092e-02 3.53284312e+01] [-1.56582402e-01 9.87659179e-01 -3.36112399e-03 -3.72456190e+00] [-1.90043396e-02 3.89579300e-04 9.99819325e-01 -8.23412935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.278623853 meters 0.02366143318538829 Centerline is valid? [True, True] Translation: X:35.36, Y:-3.73, Z:-0.83 [[ 9.87069998e-01 1.59097059e-01 1.95178018e-02 3.53603725e+01] [-1.59058819e-01 9.87262882e-01 -3.50616183e-03 -3.72741098e+00] [-1.98270213e-02 3.56348634e-04 9.99803362e-01 -8.28353134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.308623853 meters 0.021909064469215932 Centerline is valid? [True, True] Translation: X:35.39, Y:-3.73, Z:-0.83 [[ 9.86630670e-01 1.61675938e-01 2.05137002e-02 3.53912372e+01] [-1.61634172e-01 9.86843851e-01 -3.68894138e-03 -3.73329170e+00] [-2.08402319e-02 3.23907775e-04 9.99782766e-01 -8.28010279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.338623853 meters 0.018122876470566995 Centerline is valid? [True, True] Translation: X:35.42, Y:-3.74, Z:-0.83 [[ 9.85871328e-01 1.66164506e-01 2.11443080e-02 3.54218921e+01] [-1.66121076e-01 9.86098017e-01 -3.80641228e-03 -3.73838133e+00] [-2.14828508e-02 2.40117529e-04 9.99769188e-01 -8.27487354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.368623853 meters 0.016977979892329527 Centerline is valid? [True, True] Translation: X:35.45, Y:-3.74, Z:-0.83 [[ 9.85475155e-01 1.68532132e-01 2.08719854e-02 3.54524168e+01] [-1.68490345e-01 9.85696143e-01 -3.75737429e-03 -3.74421021e+00] [-2.12066738e-02 1.86070992e-04 9.99775096e-01 -8.29035209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.398623853000004 meters 0.01574150137721244 Centerline is valid? [True, True] Translation: X:35.48, Y:-3.75, Z:-0.83 [[ 9.85064322e-01 1.70951313e-01 2.05895679e-02 3.54827441e+01] [-1.70911108e-01 9.85279468e-01 -3.70983757e-03 -3.74909143e+00] [-2.09206801e-02 1.35442765e-04 9.99781129e-01 -8.30529792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.428623853000005 meters 0.013669507872318735 Centerline is valid? [True, True] Translation: X:35.51, Y:-3.75, Z:-0.83 [[ 9.84235793e-01 1.75670374e-01 2.04896023e-02 3.55149334e+01] [-1.75631514e-01 9.84449043e-01 -3.69496621e-03 -3.75403205e+00] [-2.08200654e-02 3.80981192e-05 9.99783238e-01 -8.31497859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.458623853 meters 0.013647049972168573 Centerline is valid? [True, True] Translation: X:35.55, Y:-3.76, Z:-0.83 [[ 9.83804061e-01 1.78131058e-01 1.99723731e-02 3.55466890e+01] [-1.78094572e-01 9.84006771e-01 -3.60521341e-03 -3.75865822e+00] [-2.02951509e-02 -1.01476371e-05 9.99794032e-01 -8.32894762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.488623853 meters 0.013977116531873003 Centerline is valid? [True, True] Translation: X:35.58, Y:-3.76, Z:-0.83 [[ 9.83341686e-01 1.80699428e-01 1.96683591e-02 3.55798702e+01] [-1.80664518e-01 9.83538364e-01 -3.55230514e-03 -3.76284550e+00] [-1.99864852e-02 -6.02448939e-05 9.99800248e-01 -8.34466522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.518623853 meters 0.014924947123796838 Centerline is valid? [True, True] Translation: X:35.61, Y:-3.77, Z:-0.84 [[ 9.82830615e-01 1.83468369e-01 1.95790593e-02 3.56113791e+01] [-1.83434247e-01 9.83025607e-01 -3.54005946e-03 -3.76672550e+00] [-1.98962056e-02 -1.12191178e-04 9.99802045e-01 -8.35176601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.548623853 meters 0.018115985777491274 Centerline is valid? [True, True] Translation: X:35.64, Y:-3.77, Z:-0.84 [[ 9.81829803e-01 1.88725039e-01 1.98266816e-02 3.56426706e+01] [-1.88691053e-01 9.82029945e-01 -3.58805736e-03 -3.76934200e+00] [-2.01475513e-02 -2.18255782e-04 9.99796994e-01 -8.35687875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.578623853 meters 0.02163435254193475 Centerline is valid? [True, True] Translation: X:35.67, Y:-3.77, Z:-0.84 [[ 9.81323889e-01 1.91335800e-01 1.98503565e-02 3.56738728e+01] [-1.91302204e-01 9.81524599e-01 -3.59550630e-03 -3.77104374e+00] [-2.01715623e-02 -2.69060713e-04 9.99796497e-01 -8.37062353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.608623853000005 meters 0.02220653960650242 Centerline is valid? [True, True] Translation: X:35.71, Y:-3.78, Z:-0.84 [[ 9.80812346e-01 1.93926623e-01 1.99901844e-02 3.57050275e+01] [-1.93893013e-01 9.81015984e-01 -3.62460752e-03 -3.77682714e+00] [-2.03135983e-02 -3.20897272e-04 9.99793606e-01 -8.36887302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.638623853000006 meters 0.032609290532625186 Centerline is valid? [True, True] Translation: X:35.74, Y:-3.78, Z:-0.83 [[ 9.79979279e-01 1.98109949e-01 1.98257415e-02 3.57355823e+01] [-1.98077738e-01 9.80179721e-01 -3.59508871e-03 -3.77682229e+00] [-2.01450126e-02 -4.03925597e-04 9.99796987e-01 -8.32352560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.668623853 meters 0.03322227271748289 Centerline is valid? [True, True] Translation: X:35.77, Y:-3.78, Z:-0.83 [[ 9.79665580e-01 1.99670699e-01 1.96713643e-02 3.57654756e+01] [-1.99639273e-01 9.79862963e-01 -3.56856607e-03 -3.77895325e+00] [-1.99877794e-02 -4.31175516e-04 9.99800131e-01 -8.33442465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.698623853 meters 0.028395116617331073 Centerline is valid? [True, True] Translation: X:35.80, Y:-3.78, Z:-0.84 [[ 9.79321058e-01 2.01300185e-01 2.02114233e-02 3.57962761e+01] [-2.01267359e-01 9.79529483e-01 -3.66642659e-03 -3.78471161e+00] [-2.05357374e-02 -4.77291017e-04 9.99789006e-01 -8.38668262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.728623853 meters 0.02951082083340064 Centerline is valid? [True, True] Translation: X:35.83, Y:-3.79, Z:-0.84 [[ 9.79114373e-01 2.02288169e-01 2.03602705e-02 3.58264306e+01] [-2.02255058e-01 9.79325914e-01 -3.69403907e-03 -3.78785636e+00] [-2.06866009e-02 -5.01080946e-04 9.99785884e-01 -8.39732408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.758623853 meters 0.032831296039810734 Centerline is valid? [True, True] Translation: X:35.86, Y:-3.79, Z:-0.84 [[ 9.79013451e-01 2.02785833e-01 2.02625170e-02 3.58561595e+01] [-2.02753145e-01 9.79222981e-01 -3.67635777e-03 -3.78881190e+00] [-2.05870356e-02 -5.09085331e-04 9.99787935e-01 -8.41352841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.788623853000004 meters 0.03293619410489205 Centerline is valid? [True, True] Translation: X:35.89, Y:-3.79, Z:-0.84 [[ 9.79038576e-01 2.02665128e-01 2.02561657e-02 3.58852261e+01] [-2.02632438e-01 9.79247971e-01 -3.67500811e-03 -3.79434248e+00] [-2.05806052e-02 -5.06581534e-04 9.99788069e-01 -8.41957758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.818623853000005 meters 0.03247869939195569 Centerline is valid? [True, True] Translation: X:35.91, Y:-3.80, Z:-0.84 [[ 9.79140324e-01 2.02163187e-01 2.03536629e-02 3.59145086e+01] [-2.02130083e-01 9.79351723e-01 -3.69222518e-03 -3.79997102e+00] [-2.06798268e-02 -4.98881005e-04 9.99786025e-01 -8.42877623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.848623853 meters 0.031123010446232006 Centerline is valid? [True, True] Translation: X:35.94, Y:-3.81, Z:-0.84 [[ 9.79454031e-01 2.00606063e-01 2.06642104e-02 3.59433747e+01] [-2.00571605e-01 9.79671875e-01 -3.74807542e-03 -3.80520784e+00] [-2.09960324e-02 -4.73586266e-04 9.99779447e-01 -8.43312985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.878623853 meters 0.03012732508549814 Centerline is valid? [True, True] Translation: X:35.97, Y:-3.81, Z:-0.84 [[ 9.79697827e-01 1.99431464e-01 2.04758294e-02 3.59716058e+01] [-1.99397385e-01 9.79911676e-01 -3.71343440e-03 -3.81111700e+00] [-2.08050799e-02 -4.44783217e-04 9.99783452e-01 -8.44429113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.908623853 meters 0.03012732508549814 Centerline is valid? [True, True] Translation: X:36.00, Y:-3.82, Z:-0.85 [[ 9.79702231e-01 1.99409819e-01 2.04759027e-02 3.60003096e+01] [-1.99375744e-01 9.79916081e-01 -3.71303003e-03 -3.81627539e+00] [-2.08050810e-02 -4.44734523e-04 9.99783452e-01 -8.45162760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.938623853 meters 0.028495365486621797 Centerline is valid? [True, True] Translation: X:36.03, Y:-3.82, Z:-0.85 [[ 9.80011785e-01 1.97902066e-01 2.02897447e-02 3.60291596e+01] [-1.97868293e-01 9.80221712e-01 -3.67881476e-03 -3.82311317e+00] [-2.06164933e-02 -4.09415342e-04 9.99787374e-01 -8.46546442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.968623853000004 meters 0.02490664209487751 Centerline is valid? [True, True] Translation: X:36.06, Y:-3.83, Z:-0.85 [[ 9.80724825e-01 1.94323170e-01 2.04284759e-02 3.60581750e+01] [-1.94288170e-01 9.80937507e-01 -3.70340151e-03 -3.83179211e+00] [-2.07587150e-02 -3.36993390e-04 9.99784458e-01 -8.46919148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.998623853000005 meters 0.02272439251540063 Centerline is valid? [True, True] Translation: X:36.09, Y:-3.84, Z:-0.85 [[ 9.81132015e-01 1.92265810e-01 2.03427669e-02 3.60879588e+01] [-1.92230660e-01 9.81342842e-01 -3.68786365e-03 -3.84009569e+00] [-2.06722788e-02 -2.92222414e-04 9.99786263e-01 -8.48349612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.028623853 meters 0.03325721488997357 Centerline is valid? [True, True] Translation: X:36.12, Y:-3.85, Z:-0.84 [[ 9.81546496e-01 1.90258896e-01 1.91840937e-02 3.61189813e+01] [-1.90227271e-01 9.81733923e-01 -3.47688259e-03 -3.85049430e+00] [-1.94951834e-02 -2.36615878e-04 9.99809923e-01 -8.44140924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.058623853 meters 0.021703202179071127 Centerline is valid? [True, True] Translation: X:36.15, Y:-3.86, Z:-0.85 [[ 9.82422400e-01 1.85828560e-01 1.77193417e-02 3.61497718e+01] [-1.85800812e-01 9.82582174e-01 -3.21402177e-03 -3.86057320e+00] [-1.80079663e-02 -1.34741102e-04 9.99837834e-01 -8.49018786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.088623853 meters 0.01598574539233801 Centerline is valid? [True, True] Translation: X:36.18, Y:-3.87, Z:-0.86 [[ 9.82797716e-01 1.83813381e-01 1.79246007e-02 3.61798031e+01] [-1.83784592e-01 9.82961155e-01 -3.25448159e-03 -3.86663778e+00] [-1.82174035e-02 -9.57683704e-05 9.99834045e-01 -8.57270113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.118623853 meters 0.014535044852362004 Centerline is valid? [True, True] Translation: X:36.21, Y:-3.88, Z:-0.86 [[ 9.83165952e-01 1.81846085e-01 1.77964214e-02 3.62107810e+01] [-1.81817335e-01 9.83327005e-01 -3.23392588e-03 -3.87590681e+00] [-1.80877785e-02 -5.62120960e-05 9.99836401e-01 -8.56111316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.148623853000004 meters 0.014547790522547533 Centerline is valid? [True, True] Translation: X:36.24, Y:-3.88, Z:-0.86 [[ 9.83472507e-01 1.80149042e-01 1.81149416e-02 3.62408055e+01] [-1.80118905e-01 9.83639325e-01 -3.29514293e-03 -3.88270608e+00] [-1.84121858e-02 -2.21609638e-05 9.99830481e-01 -8.59015189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.178623853000005 meters 0.014862243107319425 Centerline is valid? [True, True] Translation: X:36.27, Y:-3.89, Z:-0.86 [[ 9.84110201e-01 1.76532804e-01 1.90599412e-02 3.62709096e+01] [-1.76498696e-01 9.84294756e-01 -3.47044093e-03 -3.89263482e+00] [-1.93732469e-02 5.12415533e-05 9.99812320e-01 -8.57622779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.208623853 meters 0.015720080225058677 Centerline is valid? [True, True] Translation: X:36.30, Y:-3.90, Z:-0.86 [[ 9.84432161e-01 1.74663585e-01 1.96456736e-02 3.63029268e+01] [-1.74626920e-01 9.84628165e-01 -3.57984197e-03 -3.90129730e+00] [-1.99689516e-02 9.34480934e-05 9.99800596e-01 -8.56968964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.238623853 meters 0.023173969238561506 Centerline is valid? [True, True] Translation: X:36.33, Y:-3.91, Z:-0.85 [[ 9.84822783e-01 1.72426339e-01 1.98303522e-02 3.63342997e+01] [-1.72388457e-01 9.85022404e-01 -3.61703747e-03 -3.90796207e+00] [-2.01570138e-02 1.43617095e-04 9.99796816e-01 -8.50307448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.268623853 meters 0.019797449266419728 Centerline is valid? [True, True] Translation: X:36.36, Y:-3.92, Z:-0.85 [[ 9.85659714e-01 1.67482799e-01 2.06019425e-02 3.63630961e+01] [-1.67440745e-01 9.85874964e-01 -3.76186694e-03 -3.92047438e+00] [-2.09409874e-02 2.58316092e-04 9.99780680e-01 -8.54926064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.298623853 meters 0.021499170359659057 Centerline is valid? [True, True] Translation: X:36.39, Y:-3.93, Z:-0.86 [[ 9.86027346e-01 1.65340992e-01 2.03083587e-02 3.63943920e+01] [-1.65299646e-01 9.86236415e-01 -3.70959863e-03 -3.92894891e+00] [-2.06421916e-02 3.00801189e-04 9.99786882e-01 -8.56286008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.328623853 meters 0.02356009194819531 Centerline is valid? [True, True] Translation: X:36.42, Y:-3.94, Z:-0.86 [[ 9.86351304e-01 1.63422256e-01 2.01065184e-02 3.64243030e+01] [-1.63381258e-01 9.86556157e-01 -3.67623173e-03 -3.93784027e+00] [-2.04369876e-02 3.41027689e-04 9.99791085e-01 -8.57809425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.358623853000005 meters 0.026873681152416295 Centerline is valid? [True, True] Translation: X:36.45, Y:-3.95, Z:-0.86 [[ 9.86892331e-01 1.60159168e-01 1.98133165e-02 3.64542436e+01] [-1.60118636e-01 9.87091119e-01 -3.62576143e-03 -3.94853248e+00] [-2.01382477e-02 4.05754944e-04 9.99797123e-01 -8.58999869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.388623853000006 meters 0.028582924299215502 Centerline is valid? [True, True] Translation: X:36.48, Y:-3.96, Z:-0.86 [[ 9.87026965e-01 1.59333052e-01 1.97673883e-02 3.64846134e+01] [-1.59292479e-01 9.87224796e-01 -3.62048633e-03 -3.95621170e+00] [-2.00917190e-02 4.24721345e-04 9.99798051e-01 -8.59660391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.418623853 meters 0.02903399690509602 Centerline is valid? [True, True] Translation: X:36.52, Y:-3.96, Z:-0.86 [[ 9.87108058e-01 1.58829281e-01 1.97722410e-02 3.65160761e+01] [-1.58788526e-01 9.87305964e-01 -3.62442787e-03 -3.96188467e+00] [-2.00969167e-02 4.38096956e-04 9.99797941e-01 -8.60062944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.448623853 meters 0.035849347914422264 Centerline is valid? [True, True] Translation: X:36.55, Y:-3.97, Z:-0.85 [[ 9.87174886e-01 1.58451326e-01 1.94659319e-02 3.65478837e+01] [-1.58411687e-01 9.87366691e-01 -3.57148749e-03 -3.96725321e+00] [-1.97859197e-02 4.42051631e-04 9.99804142e-01 -8.54547514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.478623853 meters 0.028016977689527815 Centerline is valid? [True, True] Translation: X:36.58, Y:-3.97, Z:-0.86 [[ 9.87170106e-01 1.58310517e-01 2.08077470e-02 3.65798741e+01] [-1.58265115e-01 9.87389260e-01 -3.82136639e-03 -3.97355480e+00] [-2.11503084e-02 4.79198181e-04 9.99776192e-01 -8.58620114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.508623853 meters 0.029106687807691593 Centerline is valid? [True, True] Translation: X:36.61, Y:-3.98, Z:-0.86 [[ 9.87159753e-01 1.58324029e-01 2.11925419e-02 3.66107784e+01] [-1.58276840e-01 9.87387087e-01 -3.89641679e-03 -3.98157240e+00] [-2.15421386e-02 4.92097261e-04 9.99767820e-01 -8.59271121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.538623853000004 meters 0.0310342697415929 Centerline is valid? [True, True] Translation: X:36.64, Y:-3.99, Z:-0.86 [[ 9.87177825e-01 1.58265882e-01 2.07810400e-02 3.66412468e+01] [-1.58220415e-01 9.87396411e-01 -3.82457554e-03 -3.99096996e+00] [-2.11244242e-02 4.87551391e-04 9.99776736e-01 -8.60861106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.568623853000005 meters 0.02812375324591988 Centerline is valid? [True, True] Translation: X:36.67, Y:-3.99, Z:-0.86 [[ 9.87157709e-01 1.58444208e-01 2.03737775e-02 3.66738896e+01] [-1.58400470e-01 9.87367816e-01 -3.75317114e-03 -3.99331001e+00] [-2.07110804e-02 4.77755886e-04 9.99785388e-01 -8.61437105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.598623853 meters 0.029985146151626084 Centerline is valid? [True, True] Translation: X:36.70, Y:-4.00, Z:-0.86 [[ 9.87113061e-01 1.58755432e-01 2.01126121e-02 3.67048317e+01] [-1.58712785e-01 9.87317827e-01 -3.70937977e-03 -4.00219597e+00] [-2.04464246e-02 4.69448544e-04 9.99790840e-01 -8.63607849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.628623853 meters 0.03244715579989438 Centerline is valid? [True, True] Translation: X:36.74, Y:-4.01, Z:-0.86 [[ 9.87088328e-01 1.58976601e-01 1.95722510e-02 3.67371150e+01] [-1.58936218e-01 9.87282246e-01 -3.61171530e-03 -4.00724931e+00] [-1.98975141e-02 4.54342462e-04 9.99801922e-01 -8.60333625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.658623853 meters 0.029660444732379707 Centerline is valid? [True, True] Translation: X:36.77, Y:-4.02, Z:-0.87 [[ 9.86988809e-01 1.59658088e-01 1.90364345e-02 3.67669745e+01] [-1.59619940e-01 9.87172279e-01 -3.51662762e-03 -4.01587652e+00] [-1.93536985e-02 4.32277584e-04 9.99812606e-01 -8.67501335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.688623853 meters 0.02906120945563453 Centerline is valid? [True, True] Translation: X:36.80, Y:-4.02, Z:-0.87 [[ 9.86982978e-01 1.59733244e-01 1.87053869e-02 3.67989951e+01] [-1.59696362e-01 9.87160123e-01 -3.45876550e-03 -4.02356063e+00] [-1.90176918e-02 4.26560443e-04 9.99819056e-01 -8.68869286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.718623853000004 meters 0.02872699244511086 Centerline is valid? [True, True] Translation: X:36.83, Y:-4.03, Z:-0.87 [[ 9.86939288e-01 1.60057837e-01 1.82299155e-02 3.68306402e+01] [-1.60022847e-01 9.87107553e-01 -3.37163789e-03 -4.03144162e+00] [-1.85345444e-02 4.10398906e-04 9.99828136e-01 -8.69787830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.748623853000005 meters 0.02936550117938764 Centerline is valid? [True, True] Translation: X:36.86, Y:-4.04, Z:-0.87 [[ 9.86886153e-01 1.60416292e-01 1.79537020e-02 3.68613343e+01] [-1.60382348e-01 9.87049367e-01 -3.32411853e-03 -4.03988634e+00] [-1.82544330e-02 4.01069656e-04 9.99833294e-01 -8.71276135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.778623853 meters 0.028499735888651935 Centerline is valid? [True, True] Translation: X:36.89, Y:-4.05, Z:-0.87 [[ 9.86770188e-01 1.61088648e-01 1.83042123e-02 3.68930418e+01] [-1.61053416e-01 9.86939860e-01 -3.39254095e-03 -4.04776240e+00] [-1.86116566e-02 3.99702337e-04 9.99826708e-01 -8.71166360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.808623853 meters 0.026873296594649012 Centerline is valid? [True, True] Translation: X:36.93, Y:-4.05, Z:-0.87 [[ 9.86716540e-01 1.61408190e-01 1.83811515e-02 3.69251778e+01] [-1.61372662e-01 9.86887652e-01 -3.40973697e-03 -4.05338721e+00] [-1.86904909e-02 3.98228507e-04 9.99825238e-01 -8.71200247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.838623853 meters 0.02740780356335241 Centerline is valid? [True, True] Translation: X:36.96, Y:-4.06, Z:-0.87 [[ 9.86625436e-01 1.61983526e-01 1.82095355e-02 3.69554674e+01] [-1.61948676e-01 9.86793386e-01 -3.38222118e-03 -4.06255941e+00] [-1.85169133e-02 3.87975276e-04 9.99828472e-01 -8.72704880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.868623853 meters 0.02862207518977941 Centerline is valid? [True, True] Translation: X:36.99, Y:-4.08, Z:-0.87 [[ 9.86509274e-01 1.62666936e-01 1.84097786e-02 3.69852602e+01] [-1.62631407e-01 9.86680963e-01 -3.42090217e-03 -4.07504774e+00] [-1.87210457e-02 3.80743523e-04 9.99824673e-01 -8.74062902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.898623853000004 meters 0.026781259236895547 Centerline is valid? [True, True] Translation: X:37.02, Y:-4.08, Z:-0.87 [[ 9.86451535e-01 1.63007083e-01 1.84948660e-02 3.70167626e+01] [-1.62971217e-01 9.86624826e-01 -3.44030415e-03 -4.08101040e+00] [-1.88082879e-02 3.79562497e-04 9.99823036e-01 -8.73721202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.928623853000005 meters 0.025172994423548336 Centerline is valid? [True, True] Translation: X:37.05, Y:-4.09, Z:-0.87 [[ 9.86354686e-01 1.63578057e-01 1.86186056e-02 3.70487067e+01] [-1.63541803e-01 9.86530324e-01 -3.46376554e-03 -4.08740781e+00] [-1.89344151e-02 3.71581043e-04 9.99820659e-01 -8.73766606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.958623853 meters 0.027065683441363834 Centerline is valid? [True, True] Translation: X:37.08, Y:-4.10, Z:-0.88 [[ 9.86226987e-01 1.64349745e-01 1.85873798e-02 3.70782667e+01] [-1.64313685e-01 9.86402064e-01 -3.46134187e-03 -4.09830521e+00] [-1.89035005e-02 3.59507889e-04 9.99821248e-01 -8.75579181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.988623853 meters 0.024395437159899804 Centerline is valid? [True, True] Translation: X:37.11, Y:-4.10, Z:-0.88 [[ 9.85893660e-01 1.66323235e-01 1.87155664e-02 3.71097084e+01] [-1.66286973e-01 9.86071232e-01 -3.48826351e-03 -4.10453647e+00] [-1.90350608e-02 3.26901991e-04 9.99818763e-01 -8.75598489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.018623853 meters 0.02217090174280239 Centerline is valid? [True, True] Translation: X:37.14, Y:-4.11, Z:-0.88 [[ 9.85638034e-01 1.67858109e-01 1.84748991e-02 3.71417101e+01] [-1.67822986e-01 9.85811122e-01 -3.44645972e-03 -4.10915015e+00] [-1.87912772e-02 2.96449046e-04 9.99823384e-01 -8.75889930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.048623853 meters 0.020520586056351313 Centerline is valid? [True, True] Translation: X:37.17, Y:-4.12, Z:-0.88 [[ 9.84990198e-01 1.71708114e-01 1.76248051e-02 3.71722465e+01] [-1.71676712e-01 9.85147845e-01 -3.29079615e-03 -4.11606767e+00] [-1.79280951e-02 2.15633356e-04 9.99839256e-01 -8.78704512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.078623853 meters 0.018339638991082756 Centerline is valid? [True, True] Translation: X:37.20, Y:-4.12, Z:-0.88 [[ 9.84578252e-01 1.74096204e-01 1.72098116e-02 3.72044988e+01] [-1.74066578e-01 9.84728634e-01 -3.21624069e-03 -4.12035804e+00] [-1.75069296e-02 1.70987628e-04 9.99846727e-01 -8.79803177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.108623853000005 meters 0.01668386315347405 Centerline is valid? [True, True] Translation: X:37.24, Y:-4.13, Z:-0.88 [[ 9.84166636e-01 1.76402231e-01 1.72709458e-02 3.72368768e+01] [-1.76372680e-01 9.84318157e-01 -3.23152829e-03 -4.12508275e+00] [-1.75701544e-02 1.34239317e-04 9.99845624e-01 -8.80045936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.138623853000006 meters 0.014855551764696011 Centerline is valid? [True, True] Translation: X:37.27, Y:-4.13, Z:-0.88 [[ 9.83358140e-01 1.80821152e-01 1.76204069e-02 3.72695767e+01] [-1.80791081e-01 9.83515993e-01 -3.29806827e-03 -4.12809708e+00] [-1.79263125e-02 5.75698710e-05 9.99839309e-01 -8.79974140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.168623853 meters 0.014390420503801711 Centerline is valid? [True, True] Translation: X:37.30, Y:-4.13, Z:-0.88 [[ 9.82932590e-01 1.83103904e-01 1.77899764e-02 3.73008708e+01] [-1.83073617e-01 9.83093566e-01 -3.33025424e-03 -4.13223005e+00] [-1.80989939e-02 1.65401042e-05 9.99836200e-01 -8.80709297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.198623853 meters 0.01644724757800673 Centerline is valid? [True, True] Translation: X:37.33, Y:-4.14, Z:-0.88 [[ 9.82537064e-01 1.85229120e-01 1.76377629e-02 3.73336926e+01] [-1.85199645e-01 9.82695361e-01 -3.30436602e-03 -4.13713563e+00] [-1.79446126e-02 -1.98453296e-05 9.99838982e-01 -8.79006781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.228623853 meters 0.018902784791819324 Centerline is valid? [True, True] Translation: X:37.37, Y:-4.14, Z:-0.88 [[ 9.81883416e-01 1.88614351e-01 1.81544781e-02 3.73653229e+01] [-1.88583630e-01 9.82051231e-01 -3.40501340e-03 -4.14214795e+00] [-1.84708619e-02 -8.03111947e-05 9.99829396e-01 -8.77737778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.258623853 meters 0.015450052571028626 Centerline is valid? [True, True] Translation: X:37.40, Y:-4.15, Z:-0.88 [[ 9.81548327e-01 1.90305551e-01 1.86193343e-02 3.73981231e+01] [-1.90273475e-01 9.81724903e-01 -3.49568884e-03 -4.14801185e+00] [-1.89443132e-02 -1.11577921e-04 9.99820534e-01 -8.81448312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.288623853000004 meters 0.01612541773159481 Centerline is valid? [True, True] Translation: X:37.43, Y:-4.15, Z:-0.88 [[ 9.81230680e-01 1.91895953e-01 1.90341004e-02 3.74295355e+01] [-1.91862654e-01 9.81415265e-01 -3.57752619e-03 -4.15244108e+00] [-1.93668695e-02 -1.41554563e-04 9.99812435e-01 -8.81966135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.318623853000005 meters 0.016421312682228177 Centerline is valid? [True, True] Translation: X:37.46, Y:-4.16, Z:-0.88 [[ 9.80972302e-01 1.93217022e-01 1.89874813e-02 3.74606664e+01] [-1.93184063e-01 9.81156030e-01 -3.57241011e-03 -4.15828085e+00] [-1.93199322e-02 -1.63643405e-04 9.99813339e-01 -8.82218911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.348623853 meters 0.01786370823838257 Centerline is valid? [True, True] Translation: X:37.49, Y:-4.16, Z:-0.88 [[ 9.80625784e-01 1.95022577e-01 1.84191903e-02 3.74907724e+01] [-1.94991816e-01 9.80798735e-01 -3.46888572e-03 -4.16394105e+00] [-1.87420296e-02 -1.89912596e-04 9.99824335e-01 -8.84532924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.378623853 meters 0.018343004587689095 Centerline is valid? [True, True] Translation: X:37.52, Y:-4.17, Z:-0.89 [[ 9.80484731e-01 1.95759627e-01 1.81069500e-02 3.75229457e+01] [-1.95730011e-01 9.80651890e-01 -3.41092085e-03 -4.17067283e+00] [-1.84243353e-02 -1.99717701e-04 9.99830238e-01 -8.86089185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.408623853 meters 0.019056911449222187 Centerline is valid? [True, True] Translation: X:37.55, Y:-4.18, Z:-0.89 [[ 9.80332151e-01 1.96556914e-01 1.77271697e-02 3.75534714e+01] [-1.96528591e-01 9.80492395e-01 -3.34301609e-03 -4.17586244e+00] [-1.80384480e-02 -2.06629539e-04 9.99837273e-01 -8.87490552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.438623853 meters 0.020406600899243385 Centerline is valid? [True, True] Translation: X:37.59, Y:-4.18, Z:-0.89 [[ 9.79921284e-01 1.98659994e-01 1.69848097e-02 3.75851889e+01] [-1.98634268e-01 9.80068443e-01 -3.20545169e-03 -4.18102163e+00] [-1.72830710e-02 -2.32674892e-04 9.99850610e-01 -8.88820241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.468623853000004 meters 0.020813198860879185 Centerline is valid? [True, True] Translation: X:37.62, Y:-4.19, Z:-0.89 [[ 9.79659408e-01 1.99929832e-01 1.71902994e-02 3.76163890e+01] [-1.99903624e-01 9.79810184e-01 -3.24720325e-03 -4.18699062e+00] [-1.74924432e-02 -2.55249930e-04 9.99846963e-01 -8.89031686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.498623853000005 meters 0.023174639099959548 Centerline is valid? [True, True] Translation: X:37.65, Y:-4.19, Z:-0.89 [[ 9.79157301e-01 2.02343966e-01 1.75470341e-02 3.76473716e+01] [-2.02316988e-01 9.79314469e-01 -3.31784040e-03 -4.18894801e+00] [-1.78554094e-02 -3.01375427e-04 9.99840534e-01 -8.89316777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.528623853 meters 0.023014400063124822 Centerline is valid? [True, True] Translation: X:37.68, Y:-4.20, Z:-0.89 [[ 9.78933148e-01 2.03392577e-01 1.79262997e-02 3.76787776e+01] [-2.03364542e-01 9.79097214e-01 -3.39242564e-03 -4.19519592e+00] [-1.82415843e-02 -3.24615839e-04 9.99833556e-01 -8.88798024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.558623853 meters 0.02309790675654586 Centerline is valid? [True, True] Translation: X:37.71, Y:-4.20, Z:-0.89 [[ 9.78754793e-01 2.04218411e-01 1.82728204e-02 3.77107052e+01] [-2.04189366e-01 9.78925290e-01 -3.46127889e-03 -4.20175971e+00] [-1.85945829e-02 -3.43372308e-04 9.99827047e-01 -8.88587923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.588623853 meters 0.027040136605243185 Centerline is valid? [True, True] Translation: X:37.74, Y:-4.20, Z:-0.89 [[ 9.78489662e-01 2.05448503e-01 1.86787286e-02 3.77426813e+01] [-2.05418309e-01 9.78667857e-01 -3.54166869e-03 -4.20231410e+00] [-1.90079018e-02 -3.71466656e-04 9.99819265e-01 -8.89911947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.618623853 meters 0.025593546966654397 Centerline is valid? [True, True] Translation: X:37.77, Y:-4.21, Z:-0.89 [[ 9.78357979e-01 2.06063864e-01 1.87975947e-02 3.77742717e+01] [-2.06033340e-01 9.78538470e-01 -3.56726835e-03 -4.21035536e+00] [-1.91292547e-02 -3.82865775e-04 9.99816946e-01 -8.89835341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.648623853000004 meters 0.025866607910646093 Centerline is valid? [True, True] Translation: X:37.81, Y:-4.22, Z:-0.89 [[ 9.78229012e-01 2.06655020e-01 1.90184978e-02 3.78070527e+01] [-2.06623825e-01 9.78413791e-01 -3.61233694e-03 -4.21622979e+00] [-1.93544681e-02 -3.95981959e-04 9.99812606e-01 -8.90385044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.678623853000005 meters 0.02639688359786696 Centerline is valid? [True, True] Translation: X:37.84, Y:-4.22, Z:-0.89 [[ 9.78170426e-01 2.06913597e-01 1.92192820e-02 3.78389027e+01] [-2.06881714e-01 9.78359138e-01 -3.65435390e-03 -4.22149655e+00] [-1.95594957e-02 -4.01537091e-04 9.99808614e-01 -8.90768790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.708623853 meters 0.02806682892279558 Centerline is valid? [True, True] Translation: X:37.87, Y:-4.22, Z:-0.89 [[ 9.78116418e-01 2.07156996e-01 1.93456084e-02 3.78705585e+01] [-2.07124669e-01 9.78307628e-01 -3.68195415e-03 -4.22433871e+00] [-1.96886988e-02 -4.05572938e-04 9.99806077e-01 -8.91451891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.738623853 meters 0.02764558861385793 Centerline is valid? [True, True] Translation: X:37.90, Y:-4.23, Z:-0.89 [[ 9.78072959e-01 2.07403745e-01 1.88937641e-02 3.79029010e+01] [-2.07372894e-01 9.78255349e-01 -3.59918545e-03 -4.23238518e+00] [-1.92294104e-02 -3.97788597e-04 9.99815019e-01 -8.89670678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.768623853 meters 0.02683095861518905 Centerline is valid? [True, True] Translation: X:37.93, Y:-4.24, Z:-0.89 [[ 9.77978324e-01 2.07858462e-01 1.87951358e-02 3.79333763e+01] [-2.07827936e-01 9.78158831e-01 -3.58463354e-03 -4.23654831e+00] [-1.91297245e-02 -4.00460372e-04 9.99816930e-01 -8.93016757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.798623853 meters 0.028212313787282454 Centerline is valid? [True, True] Translation: X:37.97, Y:-4.24, Z:-0.89 [[ 9.77642021e-01 2.09379929e-01 1.93938950e-02 3.79664435e+01] [-2.09347697e-01 9.77834265e-01 -3.70031403e-03 -4.23722036e+00] [-1.97387866e-02 -4.42484776e-04 9.99805073e-01 -8.92863200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.828623853 meters 0.028212313787282454 Centerline is valid? [True, True] Translation: X:38.00, Y:-4.24, Z:-0.89 [[ 9.77603272e-01 2.09560830e-01 1.93933166e-02 3.79983307e+01] [-2.09528574e-01 9.77795511e-01 -3.70334263e-03 -4.24349184e+00] [-1.97387735e-02 -4.43054097e-04 9.99805073e-01 -8.93681158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.858623853000005 meters 0.029164080224200174 Centerline is valid? [True, True] Translation: X:38.03, Y:-4.25, Z:-0.89 [[ 9.77376877e-01 2.10572752e-01 1.98382556e-02 3.80310154e+01] [-2.10539125e-01 9.77578076e-01 -3.79234179e-03 -4.24608135e+00] [-2.01920076e-02 -4.70181803e-04 9.99796010e-01 -8.93675021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.888623853000006 meters 0.03000902975338486 Centerline is valid? [True, True] Translation: X:38.06, Y:-4.25, Z:-0.89 [[ 9.77193628e-01 2.11409265e-01 1.99683676e-02 3.80636226e+01] [-2.11375302e-01 9.77397506e-01 -3.82057680e-03 -4.24889248e+00] [-2.03247380e-02 -4.87376428e-04 9.99793312e-01 -8.94448198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.918623853 meters 0.030669621297398246 Centerline is valid? [True, True] Translation: X:38.10, Y:-4.25, Z:-0.89 [[ 9.77038498e-01 2.12116988e-01 2.00538363e-02 3.80958655e+01] [-2.12082814e-01 9.77244152e-01 -3.84029769e-03 -4.25240091e+00] [-2.04120866e-02 -5.00955328e-04 9.99791526e-01 -8.94866998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.948623853 meters 0.030581803322045756 Centerline is valid? [True, True] Translation: X:38.13, Y:-4.25, Z:-0.90 [[ 9.76954847e-01 2.12501799e-01 2.00552283e-02 3.81278241e+01] [-2.12467632e-01 9.77160545e-01 -3.84390423e-03 -4.25471316e+00] [-2.04140144e-02 -5.05766008e-04 9.99791484e-01 -8.95205883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.978623853 meters 0.03190602665216021 Centerline is valid? [True, True] Translation: X:38.16, Y:-4.26, Z:-0.90 [[ 9.76967349e-01 2.12467120e-01 1.98121875e-02 3.81581898e+01] [-2.12433687e-01 9.77168091e-01 -3.80137871e-03 -4.25661783e+00] [-2.01675054e-02 -4.94953168e-04 9.99796493e-01 -8.95979565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.008623853 meters 0.03156420187233638 Centerline is valid? [True, True] Translation: X:38.19, Y:-4.26, Z:-0.90 [[ 9.76978054e-01 2.12410220e-01 1.98942498e-02 3.81893475e+01] [-2.12376494e-01 9.77180461e-01 -3.81730913e-03 -4.26070976e+00] [-2.02511076e-02 -4.95643775e-04 9.99794802e-01 -8.96807519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.038623853000004 meters 0.02987107395182858 Centerline is valid? [True, True] Translation: X:38.22, Y:-4.27, Z:-0.90 [[ 9.77013347e-01 2.12260222e-01 1.97615271e-02 3.82203398e+01] [-2.12226905e-01 9.77213057e-01 -3.79230277e-03 -4.26626297e+00] [-2.01161774e-02 -4.88797331e-04 9.99797530e-01 -8.97805270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.068623853000005 meters 0.0319738056566269 Centerline is valid? [True, True] Translation: X:38.25, Y:-4.26, Z:-0.90 [[ 9.77194319e-01 2.11504870e-01 1.88932053e-02 3.82520043e+01] [-2.11474266e-01 9.77376839e-01 -3.62617489e-03 -4.26411309e+00] [-1.92327349e-02 -4.51949232e-04 9.99814932e-01 -9.01344662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.098623853 meters 0.02917800438636746 Centerline is valid? [True, True] Translation: X:38.28, Y:-4.27, Z:-0.90 [[ 9.77304589e-01 2.10996914e-01 1.88690816e-02 3.82829161e+01] [-2.10966291e-01 9.77486628e-01 -3.62170482e-03 -4.27146154e+00] [-1.92084434e-02 -4.41231406e-04 9.99815403e-01 -9.01092628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.128623853 meters 0.02725822879660509 Centerline is valid? [True, True] Translation: X:38.31, Y:-4.27, Z:-0.90 [[ 9.77727100e-01 2.08996481e-01 1.92403099e-02 3.83131593e+01] [-2.08964241e-01 9.77916307e-01 -3.69356851e-03 -4.27414239e+00] [-1.95873556e-02 -4.09234724e-04 9.99808066e-01 -9.01530876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.158623853 meters 0.03564712620436786 Centerline is valid? [True, True] Translation: X:38.34, Y:-4.28, Z:-0.90 [[ 9.78025391e-01 2.07605051e-01 1.91436150e-02 3.83428089e+01] [-2.07572867e-01 9.78212655e-01 -3.67507328e-03 -4.27673791e+00] [-1.94894902e-02 -3.79380062e-04 9.99809990e-01 -8.97671038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.188623853 meters 0.024409389416044452 Centerline is valid? [True, True] Translation: X:38.37, Y:-4.29, Z:-0.90 [[ 9.78354390e-01 2.06012583e-01 1.95321170e-02 3.83733476e+01] [-2.05978771e-01 9.78549278e-01 -3.74916148e-03 -4.28551283e+00] [-1.98855134e-02 -3.55192867e-04 9.99802201e-01 -9.02920633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.218623853000004 meters 0.020744833647259542 Centerline is valid? [True, True] Translation: X:38.40, Y:-4.29, Z:-0.90 [[ 9.79135198e-01 2.02280997e-01 1.94077835e-02 3.84040632e+01] [-2.02246866e-01 9.79327484e-01 -3.72606074e-03 -4.29249050e+00] [-1.97602871e-02 -2.76846164e-04 9.99804708e-01 -9.03331732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.248623853000005 meters 0.019658266942636796 Centerline is valid? [True, True] Translation: X:38.43, Y:-4.30, Z:-0.90 [[ 9.79509148e-01 2.00458510e-01 1.94477470e-02 3.84337196e+01] [-2.00423874e-01 9.79702163e-01 -3.73399512e-03 -4.29786460e+00] [-1.98015109e-02 -2.40310414e-04 9.99803902e-01 -9.04418474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.278623853 meters 0.022196976587634587 Centerline is valid? [True, True] Translation: X:38.46, Y:-4.30, Z:-0.90 [[ 9.79892716e-01 1.98643501e-01 1.87356591e-02 3.84636014e+01] [-1.98611001e-01 9.80071794e-01 -3.59848370e-03 -4.30385557e+00] [-1.90771064e-02 -1.94980023e-04 9.99817996e-01 -9.02241517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.308623853 meters 0.01639126149413938 Centerline is valid? [True, True] Translation: X:38.49, Y:-4.31, Z:-0.91 [[ 9.80567014e-01 1.95348559e-01 1.80906664e-02 3.84935888e+01] [-1.95317671e-01 9.80733871e-01 -3.47597453e-03 -4.31108534e+00] [-1.84211559e-02 -1.25000867e-04 9.99830308e-01 -9.08539287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.338623853 meters 0.01534500007731889 Centerline is valid? [True, True] Translation: X:38.52, Y:-4.32, Z:-0.91 [[ 9.80903547e-01 1.93720551e-01 1.73372401e-02 3.85244999e+01] [-1.93691941e-01 9.81056747e-01 -3.33049319e-03 -4.31816459e+00] [-1.76540013e-02 -9.11910861e-05 9.99844152e-01 -9.09660081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.368623853 meters 0.014895876358160209 Centerline is valid? [True, True] Translation: X:38.56, Y:-4.33, Z:-0.91 [[ 9.81250484e-01 1.91991086e-01 1.69384413e-02 3.85560514e+01] [-1.91963470e-01 9.81396668e-01 -3.25674104e-03 -4.32544580e+00] [-1.72485951e-02 -5.58832423e-05 9.99851230e-01 -9.11593879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.398623853000004 meters 0.014747939321452548 Centerline is valid? [True, True] Translation: X:38.59, Y:-4.33, Z:-0.91 [[ 9.81934470e-01 1.88463286e-01 1.69199918e-02 3.85873820e+01] [-1.88435157e-01 9.82080236e-01 -3.25605981e-03 -4.33439951e+00] [-1.72304372e-02 8.91605202e-06 9.99851545e-01 -9.12716602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.428623853000005 meters 0.014798476226364874 Centerline is valid? [True, True] Translation: X:38.62, Y:-4.34, Z:-0.91 [[ 9.82249751e-01 1.86773834e-01 1.73482506e-02 3.86195938e+01] [-1.86743941e-01 9.82402938e-01 -3.34172583e-03 -4.34151662e+00] [-1.76671193e-02 4.27286758e-05 9.99843923e-01 -9.11619817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.458623853 meters 0.015482498907316728 Centerline is valid? [True, True] Translation: X:38.65, Y:-4.35, Z:-0.91 [[ 9.82555363e-01 1.85110868e-01 1.78585022e-02 3.86506937e+01] [-1.85078847e-01 9.82717640e-01 -3.44385282e-03 -4.34894271e+00] [-1.81873597e-02 7.85450642e-05 9.99834593e-01 -9.11880480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.488623853 meters 0.016082385415907802 Centerline is valid? [True, True] Translation: X:38.68, Y:-4.36, Z:-0.91 [[ 9.82837335e-01 1.83526923e-01 1.86719654e-02 3.86825656e+01] [-1.83491562e-01 9.83014677e-01 -3.60438971e-03 -4.35636370e+00] [-1.90163186e-02 1.16380683e-04 9.99819167e-01 -9.10719648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.518623853 meters 0.0174482571577781 Centerline is valid? [True, True] Translation: X:38.71, Y:-4.36, Z:-0.91 [[ 9.83359098e-01 1.80546863e-01 2.01919582e-02 3.87141252e+01] [-1.80504789e-01 9.83566364e-01 -3.90229002e-03 -4.36404727e+00] [-2.05646772e-02 1.92607231e-04 9.99788506e-01 -9.07607392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.548623853 meters 0.0185896878793227 Centerline is valid? [True, True] Translation: X:38.74, Y:-4.37, Z:-0.91 [[ 9.83559301e-01 1.79375922e-01 2.08657745e-02 3.87442811e+01] [-1.79330647e-01 9.83780578e-01 -4.03640686e-03 -4.37176337e+00] [-2.12513779e-02 2.28172669e-04 9.99774138e-01 -9.07622243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.578623853 meters 0.034083185580447775 Centerline is valid? [True, True] Translation: X:38.78, Y:-4.38, Z:-0.90 [[ 9.83824515e-01 1.77925231e-01 2.07830601e-02 3.87750731e+01] [-1.77879918e-01 9.84043975e-01 -4.02380335e-03 -4.37907223e+00] [-2.11673812e-02 2.61827354e-04 9.99775912e-01 -9.02407684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.608623853000005 meters 0.02220580481366531 Centerline is valid? [True, True] Translation: X:38.81, Y:-4.39, Z:-0.91 [[ 9.84295113e-01 1.75323519e-01 2.06105396e-02 3.88057635e+01] [-1.75278319e-01 9.84510824e-01 -3.99358000e-03 -4.39004743e+00] [-2.09914678e-02 3.18280549e-04 9.99779604e-01 -9.09990509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.638623853000006 meters 0.02444181950379663 Centerline is valid? [True, True] Translation: X:38.84, Y:-4.40, Z:-0.91 [[ 9.84554948e-01 1.73909795e-01 2.01726861e-02 3.88357349e+01] [-1.73866128e-01 9.84761527e-01 -3.91218225e-03 -4.39983017e+00] [-2.05456520e-02 3.44411568e-04 9.99788856e-01 -9.12174503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.668623853 meters 0.02505790095336636 Centerline is valid? [True, True] Translation: X:38.87, Y:-4.41, Z:-0.91 [[ 9.84798140e-01 1.72590848e-01 1.96219892e-02 3.88672487e+01] [-1.72549212e-01 9.84993536e-01 -3.80833773e-03 -4.40779698e+00] [-1.99848168e-02 3.64685143e-04 9.99800217e-01 -9.13915454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.698623853 meters 0.028181294617087172 Centerline is valid? [True, True] Translation: X:38.90, Y:-4.42, Z:-0.92 [[ 9.85314890e-01 1.69812901e-01 1.78366551e-02 3.88968988e+01] [-1.69777982e-01 9.85476245e-01 -3.46512132e-03 -4.41920533e+00] [-1.81660222e-02 3.85964326e-04 9.99834910e-01 -9.17562154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.728623853 meters 0.02771589930892786 Centerline is valid? [True, True] Translation: X:38.93, Y:-4.43, Z:-0.92 [[ 9.85472217e-01 1.68969417e-01 1.71419067e-02 3.89284454e+01] [-1.68937028e-01 9.85621219e-01 -3.33075177e-03 -4.42531097e+00] [-1.74582222e-02 3.86460558e-04 9.99847519e-01 -9.19267965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.758623853 meters 0.0328923790714471 Centerline is valid? [True, True] Translation: X:38.96, Y:-4.43, Z:-0.92 [[ 9.85524858e-01 1.68702467e-01 1.67401170e-02 3.89588477e+01] [-1.68671489e-01 9.85666947e-01 -3.25563579e-03 -4.43490449e+00] [-1.70494138e-02 3.84929530e-04 9.99854574e-01 -9.16672482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.788623853000004 meters 0.027199013804351524 Centerline is valid? [True, True] Translation: X:38.99, Y:-4.44, Z:-0.92 [[ 9.85327531e-01 1.69739563e-01 1.78364115e-02 3.89902033e+01] [-1.69704508e-01 9.85488876e-01 -3.47193472e-03 -4.43970574e+00] [-1.81669098e-02 3.94073429e-04 9.99834890e-01 -9.18669718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.818623853000005 meters 0.02650369111471986 Centerline is valid? [True, True] Translation: X:39.02, Y:-4.45, Z:-0.92 [[ 9.85066300e-01 1.71186175e-01 1.84303778e-02 3.90206632e+01] [-1.71148934e-01 9.85238624e-01 -3.59103743e-03 -4.44584912e+00] [-1.87730560e-02 3.83070449e-04 9.99823697e-01 -9.18054034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.848623853 meters 0.024593404025425897 Centerline is valid? [True, True] Translation: X:39.05, Y:-4.45, Z:-0.92 [[ 9.84761793e-01 1.72902764e-01 1.86773949e-02 3.90529290e+01] [-1.72864770e-01 9.84938834e-01 -3.64218842e-03 -4.45044280e+00] [-1.90258360e-02 3.58024425e-04 9.99818928e-01 -9.18073686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.878623853 meters 0.02161557367646509 Centerline is valid? [True, True] Translation: X:39.08, Y:-4.45, Z:-0.92 [[ 9.83982851e-01 1.77261015e-01 1.88754378e-02 3.90832003e+01] [-1.77222928e-01 9.84163835e-01 -3.68514702e-03 -4.45319292e+00] [-1.92297561e-02 2.80961124e-04 9.99815052e-01 -9.18965037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.908623853 meters 0.019881466120212694 Centerline is valid? [True, True] Translation: X:39.12, Y:-4.46, Z:-0.92 [[ 9.83579053e-01 1.79507054e-01 1.86939573e-02 3.91154947e+01] [-1.79470115e-01 9.83756658e-01 -3.64898329e-03 -4.45706988e+00] [-1.90453232e-02 2.34056860e-04 9.99818594e-01 -9.20290411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.938623853 meters 0.019858760618240087 Centerline is valid? [True, True] Translation: X:39.15, Y:-4.46, Z:-0.92 [[ 9.83163897e-01 1.81806039e-01 1.83116237e-02 3.91456422e+01] [-1.81770935e-01 9.83334393e-01 -3.57753936e-03 -4.46302641e+00] [-1.86568676e-02 1.88786594e-04 9.99825928e-01 -9.23289113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.968623853000004 meters 0.016002290603913127 Centerline is valid? [True, True] Translation: X:39.18, Y:-4.46, Z:-0.92 [[ 9.82432681e-01 1.85833253e-01 1.70888559e-02 3.91790280e+01] [-1.85803248e-01 9.82581290e-01 -3.34100663e-03 -4.46184802e+00] [-1.74120602e-02 1.07149171e-04 9.99848393e-01 -9.24150598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.998623853000005 meters 0.015709159024535364 Centerline is valid? [True, True] Translation: X:39.21, Y:-4.47, Z:-0.93 [[ 9.82063574e-01 1.87830444e-01 1.64578681e-02 3.92096448e+01] [-1.87802838e-01 9.82201466e-01 -3.22104617e-03 -4.46671411e+00] [-1.67699527e-02 7.24377758e-05 9.99859372e-01 -9.27755128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.028623853 meters 0.015215235438160779 Centerline is valid? [True, True] Translation: X:39.24, Y:-4.47, Z:-0.93 [[ 9.81718619e-01 1.89687926e-01 1.57175973e-02 3.92417746e+01] [-1.89662973e-01 9.81844432e-01 -3.07697011e-03 -4.47108170e+00] [-1.60158994e-02 3.96726338e-05 9.99871736e-01 -9.29462589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.058623853 meters 0.014997601020690398 Centerline is valid? [True, True] Translation: X:39.27, Y:-4.48, Z:-0.93 [[ 9.81372797e-01 1.91481959e-01 1.55593127e-02 3.92722396e+01] [-1.91457687e-01 9.81496133e-01 -3.04875154e-03 -4.47504309e+00] [-1.58551862e-02 1.30117977e-05 9.99874299e-01 -9.30479439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.088623853 meters 0.014994986885537609 Centerline is valid? [True, True] Translation: X:39.30, Y:-4.48, Z:-0.93 [[ 9.80755712e-01 1.94606177e-01 1.57056784e-02 3.93035082e+01] [-1.94581783e-01 9.80881458e-01 -3.08142154e-03 -4.47546490e+00] [-1.60050724e-02 -3.39171243e-05 9.99871910e-01 -9.29623981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.118623853 meters 0.015337721126325593 Centerline is valid? [True, True] Translation: X:39.33, Y:-4.48, Z:-0.93 [[ 9.80424036e-01 1.96216302e-01 1.63668357e-02 3.93335639e+01] [-1.96190037e-01 9.80560635e-01 -3.21103707e-03 -4.47851515e+00] [-1.66787326e-02 -6.28321751e-05 9.99860898e-01 -9.29487721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.148623853000004 meters 0.015437837682633453 Centerline is valid? [True, True] Translation: X:39.36, Y:-4.48, Z:-0.93 [[ 9.80183953e-01 1.97349849e-01 1.71013120e-02 3.93643221e+01] [-1.97321342e-01 9.80333122e-01 -3.35535742e-03 -4.48292037e+00] [-1.74271618e-02 -8.55863156e-05 9.99848132e-01 -9.28639573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.178623853000005 meters 0.015755506640435863 Centerline is valid? [True, True] Translation: X:39.39, Y:-4.49, Z:-0.93 [[ 9.79958821e-01 1.98369718e-01 1.81704354e-02 3.93937803e+01] [-1.98337706e-01 9.80127258e-01 -3.56536400e-03 -4.48635133e+00] [-1.85165993e-02 -1.09972564e-04 9.99828547e-01 -9.28483713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.208623853000006 meters 0.015645899834787303 Centerline is valid? [True, True] Translation: X:39.42, Y:-4.49, Z:-0.93 [[ 9.79940382e-01 1.98449596e-01 1.82922302e-02 3.94244610e+01] [-1.98417163e-01 9.80111088e-01 -3.58944082e-03 -4.49262195e+00] [-1.86407408e-02 -1.12054422e-04 9.99826240e-01 -9.28595125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.238623853 meters 0.015336160262150617 Centerline is valid? [True, True] Translation: X:39.46, Y:-4.50, Z:-0.93 [[ 9.79948899e-01 1.98387102e-01 1.85125116e-02 3.94561783e+01] [-1.98353881e-01 9.80123740e-01 -3.63217783e-03 -4.50009542e+00] [-1.88651294e-02 -1.12679865e-04 9.99822031e-01 -9.28713874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.268623853 meters 0.015585765920476271 Centerline is valid? [True, True] Translation: X:39.49, Y:-4.51, Z:-0.93 [[ 9.79980365e-01 1.98246476e-01 1.83526260e-02 3.94867948e+01] [-1.98213739e-01 9.80152194e-01 -3.60415917e-03 -4.50606650e+00] [-1.87028785e-02 -1.05737402e-04 9.99825080e-01 -9.30741359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.298623853 meters 0.015137483826002624 Centerline is valid? [True, True] Translation: X:39.52, Y:-4.51, Z:-0.93 [[ 9.80169380e-01 1.97352109e-01 1.78922177e-02 3.95170818e+01] [-1.97320776e-01 9.80332667e-01 -3.51756425e-03 -4.51332885e+00] [-1.82345242e-02 -8.26975087e-05 9.99833734e-01 -9.32342243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.328623853 meters 0.014930313607034675 Centerline is valid? [True, True] Translation: X:39.55, Y:-4.52, Z:-0.93 [[ 9.80240162e-01 1.97035177e-01 1.75032412e-02 3.95482639e+01] [-1.97005153e-01 9.80396416e-01 -3.44041985e-03 -4.52034801e+00] [-1.78379987e-02 -7.57909889e-05 9.99840887e-01 -9.33521494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.358623853000005 meters 0.01497074404362958 Centerline is valid? [True, True] Translation: X:39.58, Y:-4.53, Z:-0.94 [[ 9.80313685e-01 1.96698490e-01 1.71692435e-02 3.95784504e+01] [-1.96669496e-01 9.80464023e-01 -3.37781550e-03 -4.52689151e+00] [-1.74982367e-02 -6.53476889e-05 9.99846892e-01 -9.35323050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.388623853000006 meters 0.014784960055936764 Centerline is valid? [True, True] Translation: X:39.61, Y:-4.54, Z:-0.94 [[ 9.80586843e-01 1.95366926e-01 1.67692254e-02 3.96087536e+01] [-1.95339027e-01 9.80730219e-01 -3.30178651e-03 -4.53502358e+00] [-1.70911460e-02 -3.79957548e-05 9.99853935e-01 -9.37176817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.418623853 meters 0.026263687363657615 Centerline is valid? [True, True] Translation: X:39.64, Y:-4.54, Z:-0.93 [[ 9.80809658e-01 1.94287828e-01 1.62682266e-02 3.96400166e+01] [-1.94261363e-01 9.80944565e-01 -3.20674569e-03 -4.54147985e+00] [-1.65812601e-02 -1.50807315e-05 9.99862521e-01 -9.32660706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.448623853 meters 0.014713560519428362 Centerline is valid? [True, True] Translation: X:39.67, Y:-4.55, Z:-0.94 [[ 9.80969148e-01 1.93447566e-01 1.66604456e-02 3.96711443e+01] [-1.93419701e-01 9.81110615e-01 -3.28327694e-03 -4.54981714e+00] [-1.69808819e-02 -1.66502505e-06 9.99855814e-01 -9.38141024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.478623853 meters 0.014872125501157464 Centerline is valid? [True, True] Translation: X:39.70, Y:-4.56, Z:-0.94 [[ 9.81204785e-01 1.92223677e-01 1.69478182e-02 3.97020614e+01] [-1.92194610e-01 9.81351139e-01 -3.34284229e-03 -4.55722910e+00] [-1.72743341e-02 2.27335520e-05 9.99850787e-01 -9.39244854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.508623853 meters 0.015284505657559186 Centerline is valid? [True, True] Translation: X:39.73, Y:-4.57, Z:-0.94 [[ 9.81674018e-01 1.89742354e-01 1.77189608e-02 3.97343363e+01] [-1.89710115e-01 9.81833914e-01 -3.49835286e-03 -4.56681399e+00] [-1.80608623e-02 7.27760160e-05 9.99836887e-01 -9.38023771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.538623853000004 meters 0.015756350420281885 Centerline is valid? [True, True] Translation: X:39.77, Y:-4.58, Z:-0.94 [[ 9.81913111e-01 1.88435214e-01 1.84068746e-02 3.97658798e+01] [-1.88400121e-01 9.82085617e-01 -3.63800617e-03 -4.57548459e+00] [-1.87626553e-02 1.04348547e-04 9.99823960e-01 -9.38127612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.568623853000005 meters 0.017642539667550552 Centerline is valid? [True, True] Translation: X:39.80, Y:-4.59, Z:-0.94 [[ 9.82446692e-01 1.85665060e-01 1.80826868e-02 3.97950365e+01] [-1.85630654e-01 9.82613078e-01 -3.57771628e-03 -4.58767810e+00] [-1.84325414e-02 1.58214552e-04 9.99830094e-01 -9.40266752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.598623853 meters 0.018467248549455174 Centerline is valid? [True, True] Translation: X:39.83, Y:-4.60, Z:-0.94 [[ 9.82703184e-01 1.84350335e-01 1.75899478e-02 3.98259394e+01] [-1.84317520e-01 9.82860581e-01 -3.48286102e-03 -4.59635847e+00] [-1.79305330e-02 1.80483053e-04 9.99839219e-01 -9.41134490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.628623853 meters 0.026679663515850972 Centerline is valid? [True, True] Translation: X:39.86, Y:-4.60, Z:-0.94 [[ 9.82890503e-01 1.83423960e-01 1.67901803e-02 3.98562664e+01] [-1.83393878e-01 9.83033883e-01 -3.32734246e-03 -4.60455060e+00] [-1.71156305e-02 1.91197030e-04 9.99853499e-01 -9.38678657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.658623853 meters 0.02223455606228816 Centerline is valid? [True, True] Translation: X:39.89, Y:-4.62, Z:-0.95 [[ 9.83279638e-01 1.81384553e-01 1.61492583e-02 3.98853186e+01] [-1.81356407e-01 9.83412221e-01 -3.20282081e-03 -4.61575827e+00] [-1.64623202e-02 2.20497022e-04 9.99864463e-01 -9.46495929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.688623853 meters 0.022789515181454563 Centerline is valid? [True, True] Translation: X:39.92, Y:-4.62, Z:-0.95 [[ 9.83415896e-01 1.80663562e-01 1.59327792e-02 3.99169105e+01] [-1.80636033e-01 9.83544927e-01 -3.16225998e-03 -4.62359989e+00] [-1.62419093e-02 2.31782705e-04 9.99868065e-01 -9.46930717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.718623853000004 meters 0.022789515181454563 Centerline is valid? [True, True] Translation: X:39.95, Y:-4.63, Z:-0.95 [[ 9.83382141e-01 1.80847244e-01 1.59323046e-02 3.99487429e+01] [-1.80819701e-01 9.83511170e-01 -3.16464855e-03 -4.63012563e+00] [-1.62419175e-02 2.31184313e-04 9.99868065e-01 -9.47748581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.748623853000005 meters 0.023290828790196748 Centerline is valid? [True, True] Translation: X:39.98, Y:-4.64, Z:-0.95 [[ 9.83513697e-01 1.80121684e-01 1.60308053e-02 3.99802375e+01] [-1.80093648e-01 9.83644304e-01 -3.18755410e-03 -4.63825733e+00] [-1.63427579e-02 2.47956915e-04 9.99866417e-01 -9.48215349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.778623853 meters 0.02372128430257271 Centerline is valid? [True, True] Translation: X:40.01, Y:-4.65, Z:-0.95 [[ 9.83598710e-01 1.79605537e-01 1.65960765e-02 4.00127117e+01] [-1.79575368e-01 9.83738674e-01 -3.30274311e-03 -4.64627708e+00] [-1.69193932e-02 2.68327320e-04 9.99856821e-01 -9.47544153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.808623853 meters 0.023721582545758898 Centerline is valid? [True, True] Translation: X:40.04, Y:-4.65, Z:-0.95 [[ 9.83548900e-01 1.79790466e-01 1.75199723e-02 4.00434941e+01] [-1.79756795e-01 9.83704888e-01 -3.49101952e-03 -4.65371647e+00] [-1.78621344e-02 2.84254345e-04 9.99840419e-01 -9.46562986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.838623853 meters 0.023730758038834038 Centerline is valid? [True, True] Translation: X:40.07, Y:-4.66, Z:-0.95 [[ 9.83481514e-01 1.80103574e-01 1.80779918e-02 4.00736956e+01] [-1.80067750e-01 9.83647609e-01 -3.60363572e-03 -4.66088929e+00] [-1.84314011e-02 2.88845810e-04 9.99830086e-01 -9.46538255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.868623853 meters 0.022063250888340474 Centerline is valid? [True, True] Translation: X:40.11, Y:-4.67, Z:-0.94 [[ 9.83132529e-01 1.81858357e-01 1.94413877e-02 4.01050911e+01] [-1.81817204e-01 9.83324697e-01 -3.87868147e-03 -4.66656847e+00] [-1.98225673e-02 2.78479173e-04 9.99803475e-01 -9.44819598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.898623853000004 meters 0.02119705025557425 Centerline is valid? [True, True] Translation: X:40.14, Y:-4.67, Z:-0.95 [[ 9.82858494e-01 1.83314626e-01 1.96196094e-02 4.01363772e+01] [-1.83272937e-01 9.83054263e-01 -3.91756951e-03 -4.67156929e+00] [-2.00052884e-02 2.54673023e-04 9.99799842e-01 -9.45470702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.928623853000005 meters 0.02008304592421924 Centerline is valid? [True, True] Translation: X:40.17, Y:-4.68, Z:-0.95 [[ 9.82642400e-01 1.84500365e-01 1.93269180e-02 4.01683612e+01] [-1.84460078e-01 9.82832418e-01 -3.86228202e-03 -4.67612472e+00] [-1.97077140e-02 2.30197272e-04 9.99805758e-01 -9.46901392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.958623853000006 meters 0.01899904696346933 Centerline is valid? [True, True] Translation: X:40.20, Y:-4.68, Z:-0.95 [[ 9.82469731e-01 1.85444525e-01 1.90671455e-02 4.02003569e+01] [-1.85405431e-01 9.82654712e-01 -3.81350124e-03 -4.68121666e+00] [-1.94436133e-02 2.11497212e-04 9.99810933e-01 -9.47960697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.988623853 meters 0.01878822254038194 Centerline is valid? [True, True] Translation: X:40.23, Y:-4.69, Z:-0.95 [[ 9.82184886e-01 1.86961281e-01 1.89295646e-02 4.02310063e+01] [-1.86922966e-01 9.82367266e-01 -3.78930308e-03 -4.68838063e+00] [-1.93042375e-02 1.83425860e-04 9.99813639e-01 -9.49734789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.018623853 meters 0.018628497233207225 Centerline is valid? [True, True] Translation: X:40.26, Y:-4.70, Z:-0.95 [[ 9.82103817e-01 1.87430717e-01 1.84883368e-02 4.02636990e+01] [-1.87394200e-01 9.82277810e-01 -3.70367035e-03 -4.69513307e+00] [-1.88548646e-02 1.72781699e-04 9.99822216e-01 -9.51324259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.048623853 meters 0.017751046137779117 Centerline is valid? [True, True] Translation: X:40.30, Y:-4.70, Z:-0.95 [[ 9.81965184e-01 1.88165307e-01 1.83900621e-02 4.02962226e+01] [-1.88129243e-01 9.82137359e-01 -3.68735752e-03 -4.70084404e+00] [-1.87553998e-02 1.61148240e-04 9.99824089e-01 -9.51722545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.078623853 meters 0.017374174610623704 Centerline is valid? [True, True] Translation: X:40.33, Y:-4.71, Z:-0.95 [[ 9.81828237e-01 1.88864004e-01 1.85391630e-02 4.03288318e+01] [-1.88827409e-01 9.82003241e-01 -3.72089694e-03 -4.70788074e+00] [-1.89082616e-02 1.52579580e-04 9.99821211e-01 -9.51652340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.108623853000005 meters 0.0161992378642967 Centerline is valid? [True, True] Translation: X:40.36, Y:-4.71, Z:-0.95 [[ 9.81555670e-01 1.90232469e-01 1.89756143e-02 4.03605789e+01] [-1.90194310e-01 9.81739064e-01 -3.81240518e-03 -4.71308744e+00] [-1.93543451e-02 1.33034046e-04 9.99812678e-01 -9.50957215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.138623853000006 meters 0.015882891939868516 Centerline is valid? [True, True] Translation: X:40.39, Y:-4.72, Z:-0.95 [[ 9.81347220e-01 1.91277259e-01 1.92521280e-02 4.03916071e+01] [-1.91238112e-01 9.81536039e-01 -3.87142742e-03 -4.71919504e+00] [-1.96371735e-02 1.17473911e-04 9.99807165e-01 -9.51656606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.168623853 meters 0.0151692108960701 Centerline is valid? [True, True] Translation: X:40.42, Y:-4.72, Z:-0.95 [[ 9.81097787e-01 1.92553312e-01 1.92445714e-02 4.04234050e+01] [-1.92514383e-01 9.81286509e-01 -3.87291252e-03 -4.72460490e+00] [-1.96301805e-02 9.48491138e-05 9.99807305e-01 -9.52465131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.198623853 meters 0.020486374688502666 Centerline is valid? [True, True] Translation: X:40.46, Y:-4.73, Z:-0.95 [[ 9.80563225e-01 1.95296188e-01 1.88457120e-02 4.04554659e+01] [-1.95259302e-01 9.80744308e-01 -3.79574622e-03 -4.72766154e+00] [-1.92241195e-02 4.21685831e-05 9.99815199e-01 -9.48849484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.228623853 meters 0.01417633595045708 Centerline is valid? [True, True] Translation: X:40.49, Y:-4.73, Z:-0.96 [[ 9.80247557e-01 1.96881488e-01 1.87724938e-02 4.04868064e+01] [-1.96845117e-01 9.80427294e-01 -3.78424457e-03 -4.73292266e+00] [-1.91501130e-02 1.42227535e-05 9.99816620e-01 -9.55616769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.258623853 meters 0.0140374890761202 Centerline is valid? [True, True] Translation: X:40.52, Y:-4.74, Z:-0.96 [[ 9.79990745e-01 1.98151868e-01 1.88142500e-02 4.05196456e+01] [-1.98115502e-01 9.80171330e-01 -3.79616020e-03 -4.73771264e+00] [-1.91934047e-02 -7.19271180e-06 9.99815790e-01 -9.56012663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.288623853000004 meters 0.0146254240900324 Centerline is valid? [True, True] Translation: X:40.55, Y:-4.74, Z:-0.96 [[ 9.79594700e-01 2.00195026e-01 1.77813353e-02 4.05511008e+01] [-2.00162815e-01 9.79756067e-01 -3.59131381e-03 -4.74000113e+00] [-1.81403343e-02 -4.11301530e-05 9.99835450e-01 -9.60255665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.318623853000005 meters 0.015076518566939603 Centerline is valid? [True, True] Translation: X:40.58, Y:-4.74, Z:-0.96 [[ 9.79517058e-01 2.00680444e-01 1.65436347e-02 4.05819748e+01] [-2.00652571e-01 9.79656755e-01 -3.34487751e-03 -4.74483401e+00] [-1.68783350e-02 -4.31582684e-05 9.99857550e-01 -9.63815659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.348623853 meters 0.015110785894837483 Centerline is valid? [True, True] Translation: X:40.61, Y:-4.75, Z:-0.97 [[ 9.79528531e-01 2.00715135e-01 1.54042902e-02 4.06125116e+01] [-2.00690969e-01 9.79649648e-01 -3.11482963e-03 -4.75076340e+00] [-1.57160009e-02 -4.04374294e-05 9.99876495e-01 -9.65875492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.378623853 meters 0.015191378312313894 Centerline is valid? [True, True] Translation: X:40.64, Y:-4.76, Z:-0.97 [[ 9.79834764e-01 1.99302442e-01 1.42257433e-02 4.06432164e+01] [-1.99281701e-01 9.79938027e-01 -2.87527328e-03 -4.76052057e+00] [-1.45133958e-02 -1.76376096e-05 9.99894675e-01 -9.68929579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.408623853 meters 0.014927956644288098 Centerline is valid? [True, True] Translation: X:40.68, Y:-4.77, Z:-0.97 [[ 9.80100329e-01 1.97962057e-01 1.46413488e-02 4.06754482e+01] [-1.97939902e-01 9.80209684e-01 -2.96162591e-03 -4.77000924e+00] [-1.49378814e-02 4.58337978e-06 9.99888424e-01 -9.67769141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.438623853 meters 0.015275602861680872 Centerline is valid? [True, True] Translation: X:40.71, Y:-4.78, Z:-0.97 [[ 9.80433705e-01 1.96254538e-01 1.52939635e-02 4.07065711e+01] [-1.96230102e-01 9.80552984e-01 -3.09712013e-03 -4.77962206e+00] [-1.56043655e-02 3.53849346e-05 9.99878244e-01 -9.68894396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.468623853000004 meters 0.017267452996742816 Centerline is valid? [True, True] Translation: X:40.74, Y:-4.79, Z:-0.97 [[ 9.81248200e-01 1.91989093e-01 1.70926275e-02 4.07357617e+01] [-1.91957856e-01 9.81397052e-01 -3.46523831e-03 -4.79453893e+00] [-1.74399422e-02 1.19194723e-04 9.99847906e-01 -9.67295004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.498623853000005 meters 0.018147074385165093 Centerline is valid? [True, True] Translation: X:40.77, Y:-4.80, Z:-0.97 [[ 9.81613929e-01 1.90062380e-01 1.76177634e-02 4.07660547e+01] [-1.90028820e-01 9.81772003e-01 -3.57520479e-03 -4.80467947e+00] [-1.79761387e-02 1.61588048e-04 9.99838403e-01 -9.65782467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.528623853 meters 0.02043390158316868 Centerline is valid? [True, True] Translation: X:40.80, Y:-4.82, Z:-0.97 [[ 9.81978049e-01 1.88110254e-01 1.82659358e-02 4.07957316e+01] [-1.88073785e-01 9.82147896e-01 -3.70974296e-03 -4.81640679e+00] [-1.86376911e-02 2.07542462e-04 9.99826282e-01 -9.65707088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.558623853 meters 0.021290048744393247 Centerline is valid? [True, True] Translation: X:40.83, Y:-4.83, Z:-0.96 [[ 9.82516148e-01 1.85244911e-01 1.86102647e-02 4.08269689e+01] [-1.85206486e-01 9.82692348e-01 -3.78251690e-03 -4.82606714e+00] [-1.89888567e-02 2.69642220e-04 9.99819659e-01 -9.64429900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.588623853 meters 0.022956988824813326 Centerline is valid? [True, True] Translation: X:40.86, Y:-4.84, Z:-0.97 [[ 9.82710979e-01 1.84181302e-01 1.88780135e-02 4.08568606e+01] [-1.84141499e-01 9.82892242e-01 -3.84040827e-03 -4.83590447e+00] [-1.92623845e-02 2.97785653e-04 9.99814419e-01 -9.65641807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.618623853 meters 0.0235355354751962 Centerline is valid? [True, True] Translation: X:40.89, Y:-4.84, Z:-0.97 [[ 9.82858204e-01 1.83416917e-01 1.86543571e-02 4.08879229e+01] [-1.83377859e-01 9.83035166e-01 -3.79782860e-03 -4.84479970e+00] [-1.90344751e-02 3.11930913e-04 9.99818779e-01 -9.66285999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.648623853000004 meters 0.024516137526563845 Centerline is valid? [True, True] Translation: X:40.92, Y:-4.85, Z:-0.97 [[ 9.82950820e-01 1.82961791e-01 1.82392318e-02 4.09179859e+01] [-1.82924307e-01 9.83119974e-01 -3.71687188e-03 -4.85377428e+00] [-1.86113986e-02 3.17103418e-04 9.99826743e-01 -9.67854320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.678623853000005 meters 0.02495049889376323 Centerline is valid? [True, True] Translation: X:40.95, Y:-4.86, Z:-0.97 [[ 9.82997721e-01 1.82794450e-01 1.73686190e-02 4.09476017e+01] [-1.82760415e-01 9.83151105e-01 -3.54051468e-03 -4.86236736e+00] [-1.77231634e-02 3.06021852e-04 9.99842886e-01 -9.69804512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.708623853000006 meters 0.024895406188072913 Centerline is valid? [True, True] Translation: X:40.98, Y:-4.87, Z:-0.97 [[ 9.82935739e-01 1.83091611e-01 1.77424847e-02 4.09792880e+01] [-1.83056095e-01 9.83095807e-01 -3.61938572e-03 -4.87002726e+00] [-1.81052415e-02 3.09753605e-04 9.99836039e-01 -9.70501565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.738623853 meters 0.025437672860092374 Centerline is valid? [True, True] Translation: X:41.01, Y:-4.88, Z:-0.97 [[ 9.82883740e-01 1.83332176e-01 1.81347028e-02 4.10102064e+01] [-1.83295045e-01 9.83050972e-01 -3.70311426e-03 -4.87901502e+00] [-1.85062373e-02 3.15729625e-04 9.99828695e-01 -9.70748228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.768623853 meters 0.023920492558614843 Centerline is valid? [True, True] Translation: X:41.04, Y:-4.89, Z:-0.97 [[ 9.82753668e-01 1.83951012e-01 1.89011427e-02 4.10411593e+01] [-1.83910719e-01 9.82935360e-01 -3.86328775e-03 -4.88625959e+00] [-1.92892572e-02 3.20537444e-04 9.99813894e-01 -9.69987439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.798623853 meters 0.024048033130455122 Centerline is valid? [True, True] Translation: X:41.07, Y:-4.89, Z:-0.97 [[ 9.82608035e-01 1.84685418e-01 1.93066214e-02 4.10717802e+01] [-1.84643452e-01 9.82797638e-01 -3.94957307e-03 -4.89428621e+00] [-1.97039304e-02 3.16041024e-04 9.99805809e-01 -9.71026514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.828623853 meters 0.030344049908451156 Centerline is valid? [True, True] Translation: X:41.10, Y:-4.90, Z:-0.97 [[ 9.82406990e-01 1.85764994e-01 1.91800282e-02 4.11037116e+01] [-1.85723718e-01 9.82594158e-01 -3.92692305e-03 -4.90038823e+00] [-1.95756685e-02 2.95650493e-04 9.99808335e-01 -9.66767013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.858623853000005 meters 0.022127098209369662 Centerline is valid? [True, True] Translation: X:41.13, Y:-4.91, Z:-0.97 [[ 9.82135390e-01 1.87190740e-01 1.92276249e-02 4.11337172e+01] [-1.87149468e-01 9.82323548e-01 -3.93998889e-03 -4.90791915e+00] [-1.96252782e-02 2.71162751e-04 9.99807369e-01 -9.73014016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.888623853000006 meters 0.01862533853876503 Centerline is valid? [True, True] Translation: X:41.17, Y:-4.91, Z:-0.98 [[ 9.81262373e-01 1.91786031e-01 1.85006590e-02 4.11653914e+01] [-1.91748586e-01 9.81436747e-01 -3.79368463e-03 -4.91082106e+00] [-1.88848022e-02 1.75124782e-04 9.99821651e-01 -9.75141990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.918623853 meters 0.01655357082337092 Centerline is valid? [True, True] Translation: X:41.20, Y:-4.91, Z:-0.98 [[ 9.80653749e-01 1.94893534e-01 1.82957841e-02 4.11966797e+01] [-1.94857397e-01 9.80824396e-01 -3.75476522e-03 -4.91320298e+00] [-1.86767309e-02 1.17055718e-04 9.99825568e-01 -9.76262789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.948623853 meters 0.014905402593846701 Centerline is valid? [True, True] Translation: X:41.23, Y:-4.92, Z:-0.98 [[ 9.79998095e-01 1.98182949e-01 1.80901463e-02 4.12293903e+01] [-1.98148131e-01 9.80165045e-01 -3.71518547e-03 -4.91529499e+00] [-1.84676155e-02 5.63460067e-05 9.99829457e-01 -9.77047338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.978623853 meters 0.014264299806204793 Centerline is valid? [True, True] Translation: X:41.26, Y:-4.92, Z:-0.98 [[ 9.79344055e-01 2.01436785e-01 1.75625880e-02 4.12624866e+01] [-2.01404446e-01 9.79501517e-01 -3.60935517e-03 -4.91769500e+00] [-1.79296385e-02 -2.38278012e-06 9.99839251e-01 -9.77322657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.008623853 meters 0.015639791176245522 Centerline is valid? [True, True] Translation: X:41.30, Y:-4.92, Z:-0.98 [[ 9.78072902e-01 2.07588093e-01 1.67505927e-02 4.12957514e+01] [-2.07559521e-01 9.78216322e-01 -3.44572811e-03 -4.91529881e+00] [-1.71009954e-02 -1.06571714e-04 9.99853762e-01 -9.79184594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.038623853000004 meters 0.03260263946311439 Centerline is valid? [True, True] Translation: X:41.33, Y:-4.91, Z:-0.98 [[ 9.77427698e-01 2.10650847e-01 1.61652860e-02 4.13276174e+01] [-2.10624609e-01 9.77561352e-01 -3.32812574e-03 -4.91417656e+00] [-1.65036313e-02 -1.51804763e-04 9.99863794e-01 -9.76989786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.068623853000005 meters 0.01972386813749798 Centerline is valid? [True, True] Translation: X:41.36, Y:-4.92, Z:-0.98 [[ 9.76879979e-01 2.13152718e-01 1.64750139e-02 4.13582518e+01] [-2.13125754e-01 9.77018875e-01 -3.39584254e-03 -4.91774691e+00] [-1.68202326e-02 -1.93919160e-04 9.99858511e-01 -9.82369786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.098623853 meters 0.023000423718328226 Centerline is valid? [True, True] Translation: X:41.39, Y:-4.92, Z:-0.98 [[ 9.75855095e-01 2.17789094e-01 1.65754017e-02 4.13896272e+01] [-2.17762470e-01 9.75995817e-01 -3.41646915e-03 -4.91831838e+00] [-1.69215924e-02 -2.75521573e-04 9.99856782e-01 -9.82657911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.128623853 meters 0.02445331065092182 Centerline is valid? [True, True] Translation: X:41.42, Y:-4.92, Z:-0.98 [[ 9.75360956e-01 2.19971196e-01 1.68427408e-02 4.14213137e+01] [-2.19944015e-01 9.75506316e-01 -3.47250393e-03 -4.92170630e+00] [-1.71940509e-02 -3.17515289e-04 9.99852121e-01 -9.82407103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.158623853 meters 0.026646564940319396 Centerline is valid? [True, True] Translation: X:41.45, Y:-4.92, Z:-0.98 [[ 9.74937205e-01 2.21809495e-01 1.72625036e-02 4.14508738e+01] [-2.21781215e-01 9.75089955e-01 -3.55985442e-03 -4.92232998e+00] [-1.76221033e-02 -3.57864504e-04 9.99844655e-01 -9.82917499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.188623853 meters 0.027970185567567984 Centerline is valid? [True, True] Translation: X:41.48, Y:-4.92, Z:-0.98 [[ 9.74393504e-01 2.24160928e-01 1.75834722e-02 4.14813109e+01] [-2.24131977e-01 9.74552057e-01 -3.62560078e-03 -4.92239201e+00] [-1.79487270e-02 -4.08256536e-04 9.99838825e-01 -9.83426211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.218623853000004 meters 0.02921710539286017 Centerline is valid? [True, True] Translation: X:41.51, Y:-4.93, Z:-0.98 [[ 9.74297761e-01 2.24604113e-01 1.72297643e-02 4.15101763e+01] [-2.24576391e-01 9.74450012e-01 -3.55234270e-03 -4.92515822e+00] [-1.75874148e-02 -4.08358744e-04 9.99845246e-01 -9.84859452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.248623853000005 meters 0.028254347561108166 Centerline is valid? [True, True] Translation: X:41.54, Y:-4.93, Z:-0.99 [[ 9.74340719e-01 2.24454932e-01 1.67376002e-02 4.15391826e+01] [-2.24428760e-01 9.74484391e-01 -3.45018430e-03 -4.93153705e+00] [-1.70849410e-02 -3.94743813e-04 9.99853964e-01 -9.86460638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.278623853 meters 0.028173585271153306 Centerline is valid? [True, True] Translation: X:41.57, Y:-4.94, Z:-0.99 [[ 9.74825295e-01 2.22439590e-01 1.53711938e-02 4.15670253e+01] [-2.22417271e-01 9.74946419e-01 -3.16830206e-03 -4.93648991e+00] [-1.56908461e-02 -3.30277968e-04 9.99876837e-01 -9.90302335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.308623853 meters 0.02595043792160634 Centerline is valid? [True, True] Translation: X:41.60, Y:-4.95, Z:-0.99 [[ 9.75304834e-01 2.20322930e-01 1.54365869e-02 4.15956512e+01] [-2.20300165e-01 9.75426941e-01 -3.18108588e-03 -4.94524351e+00] [-1.57581289e-02 -2.98154222e-04 9.99875789e-01 -9.90670275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.338623853 meters 0.02361492325773501 Centerline is valid? [True, True] Translation: X:41.62, Y:-4.95, Z:-0.99 [[ 9.75859075e-01 2.17832740e-01 1.57468252e-02 4.16248076e+01] [-2.17808735e-01 9.75986080e-01 -3.24451655e-03 -4.95375889e+00] [-1.60754441e-02 -2.63605154e-04 9.99870747e-01 -9.90526247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.368623853 meters 0.018415232437948393 Centerline is valid? [True, True] Translation: X:41.65, Y:-4.97, Z:-0.99 [[ 9.77054241e-01 2.12360772e-01 1.63680377e-02 4.16541985e+01] [-2.12334076e-01 9.77191317e-01 -3.37199541e-03 -4.96652194e+00] [-1.67107839e-02 -1.80869765e-04 9.99860349e-01 -9.90700546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.398623853000004 meters 0.01873076676061909 Centerline is valid? [True, True] Translation: X:41.68, Y:-4.98, Z:-0.99 [[ 9.77592921e-01 2.09869489e-01 1.63364036e-02 4.16846970e+01] [-2.09842542e-01 9.77729399e-01 -3.36588705e-03 -4.97532781e+00] [-1.66789791e-02 -1.37605101e-04 9.99860887e-01 -9.88575987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.428623853000005 meters 0.015469077142355903 Centerline is valid? [True, True] Translation: X:41.72, Y:-4.99, Z:-0.99 [[ 9.78078294e-01 2.07536374e-01 1.70734792e-02 4.17152950e+01] [-2.07506596e-01 9.78227296e-01 -3.51707630e-03 -4.98508960e+00] [-1.74316646e-02 -1.02883551e-04 9.99848052e-01 -9.90577139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.458623853000006 meters 0.014497167030467082 Centerline is valid? [True, True] Translation: X:41.74, Y:-4.99, Z:-0.99 [[ 9.78766450e-01 2.04248508e-01 1.72853256e-02 4.17447199e+01] [-2.04217418e-01 9.78919070e-01 -3.56387772e-03 -4.99454744e+00] [-1.76488515e-02 -4.17606034e-05 9.99844246e-01 -9.91553460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.488623853 meters 0.014147259300962816 Centerline is valid? [True, True] Translation: X:41.78, Y:-5.00, Z:-0.99 [[ 9.78960998e-01 2.03281144e-01 1.76675287e-02 4.17768858e+01] [-2.03248457e-01 9.79120409e-01 -3.64535498e-03 -5.00290295e+00] [-1.80396698e-02 -2.22375938e-05 9.99837272e-01 -9.91293853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.518623853 meters 0.014111571639680623 Centerline is valid? [True, True] Translation: X:41.81, Y:-5.01, Z:-0.99 [[ 9.79096081e-01 2.02617458e-01 1.78053396e-02 4.18090553e+01] [-2.02584085e-01 9.79257967e-01 -3.67734670e-03 -5.01048808e+00] [-1.81811153e-02 -6.60267884e-06 9.99834710e-01 -9.92067202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.548623853 meters 0.025113874403945018 Centerline is valid? [True, True] Translation: X:41.84, Y:-5.02, Z:-0.99 [[ 9.79154957e-01 2.02379014e-01 1.72715308e-02 4.18407825e+01] [-2.02347516e-01 9.79307273e-01 -3.57047482e-03 -5.01691496e+00] [-1.76367249e-02 1.19676791e-06 9.99844461e-01 -9.88003905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.578623853 meters 0.01408142233006155 Centerline is valid? [True, True] Translation: X:41.87, Y:-5.02, Z:-0.99 [[ 9.79191904e-01 2.02132679e-01 1.80442662e-02 4.18731022e+01] [-2.02098193e-01 9.79358147e-01 -3.73366068e-03 -5.02336439e+00] [-1.84264939e-02 9.25672576e-06 9.99830218e-01 -9.92213115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.608623853000005 meters 0.014126092685661253 Centerline is valid? [True, True] Translation: X:41.90, Y:-5.03, Z:-0.99 [[ 9.79114698e-01 2.02504780e-01 1.80616172e-02 4.19042789e+01] [-2.02470222e-01 9.79281274e-01 -3.74102358e-03 -5.02868257e+00] [-1.84449787e-02 5.95152094e-06 9.99829877e-01 -9.93818994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.638623853000006 meters 0.014126092685661253 Centerline is valid? [True, True] Translation: X:41.94, Y:-5.04, Z:-0.99 [[ 9.79076531e-01 2.02689292e-01 1.80609434e-02 4.19360540e+01] [-2.02654705e-01 9.79243101e-01 -3.74427320e-03 -5.03546868e+00] [-1.84449783e-02 5.79485571e-06 9.99829877e-01 -9.94636805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.668623853 meters 0.014201733062774653 Centerline is valid? [True, True] Translation: X:41.97, Y:-5.04, Z:-1.00 [[ 9.79013626e-01 2.03046557e-01 1.74475155e-02 4.19683296e+01] [-2.03014279e-01 9.79169084e-01 -3.62033219e-03 -5.04156090e+00] [-1.78191638e-02 2.25976409e-06 9.99841226e-01 -9.95833681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.698623853 meters 0.014261988469885235 Centerline is valid? [True, True] Translation: X:42.00, Y:-5.05, Z:-1.00 [[ 9.79045683e-01 2.02951916e-01 1.67352944e-02 4.20007558e+01] [-2.02922152e-01 9.79188705e-01 -3.47569935e-03 -5.04825968e+00] [-1.70924111e-02 6.90648928e-06 9.99853914e-01 -9.98006197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.728623853 meters 0.018368313659207547 Centerline is valid? [True, True] Translation: X:42.03, Y:-5.05, Z:-1.00 [[ 9.79038799e-01 2.02997792e-01 1.65808944e-02 4.20318779e+01] [-2.02968523e-01 9.79179195e-01 -3.44705991e-03 -5.05396686e+00] [-1.69354124e-02 9.40574589e-06 9.99856586e-01 -9.95670451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.758623853 meters 0.014297510026357305 Centerline is valid? [True, True] Translation: X:42.06, Y:-5.06, Z:-1.00 [[ 9.79095154e-01 2.02683164e-01 1.70942913e-02 4.20644990e+01] [-2.02651949e-01 9.79244369e-01 -3.55710089e-03 -5.06074177e+00] [-1.74604530e-02 1.85487848e-05 9.99847554e-01 -9.99123260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.788623853000004 meters 0.014202632089292242 Centerline is valid? [True, True] Translation: X:42.10, Y:-5.07, Z:-1.00 [[ 9.79089774e-01 2.02646759e-01 1.78187100e-02 4.20971094e+01] [-2.02612767e-01 9.79251903e-01 -3.71164376e-03 -5.06700362e+00] [-1.82011583e-02 2.37343119e-05 9.99834345e-01 -9.99030564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.818623853000005 meters 0.014135013448919844 Centerline is valid? [True, True] Translation: X:42.13, Y:-5.07, Z:-1.00 [[ 9.79060263e-01 2.02773713e-01 1.79950748e-02 4.21296188e+01] [-2.02738999e-01 9.79225623e-01 -3.75201734e-03 -5.07370129e+00] [-1.83820489e-02 2.51476253e-05 9.99831036e-01 -9.99390499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.848623853 meters 0.028904800147193235 Centerline is valid? [True, True] Translation: X:42.16, Y:-5.08, Z:-0.99 [[ 9.78962939e-01 2.03287450e-01 1.74864549e-02 4.21621229e+01] [-2.03254691e-01 9.79119100e-01 -3.64943192e-03 -5.07839871e+00] [-1.78632056e-02 1.84546192e-05 9.99840440e-01 -9.94724435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.878623853 meters 0.021988665867402817 Centerline is valid? [True, True] Translation: X:42.19, Y:-5.08, Z:-1.00 [[ 9.78871431e-01 2.03729843e-01 1.74605963e-02 4.21935446e+01] [-2.03697183e-01 9.79027145e-01 -3.64781167e-03 -5.08417198e+00] [-1.78375659e-02 1.40643416e-05 9.99840898e-01 -9.96739212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.908623853 meters 0.01435998782008915 Centerline is valid? [True, True] Translation: X:42.22, Y:-5.09, Z:-1.00 [[ 9.78799810e-01 2.04052331e-01 1.77081408e-02 4.22243910e+01] [-2.04018734e-01 9.78959982e-01 -3.70267310e-03 -5.09066315e+00] [-1.80911002e-02 1.13832586e-05 9.99836343e-01 -1.00343446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.938623853 meters 0.01620461596547365 Centerline is valid? [True, True] Translation: X:42.26, Y:-5.10, Z:-1.00 [[ 9.78731581e-01 2.04428078e-01 1.71363261e-02 4.22572316e+01] [-2.04396621e-01 9.78881587e-01 -3.58611947e-03 -5.09609064e+00] [-1.75075376e-02 7.24122946e-06 9.99846731e-01 -1.00149390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.968623853000004 meters 0.014401522629479151 Centerline is valid? [True, True] Translation: X:42.29, Y:-5.10, Z:-1.01 [[ 9.78557880e-01 2.05305498e-01 1.65568166e-02 4.22885623e+01] [-2.05276199e-01 9.78697937e-01 -3.46841108e-03 -5.10007906e+00] [-1.69162061e-02 -4.67936949e-06 9.99856911e-01 -1.00688286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.998623853000005 meters 0.014392728574012862 Centerline is valid? [True, True] Translation: X:42.32, Y:-5.11, Z:-1.01 [[ 9.78464623e-01 2.05788986e-01 1.60584950e-02 4.23191119e+01] [-2.05761427e-01 9.78596389e-01 -3.36780497e-03 -5.10527267e+00] [-1.64078424e-02 -8.94083136e-06 9.99865382e-01 -1.00804592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.028623853 meters 0.01463477019372277 Centerline is valid? [True, True] Translation: X:42.35, Y:-5.11, Z:-1.01 [[ 9.78274833e-01 2.06673836e-01 1.62565693e-02 4.23492795e+01] [-2.06645706e-01 9.78409896e-01 -3.40986836e-03 -5.10886105e+00] [-1.66103189e-02 -2.35618513e-05 9.99862039e-01 -1.00976077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.058623853 meters 0.014801038422825392 Centerline is valid? [True, True] Translation: X:42.38, Y:-5.11, Z:-1.01 [[ 9.78209626e-01 2.06985216e-01 1.62187756e-02 4.23775804e+01] [-2.06957249e-01 9.78344070e-01 -3.40254762e-03 -5.11300972e+00] [-1.65718200e-02 -2.81883502e-05 9.99862678e-01 -1.01123003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.088623853 meters 0.014804692259281141 Centerline is valid? [True, True] Translation: X:42.41, Y:-5.12, Z:-1.01 [[ 9.78131412e-01 2.07337680e-01 1.64325193e-02 4.24068977e+01] [-2.07309033e-01 9.78269434e-01 -3.44670057e-03 -5.11821852e+00] [-1.67900622e-02 -3.52835958e-05 9.99859036e-01 -1.01110582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.118623853 meters 0.014647782939231883 Centerline is valid? [True, True] Translation: X:42.44, Y:-5.12, Z:-1.01 [[ 9.78109241e-01 2.07440826e-01 1.64504234e-02 4.24365665e+01] [-2.07412141e-01 9.78247567e-01 -3.44985135e-03 -5.12450972e+00] [-1.68082267e-02 -3.76860526e-05 9.99858731e-01 -1.01124543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.148623853000004 meters 0.023685098497901628 Centerline is valid? [True, True] Translation: X:42.47, Y:-5.13, Z:-1.01 [[ 9.78021633e-01 2.07915742e-01 1.56438208e-02 4.24671698e+01] [-2.07889862e-01 9.78146739e-01 -3.28069710e-03 -5.12984124e+00] [-1.59840609e-02 -4.35990159e-05 9.99872246e-01 -1.00710178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.178623853000005 meters 0.014663807085554518 Centerline is valid? [True, True] Translation: X:42.50, Y:-5.14, Z:-1.01 [[ 9.78010573e-01 2.07921490e-01 1.62472603e-02 4.24968346e+01] [-2.07893577e-01 9.78145517e-01 -3.40714074e-03 -5.13652133e+00] [-1.66006026e-02 -4.54813850e-05 9.99862199e-01 -1.01261780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.208623853000006 meters 0.014826474474968298 Centerline is valid? [True, True] Translation: X:42.53, Y:-5.14, Z:-1.01 [[ 9.78009920e-01 2.07892121e-01 1.66572099e-02 4.25261639e+01] [-2.07862774e-01 9.78151759e-01 -3.49332658e-03 -5.14245744e+00] [-1.70195143e-02 -4.59058162e-05 9.99855157e-01 -1.01397672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.238623853 meters 0.01426580525045704 Centerline is valid? [True, True] Translation: X:42.56, Y:-5.15, Z:-1.01 [[ 9.78161338e-01 2.07129483e-01 1.72561403e-02 4.25563545e+01] [-2.07097867e-01 9.78313537e-01 -3.61906831e-03 -5.15050808e+00] [-1.76315314e-02 -3.36771400e-05 9.99844552e-01 -1.01272626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.268623853 meters 0.014276762271046847 Centerline is valid? [True, True] Translation: X:42.59, Y:-5.16, Z:-1.01 [[ 9.78273519e-01 2.06580098e-01 1.74810179e-02 4.25856852e+01] [-2.06547554e-01 9.78429692e-01 -3.66676263e-03 -5.15801160e+00] [-1.78614271e-02 -2.35647134e-05 9.99840472e-01 -1.01376628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.298623853 meters 0.0141152805121937 Centerline is valid? [True, True] Translation: X:42.62, Y:-5.17, Z:-1.01 [[ 9.78423331e-01 2.05858482e-01 1.76088168e-02 4.26160078e+01] [-2.05825342e-01 9.78581772e-01 -3.69370483e-03 -5.16590748e+00] [-1.79920476e-02 -1.03337406e-05 9.99838130e-01 -1.01390353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.328623853 meters 0.014014007534646817 Centerline is valid? [True, True] Translation: X:42.65, Y:-5.17, Z:-1.01 [[ 9.78517352e-01 2.05382811e-01 1.79358013e-02 4.26451769e+01] [-2.05348339e-01 9.78681716e-01 -3.76282890e-03 -5.17355099e+00] [-1.83262612e-02 -1.09363225e-06 9.99832060e-01 -1.01408124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.358623853000005 meters 0.014022944499637806 Centerline is valid? [True, True] Translation: X:42.68, Y:-5.18, Z:-1.01 [[ 9.78489666e-01 2.05501124e-01 1.80903831e-02 4.26755497e+01] [-2.05466073e-01 9.78656880e-01 -3.79540238e-03 -5.18051283e+00] [-1.84842373e-02 -3.19795694e-06 9.99829152e-01 -1.01431800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.388623853000006 meters 0.014307339098237408 Centerline is valid? [True, True] Translation: X:42.71, Y:-5.19, Z:-1.02 [[ 9.78332497e-01 2.06247989e-01 1.80912509e-02 4.27051304e+01] [-2.06213052e-01 9.78499753e-01 -3.79611276e-03 -5.18591102e+00] [-1.84852252e-02 -1.67915863e-05 9.99829133e-01 -1.01630835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.418623853 meters 0.014858966660470612 Centerline is valid? [True, True] Translation: X:42.73, Y:-5.19, Z:-1.02 [[ 9.77866790e-01 2.08497332e-01 1.74758121e-02 4.27346409e+01] [-2.08465082e-01 9.78022934e-01 -3.66743085e-03 -5.18771257e+00] [-1.78563945e-02 -5.68377738e-05 9.99840560e-01 -1.01826122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.448623853 meters 0.015635818801790047 Centerline is valid? [True, True] Translation: X:42.76, Y:-5.19, Z:-1.02 [[ 9.77527247e-01 2.10098724e-01 1.72918616e-02 4.27628726e+01] [-2.10067402e-01 9.77680172e-01 -3.62868432e-03 -5.19028063e+00] [-1.76682922e-02 -8.53186525e-05 9.99843900e-01 -1.01939865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.478623853 meters 0.015811001340439258 Centerline is valid? [True, True] Translation: X:42.79, Y:-5.20, Z:-1.02 [[ 9.77199473e-01 2.11624210e-01 1.72158215e-02 4.27928746e+01] [-2.11593425e-01 9.77351104e-01 -3.61132124e-03 -5.19563696e+00] [-1.75901452e-02 -1.13773429e-04 9.99845275e-01 -1.01930032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.508623853 meters 0.01750828951982471 Centerline is valid? [True, True] Translation: X:42.82, Y:-5.20, Z:-1.02 [[ 9.76664412e-01 2.14139306e-01 1.64616004e-02 4.28217187e+01] [-2.14111513e-01 9.76803120e-01 -3.45334598e-03 -5.19842616e+00] [-1.68192397e-02 -1.51858048e-04 9.99858535e-01 -1.02075521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.538623853000004 meters 0.018163159551150138 Centerline is valid? [True, True] Translation: X:42.85, Y:-5.20, Z:-1.02 [[ 9.76472848e-01 2.14996190e-01 1.66558211e-02 4.28502969e+01] [-2.14967868e-01 9.76614873e-01 -3.49366352e-03 -5.20264263e+00] [-1.70174469e-02 -1.68998795e-04 9.99855178e-01 -1.02168749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.568623853000005 meters 0.023691647695650814 Centerline is valid? [True, True] Translation: X:42.88, Y:-5.21, Z:-1.02 [[ 9.76359459e-01 2.15570190e-01 1.58650630e-02 4.28793374e+01] [-2.15544580e-01 9.76488333e-01 -3.32714582e-03 -5.20728182e+00] [-1.62092824e-02 -1.71138060e-04 9.99868606e-01 -1.01866409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.598623853 meters 0.01808456988017528 Centerline is valid? [True, True] Translation: X:42.91, Y:-5.21, Z:-1.02 [[ 9.76372236e-01 2.15484442e-01 1.62392259e-02 4.29075861e+01] [-2.15457605e-01 9.76507258e-01 -3.40520500e-03 -5.21437626e+00] [-1.65914906e-02 -1.74117092e-04 9.99862337e-01 -1.02322346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.628623853 meters 0.018719925227532547 Centerline is valid? [True, True] Translation: X:42.94, Y:-5.22, Z:-1.03 [[ 9.76498499e-01 2.14932634e-01 1.59575905e-02 4.29354761e+01] [-2.14906651e-01 9.76628863e-01 -3.34586306e-03 -5.21956818e+00] [-1.63037786e-02 -1.62162078e-04 9.99867071e-01 -1.02598369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.658623853 meters 0.018425350634013623 Centerline is valid? [True, True] Translation: X:42.96, Y:-5.23, Z:-1.03 [[ 9.76588906e-01 2.14532250e-01 1.58121147e-02 4.29633761e+01] [-2.14506695e-01 9.76716893e-01 -3.31486156e-03 -5.22645992e+00] [-1.61551043e-02 -1.54547447e-04 9.99869486e-01 -1.02734258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.688623853 meters 0.01963905828729597 Centerline is valid? [True, True] Translation: X:42.99, Y:-5.23, Z:-1.03 [[ 9.76682393e-01 2.14126041e-01 1.55416256e-02 4.29904630e+01] [-2.14101311e-01 9.76806028e-01 -3.25753353e-03 -5.23105278e+00] [-1.58786763e-02 -1.45906766e-04 9.99873915e-01 -1.03058464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.718623853000004 meters 0.01701665286113778 Centerline is valid? [True, True] Translation: X:43.02, Y:-5.24, Z:-1.03 [[ 9.76903554e-01 2.13077523e-01 1.60441463e-02 4.30179121e+01] [-2.13051048e-01 9.77035286e-01 -3.36154961e-03 -5.24294550e+00] [-1.63919677e-02 -1.34312423e-04 9.99865634e-01 -1.02709903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.748623853000005 meters 0.017223996175593767 Centerline is valid? [True, True] Translation: X:43.05, Y:-5.25, Z:-1.03 [[ 9.76996317e-01 2.12621986e-01 1.64343153e-02 4.30463942e+01] [-2.12594148e-01 9.77134522e-01 -3.44297397e-03 -5.24898697e+00] [-1.67905887e-02 -1.30066356e-04 9.99859020e-01 -1.02807462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.778623853000006 meters 0.016117519817456138 Centerline is valid? [True, True] Translation: X:43.08, Y:-5.26, Z:-1.03 [[ 9.77097051e-01 2.12085056e-01 1.73574774e-02 4.30754796e+01] [-2.12053930e-01 9.77251202e-01 -3.63569426e-03 -5.25774210e+00] [-1.77336921e-02 -1.28295163e-04 9.99842737e-01 -1.02556330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.808623853 meters 0.016239390871820514 Centerline is valid? [True, True] Translation: X:43.10, Y:-5.26, Z:-1.02 [[ 9.77053954e-01 2.12235711e-01 1.79325035e-02 4.31038358e+01] [-2.12202531e-01 9.77218494e-01 -3.75522313e-03 -5.26404359e+00] [-1.83209665e-02 -1.36267015e-04 9.99832148e-01 -1.02486799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.838623853 meters 0.016341842537188362 Centerline is valid? [True, True] Translation: X:43.13, Y:-5.27, Z:-1.02 [[ 9.77003803e-01 2.12416012e-01 1.85204433e-02 4.31329332e+01] [-2.12380660e-01 9.77179317e-01 -3.87794034e-03 -5.27015329e+00] [-1.89215307e-02 -1.44621502e-04 9.99820961e-01 -1.02458411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.868623853 meters 0.016521079530527092 Centerline is valid? [True, True] Translation: X:43.16, Y:-5.28, Z:-1.02 [[ 9.76717424e-01 2.13661209e-01 1.92863290e-02 4.31628812e+01] [-2.13623107e-01 9.76907804e-01 -4.03867424e-03 -5.27729680e+00] [-1.97038733e-02 -1.75362027e-04 9.99805844e-01 -1.02336599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.898623853000004 meters 0.017824993011784956 Centerline is valid? [True, True] Translation: X:43.19, Y:-5.28, Z:-1.03 [[ 9.76548897e-01 2.14465075e-01 1.88940217e-02 4.31925475e+01] [-2.14428660e-01 9.76731640e-01 -3.95645105e-03 -5.28206403e+00] [-1.93029094e-02 -1.87751857e-04 9.99813664e-01 -1.02515423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.928623853000005 meters 0.020174940333722288 Centerline is valid? [True, True] Translation: X:43.22, Y:-5.28, Z:-1.03 [[ 9.76317439e-01 2.15532797e-01 1.87048613e-02 4.32211218e+01] [-2.15497294e-01 9.76496580e-01 -3.91735674e-03 -5.28465492e+00] [-1.91095519e-02 -2.06263285e-04 9.99817375e-01 -1.02745264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.958623853000006 meters 0.02428541019066205 Centerline is valid? [True, True] Translation: X:43.25, Y:-5.29, Z:-1.02 [[ 9.76026349e-01 2.16934943e-01 1.76577397e-02 4.32503547e+01] [-2.16903546e-01 9.76186038e-01 -3.69731382e-03 -5.29189002e+00] [-1.80393155e-02 -2.21350653e-04 9.99837254e-01 -1.02351576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.988623853 meters 0.030481897866622688 Centerline is valid? [True, True] Translation: X:43.28, Y:-5.30, Z:-1.02 [[ 9.75441888e-01 2.19623977e-01 1.66862723e-02 4.32803748e+01] [-2.19596337e-01 9.75584565e-01 -3.49371710e-03 -5.29552788e+00] [-1.70461738e-02 -2.56326271e-04 9.99854671e-01 -1.02377682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.018623853 meters 0.031164036041168172 Centerline is valid? [True, True] Translation: X:43.31, Y:-5.30, Z:-1.03 [[ 9.75122601e-01 2.21042406e-01 1.66182862e-02 4.33095843e+01] [-2.21015196e-01 9.75264157e-01 -3.47947404e-03 -5.29704654e+00] [-1.69763302e-02 -2.79979998e-04 9.99855853e-01 -1.02615614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.048623853 meters 0.0245751005062329 Centerline is valid? [True, True] Translation: X:43.34, Y:-5.30, Z:-1.03 [[ 9.74858304e-01 2.22170966e-01 1.70689595e-02 4.33376742e+01] [-2.22142444e-01 9.75007675e-01 -3.57323353e-03 -5.30120006e+00] [-1.74362353e-02 -3.08343997e-04 9.99847930e-01 -1.03197519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.078623853 meters 0.026029024128573285 Centerline is valid? [True, True] Translation: X:43.37, Y:-5.31, Z:-1.03 [[ 9.74176622e-01 2.25158792e-01 1.68353199e-02 4.33670691e+01] [-2.25131507e-01 9.74322016e-01 -3.52334056e-03 -5.30505542e+00] [-1.71963339e-02 -3.57804949e-04 9.99852068e-01 -1.03210063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.108623853000005 meters 0.027541617085308303 Centerline is valid? [True, True] Translation: X:43.39, Y:-5.31, Z:-1.03 [[ 9.73895051e-01 2.26346544e-01 1.71950910e-02 4.33944055e+01] [-2.26318270e-01 9.74046761e-01 -3.59842370e-03 -5.30792603e+00] [-1.75633134e-02 -3.87076205e-04 9.99845678e-01 -1.03247851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.138623853000006 meters 0.03013073387129415 Centerline is valid? [True, True] Translation: X:43.42, Y:-5.31, Z:-1.03 [[ 9.73317586e-01 2.28790200e-01 1.75476977e-02 4.34231535e+01] [-2.28761172e-01 9.73475654e-01 -3.67099921e-03 -5.30853493e+00] [-1.79221451e-02 -4.41183807e-04 9.99839288e-01 -1.03210414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.168623853 meters 0.032499147355974235 Centerline is valid? [True, True] Translation: X:43.45, Y:-5.31, Z:-1.03 [[ 9.73082763e-01 2.29748364e-01 1.80450882e-02 4.34515651e+01] [-2.29717839e-01 9.73249951e-01 -3.77466783e-03 -5.31013544e+00] [-1.84296050e-02 -4.72214469e-04 9.99830049e-01 -1.03260584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.198623853 meters 0.03216844805957494 Centerline is valid? [True, True] Translation: X:43.48, Y:-5.32, Z:-1.03 [[ 9.72885183e-01 2.30581157e-01 1.80762639e-02 4.34793101e+01] [-2.30550691e-01 9.73052974e-01 -3.78008315e-03 -5.31561642e+00] [-1.84607783e-02 -4.89908248e-04 9.99829465e-01 -1.03293751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.228623853 meters 0.033990255032730496 Centerline is valid? [True, True] Translation: X:43.51, Y:-5.32, Z:-1.03 [[ 9.72660497e-01 2.31521875e-01 1.81432720e-02 4.35075174e+01] [-2.31491365e-01 9.72829564e-01 -3.79303227e-03 -5.31810737e+00] [-1.85284813e-02 -5.10678155e-04 9.99828203e-01 -1.03380134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.258623853 meters 0.03446838234298233 Centerline is valid? [True, True] Translation: X:43.54, Y:-5.32, Z:-1.04 [[ 9.72603727e-01 2.31786334e-01 1.78069157e-02 4.35359450e+01] [-2.31757014e-01 9.72766590e-01 -3.72135063e-03 -5.32212901e+00] [-1.81845309e-02 -5.07478125e-04 9.99834519e-01 -1.03518570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.288623853000004 meters 0.03499037358906798 Centerline is valid? [True, True] Translation: X:43.56, Y:-5.33, Z:-1.04 [[ 9.72564081e-01 2.31972908e-01 1.75407636e-02 4.35647001e+01] [-2.31944503e-01 9.72722117e-01 -3.66490043e-03 -5.32595354e+00] [-1.79124463e-02 -5.04133185e-04 9.99839432e-01 -1.03619764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.318623853000005 meters 0.03531057407917341 Centerline is valid? [True, True] Translation: X:43.59, Y:-5.33, Z:-1.04 [[ 9.72565902e-01 2.31973704e-01 1.74289312e-02 4.35924265e+01] [-2.31945674e-01 9.72721928e-01 -3.64078714e-03 -5.32992015e+00] [-1.77980704e-02 -5.01659757e-04 9.99841476e-01 -1.03735988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.348623853 meters 0.03228365991987982 Centerline is valid? [True, True] Translation: X:43.62, Y:-5.34, Z:-1.04 [[ 9.72567039e-01 2.31936160e-01 1.78598206e-02 4.36200471e+01] [-2.31906742e-01 9.72730874e-01 -3.72962693e-03 -5.33674751e+00] [-1.82378342e-02 -5.14500587e-04 9.99833544e-01 -1.03637956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.378623853 meters 0.03583025656279759 Centerline is valid? [True, True] Translation: X:43.65, Y:-5.34, Z:-1.04 [[ 9.72583297e-01 2.31862917e-01 1.79253520e-02 4.36487106e+01] [-2.31833285e-01 9.72748334e-01 -3.74249154e-03 -5.33564918e+00] [-1.83046013e-02 -5.15808462e-04 9.99832324e-01 -1.03799764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.408623853 meters 0.03559235868830131 Centerline is valid? [True, True] Translation: X:43.68, Y:-5.34, Z:-1.04 [[ 9.72534310e-01 2.32052764e-01 1.81254233e-02 4.36769426e+01] [-2.32022523e-01 9.72703057e-01 -3.78301506e-03 -5.34030591e+00] [-1.85085138e-02 -5.26394512e-04 9.99828564e-01 -1.03853982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.438623853 meters 0.03619112368963783 Centerline is valid? [True, True] Translation: X:43.71, Y:-5.34, Z:-1.04 [[ 9.72464071e-01 2.32326640e-01 1.83837830e-02 4.37055009e+01] [-2.32295595e-01 9.72637672e-01 -3.83611293e-03 -5.34194615e+00] [-1.87719911e-02 -5.39989799e-04 9.99823645e-01 -1.03867453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.468623853000004 meters 0.035583863991933376 Centerline is valid? [True, True] Translation: X:43.73, Y:-5.35, Z:-1.04 [[ 9.72412812e-01 2.32524560e-01 1.85917136e-02 4.37338637e+01] [-2.32492867e-01 9.72590369e-01 -3.87831266e-03 -5.34644951e+00] [-1.89839245e-02 -5.51119870e-04 9.99819637e-01 -1.03837489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.498623853000005 meters 0.03440913268591711 Centerline is valid? [True, True] Translation: X:43.76, Y:-5.35, Z:-1.04 [[ 9.72427748e-01 2.32443405e-01 1.88238888e-02 4.37616290e+01] [-2.32410915e-01 9.72609764e-01 -3.92597327e-03 -5.35132227e+00] [-1.92208647e-02 -5.57151883e-04 9.99815107e-01 -1.03832904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.528623853000006 meters 0.03440913268591711 Centerline is valid? [True, True] Translation: X:43.79, Y:-5.36, Z:-1.04 [[ 9.72444178e-01 2.32374637e-01 1.88241663e-02 4.37885764e+01] [-2.32342160e-01 9.72626196e-01 -3.92464221e-03 -5.35680763e+00] [-1.92208646e-02 -5.57151999e-04 9.99815107e-01 -1.03902081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.558623853 meters 0.03657443893148211 Centerline is valid? [True, True] Translation: X:43.82, Y:-5.36, Z:-1.04 [[ 9.72616991e-01 2.31617841e-01 1.92188813e-02 4.38173942e+01] [-2.31583868e-01 9.72806696e-01 -4.00550174e-03 -5.35503411e+00] [-1.96240021e-02 -5.54963826e-04 9.99807277e-01 -1.03969220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.588623853 meters 0.032149991454883904 Centerline is valid? [True, True] Translation: X:43.85, Y:-5.36, Z:-1.04 [[ 9.72814091e-01 2.30804125e-01 1.90315499e-02 4.38450952e+01] [-2.30770687e-01 9.73000087e-01 -3.96484259e-03 -5.36448983e+00] [-1.94328017e-02 -5.34869105e-04 9.99811022e-01 -1.03968967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.618623853 meters 0.03276834874904915 Centerline is valid? [True, True] Translation: X:43.87, Y:-5.37, Z:-1.04 [[ 9.73011257e-01 2.29977566e-01 1.89582071e-02 4.38725727e+01] [-2.29944246e-01 9.73195793e-01 -3.94868935e-03 -5.36679424e+00] [-1.93581574e-02 -5.17211451e-04 9.99812480e-01 -1.04047107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.648623853000004 meters 0.0314677813466187 Centerline is valid? [True, True] Translation: X:43.90, Y:-5.37, Z:-1.04 [[ 9.73457242e-01 2.28061046e-01 1.92134436e-02 4.39007898e+01] [-2.28026474e-01 9.73646713e-01 -4.00062646e-03 -5.36875528e+00] [-1.96194932e-02 -4.86734984e-04 9.99807401e-01 -1.04155611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.678623853000005 meters 0.03036685468843763 Centerline is valid? [True, True] Translation: X:43.93, Y:-5.37, Z:-1.04 [[ 9.73680995e-01 2.27112170e-01 1.91149561e-02 4.39298295e+01] [-2.27077793e-01 9.73868494e-01 -3.97884167e-03 -5.37328484e+00] [-1.95190969e-02 -4.66459540e-04 9.99809375e-01 -1.04252859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.708623853000006 meters 0.0287317413275364 Centerline is valid? [True, True] Translation: X:43.96, Y:-5.38, Z:-1.04 [[ 9.73962046e-01 2.25935391e-01 1.87385146e-02 4.39586240e+01] [-2.25902150e-01 9.74142192e-01 -3.89982296e-03 -5.37836958e+00] [-1.91350857e-02 -4.34791186e-04 9.99816813e-01 -1.04388353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.738623853 meters 0.026534328618797363 Centerline is valid? [True, True] Translation: X:43.99, Y:-5.38, Z:-1.05 [[ 9.74606103e-01 2.23184692e-01 1.82081533e-02 4.39867606e+01] [-2.23152836e-01 9.74776106e-01 -3.78887752e-03 -5.38257574e+00] [-1.85944922e-02 -3.70537896e-04 9.99827039e-01 -1.04638302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.768623853 meters 0.025291448935489184 Centerline is valid? [True, True] Translation: X:44.01, Y:-5.39, Z:-1.05 [[ 9.75008890e-01 2.21428796e-01 1.80818331e-02 4.40143195e+01] [-2.21397094e-01 9.75176484e-01 -3.76179157e-03 -5.38767030e+00] [-1.84659474e-02 -3.35485083e-04 9.99829434e-01 -1.04764166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.798623853 meters 0.02316246720540072 Centerline is valid? [True, True] Translation: X:44.04, Y:-5.39, Z:-1.05 [[ 9.75471175e-01 2.19393305e-01 1.79600644e-02 4.40428198e+01] [-2.19361706e-01 9.75636454e-01 -3.73522851e-03 -5.39461390e+00] [-1.83419777e-02 -2.96142609e-04 9.99831728e-01 -1.04871417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.828623853 meters 0.022664725754271697 Centerline is valid? [True, True] Translation: X:44.07, Y:-5.40, Z:-1.05 [[ 9.75912147e-01 2.17448010e-01 1.76591361e-02 4.40703066e+01] [-2.17417151e-01 9.76071871e-01 -3.67218007e-03 -5.39871936e+00] [-1.80350943e-02 -2.55673938e-04 9.99837322e-01 -1.05073686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.858623853000005 meters 0.017527124293011103 Centerline is valid? [True, True] Translation: X:44.10, Y:-5.41, Z:-1.05 [[ 9.76893399e-01 2.13052876e-01 1.69634813e-02 4.40974133e+01] [-2.13023756e-01 9.77040656e-01 -3.52646587e-03 -5.40867503e+00] [-1.73253346e-02 -1.68643270e-04 9.99849891e-01 -1.05129708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.888623853000006 meters 0.01652933407306563 Centerline is valid? [True, True] Translation: X:44.12, Y:-5.41, Z:-1.05 [[ 9.77441586e-01 2.10523057e-01 1.69702081e-02 4.41243234e+01] [-2.10493544e-01 9.77588884e-01 -3.52715989e-03 -5.41463011e+00] [-1.73324352e-02 -1.24526478e-04 9.99849774e-01 -1.05336517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.918623853 meters 0.014255308591050786 Centerline is valid? [True, True] Translation: X:44.15, Y:-5.42, Z:-1.05 [[ 9.78588716e-01 2.05064899e-01 1.76779891e-02 4.41510106e+01] [-2.05032006e-01 9.78748377e-01 -3.67289954e-03 -5.42472954e+00] [-1.80554860e-02 -3.02955267e-05 9.99836986e-01 -1.05345430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.948623853 meters 0.01398253593656122 Centerline is valid? [True, True] Translation: X:44.18, Y:-5.43, Z:-1.05 [[ 9.79108477e-01 2.02535740e-01 1.80517037e-02 4.41782920e+01] [-2.02501034e-01 9.79274871e-01 -3.74930256e-03 -5.43326087e+00] [-1.84369476e-02 1.54852537e-05 9.99830025e-01 -1.05207996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.978623853 meters 0.014495239545476466 Centerline is valid? [True, True] Translation: X:44.21, Y:-5.44, Z:-1.05 [[ 9.79602398e-01 2.00140327e-01 1.79719409e-02 4.42059445e+01] [-2.00105541e-01 9.79767241e-01 -3.73183900e-03 -5.44158630e+00] [-1.83552104e-02 5.94334859e-05 9.99831527e-01 -1.05345486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.008623853 meters 0.01611219897514319 Centerline is valid? [True, True] Translation: X:44.23, Y:-5.45, Z:-1.05 [[ 9.80512534e-01 1.95703262e-01 1.71873416e-02 4.42340601e+01] [-1.95670782e-01 9.80663151e-01 -3.56793629e-03 -5.45059572e+00] [-1.75532493e-02 1.35345691e-04 9.99845921e-01 -1.05469332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.038623853000004 meters 0.017909423828011986 Centerline is valid? [True, True] Translation: X:44.26, Y:-5.46, Z:-1.06 [[ 9.80856949e-01 1.93974653e-01 1.71312530e-02 4.42614720e+01] [-1.93942127e-01 9.81006527e-01 -3.55594414e-03 -5.45941537e+00] [-1.74956340e-02 1.65400893e-04 9.99846926e-01 -1.05691850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.068623853000005 meters 0.019574343557105477 Centerline is valid? [True, True] Translation: X:44.29, Y:-5.47, Z:-1.06 [[ 9.81337298e-01 1.91562377e-01 1.67619855e-02 4.42901451e+01] [-1.91530899e-01 9.81480420e-01 -3.47854703e-03 -5.46750095e+00] [-1.71179193e-02 2.03189794e-04 9.99853457e-01 -1.05860003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.098623853 meters 0.02040274007960526 Centerline is valid? [True, True] Translation: X:44.32, Y:-5.47, Z:-1.06 [[ 9.81464461e-01 1.90942037e-01 1.63905411e-02 4.43183363e+01] [-1.90911858e-01 9.81601291e-01 -3.40117259e-03 -5.47435873e+00] [-1.67384031e-02 2.08981379e-04 9.99859881e-01 -1.06070310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.128623853 meters 0.019916667068746886 Centerline is valid? [True, True] Translation: X:44.35, Y:-5.48, Z:-1.06 [[ 9.81559199e-01 1.90470860e-01 1.61984530e-02 4.43474101e+01] [-1.90441330e-01 9.81692827e-01 -3.36063215e-03 -5.47873130e+00] [-1.65420076e-02 2.13804466e-04 9.99863149e-01 -1.06048952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.158623853 meters 0.020427531983138812 Centerline is valid? [True, True] Translation: X:44.38, Y:-5.49, Z:-1.06 [[ 9.81535885e-01 1.90558206e-01 1.65794037e-02 4.43751393e+01] [-1.90527290e-01 9.81675875e-01 -3.43933242e-03 -5.48502770e+00] [-1.69309937e-02 2.16999334e-04 9.99856637e-01 -1.06135080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.188623853 meters 0.019528606688418573 Centerline is valid? [True, True] Translation: X:44.40, Y:-5.49, Z:-1.06 [[ 9.81353558e-01 1.91413802e-01 1.74914375e-02 4.44035703e+01] [-1.91379537e-01 9.81509405e-01 -3.62789411e-03 -5.48858313e+00] [-1.78624394e-02 2.12743593e-04 9.99840431e-01 -1.06011815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.218623853000004 meters 0.01810584026513222 Centerline is valid? [True, True] Translation: X:44.43, Y:-5.49, Z:-1.06 [[ 9.81197452e-01 1.92158412e-01 1.80749897e-02 4.44334681e+01] [-1.92121969e-01 9.81363899e-01 -3.74785411e-03 -5.49176221e+00] [-1.84583240e-02 2.04782295e-04 9.99829610e-01 -1.05905911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.248623853000005 meters 0.017982387988359706 Centerline is valid? [True, True] Translation: X:44.46, Y:-5.50, Z:-1.06 [[ 9.81006434e-01 1.93093294e-01 1.84758011e-02 4.44620576e+01] [-1.93055392e-01 9.81180383e-01 -3.83047592e-03 -5.49759569e+00] [-1.88677328e-02 1.90868506e-04 9.99821970e-01 -1.06000262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.278623853000006 meters 0.01698228838435611 Centerline is valid? [True, True] Translation: X:44.49, Y:-5.50, Z:-1.06 [[ 9.80792851e-01 1.94204485e-01 1.81659234e-02 4.44914602e+01] [-1.94168042e-01 9.80961054e-01 -3.76577824e-03 -5.50233286e+00] [-1.85513944e-02 1.66206604e-04 9.99827894e-01 -1.06091301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.308623853 meters 0.017124288901413782 Centerline is valid? [True, True] Translation: X:44.52, Y:-5.51, Z:-1.06 [[ 9.80708899e-01 1.94647974e-01 1.79505229e-02 4.45197095e+01] [-1.94612471e-01 9.80873153e-01 -3.72076467e-03 -5.50872726e+00] [-1.83314253e-02 1.55591400e-04 9.99831953e-01 -1.06254795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.338623853 meters 0.016795270615319012 Centerline is valid? [True, True] Translation: X:44.55, Y:-5.51, Z:-1.06 [[ 9.80569896e-01 1.95361986e-01 1.77868634e-02 4.45473776e+01] [-1.95327254e-01 9.80731194e-01 -3.68636268e-03 -5.51414615e+00] [-1.81643069e-02 1.40477075e-04 9.99835005e-01 -1.06446378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.368623853 meters 0.016479917066511224 Centerline is valid? [True, True] Translation: X:44.58, Y:-5.52, Z:-1.07 [[ 9.80472516e-01 1.95868402e-01 1.75845233e-02 4.45754932e+01] [-1.95834559e-01 9.80630181e-01 -3.64319072e-03 -5.51983512e+00] [-1.79575002e-02 1.28391005e-04 9.99838743e-01 -1.06531076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.398623853000004 meters 0.016112881008391002 Centerline is valid? [True, True] Translation: X:44.60, Y:-5.53, Z:-1.07 [[ 9.80351015e-01 1.96475763e-01 1.75830279e-02 4.46034900e+01] [-1.96442039e-01 9.80508675e-01 -3.64203243e-03 -5.52528660e+00] [-1.79558825e-02 1.16424342e-04 9.99838773e-01 -1.06590302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.428623853000005 meters 0.0155569712944881 Centerline is valid? [True, True] Translation: X:44.63, Y:-5.53, Z:-1.07 [[ 9.80182939e-01 1.97289427e-01 1.78406397e-02 4.46312772e+01] [-1.97254858e-01 9.80345282e-01 -3.69450790e-03 -5.53169627e+00] [-1.82188743e-02 1.02140748e-04 9.99834017e-01 -1.06697828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.458623853000006 meters 0.01536290520050698 Centerline is valid? [True, True] Translation: X:44.66, Y:-5.54, Z:-1.07 [[ 9.80165732e-01 1.97367693e-01 1.79201681e-02 4.46594035e+01] [-1.97332844e-01 9.80329528e-01 -3.71010997e-03 -5.53824996e+00] [-1.82999257e-02 1.00284914e-04 9.99832537e-01 -1.06693075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.488623853 meters 0.024289973849160436 Centerline is valid? [True, True] Translation: X:44.69, Y:-5.54, Z:-1.06 [[ 9.80107191e-01 1.97706706e-01 1.73767554e-02 4.46873760e+01] [-1.97674007e-01 9.80261215e-01 -3.59678217e-03 -5.54434406e+00] [-1.77448674e-02 9.02991984e-05 9.99842543e-01 -1.06291826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.518623853 meters 0.014980292254150951 Centerline is valid? [True, True] Translation: X:44.72, Y:-5.55, Z:-1.07 [[ 9.80020169e-01 1.98092881e-01 1.78795430e-02 4.47157187e+01] [-1.98058343e-01 9.80183250e-01 -3.69993221e-03 -5.55123390e+00] [-1.82581588e-02 8.48155317e-05 9.99833302e-01 -1.06822347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.548623853 meters 0.014560520138626668 Centerline is valid? [True, True] Translation: X:44.74, Y:-5.56, Z:-1.07 [[ 9.79774149e-01 1.99286370e-01 1.80986386e-02 4.47425158e+01] [-1.99251199e-01 9.79941294e-01 -3.74443734e-03 -5.55708068e+00] [-1.84818186e-02 6.25274722e-05 9.99829195e-01 -1.06844729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.578623853 meters 0.014288185575544139 Centerline is valid? [True, True] Translation: X:44.77, Y:-5.56, Z:-1.07 [[ 9.79575975e-01 2.00240043e-01 1.82985047e-02 4.47711963e+01] [-2.00204280e-01 9.79746867e-01 -3.78456782e-03 -5.56269029e+00] [-1.86857247e-02 4.38327495e-05 9.99825406e-01 -1.06925263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.608623853000005 meters 0.01400684637881074 Centerline is valid? [True, True] Translation: X:44.80, Y:-5.57, Z:-1.07 [[ 9.79318116e-01 2.01494203e-01 1.83334134e-02 4.47995437e+01] [-2.01458541e-01 9.79489707e-01 -3.79088453e-03 -5.56781242e+00] [-1.87212310e-02 1.90591882e-05 9.99824742e-01 -1.06965115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.638623853000006 meters 0.014411394080885926 Centerline is valid? [True, True] Translation: X:44.83, Y:-5.57, Z:-1.07 [[ 9.78620544e-01 2.04891820e-01 1.79212801e-02 4.48273121e+01] [-2.04858326e-01 9.78784624e-01 -3.70488370e-03 -5.57064561e+00] [-1.83001738e-02 -4.56481312e-05 9.99832537e-01 -1.07138111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.668623853 meters 0.014880894065891147 Centerline is valid? [True, True] Translation: X:44.86, Y:-5.57, Z:-1.07 [[ 9.78211149e-01 2.06851808e-01 1.77560561e-02 4.48555452e+01] [-2.06819273e-01 9.78372282e-01 -3.66956330e-03 -5.57458637e+00] [-1.81310889e-02 -8.26868665e-05 9.99835615e-01 -1.07220232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.698623853 meters 0.017203310007089048 Centerline is valid? [True, True] Translation: X:44.88, Y:-5.58, Z:-1.07 [[ 9.77338921e-01 2.10978338e-01 1.72271650e-02 4.48841479e+01] [-2.10948367e-01 9.77490725e-01 -3.55945165e-03 -5.57731229e+00] [-1.75903612e-02 -1.55251689e-04 9.99845266e-01 -1.07404526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.728623853 meters 0.0186081272881845 Centerline is valid? [True, True] Translation: X:44.91, Y:-5.58, Z:-1.07 [[ 9.76828363e-01 2.13368118e-01 1.67450294e-02 4.49129307e+01] [-2.13340165e-01 9.76971857e-01 -3.45903776e-03 -5.58126086e+00] [-1.70974708e-02 -1.93501143e-04 9.99853809e-01 -1.07495600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.758623853 meters 0.02576497151058424 Centerline is valid? [True, True] Translation: X:44.94, Y:-5.58, Z:-1.07 [[ 9.76269529e-01 2.15937407e-01 1.63964546e-02 4.49409391e+01] [-2.15910981e-01 9.76407180e-01 -3.38632403e-03 -5.58185620e+00] [-1.67408501e-02 -2.34209632e-04 9.99859835e-01 -1.07277618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.788623853000004 meters 0.025896959583073545 Centerline is valid? [True, True] Translation: X:44.97, Y:-5.58, Z:-1.08 [[ 9.75159844e-01 2.20839476e-01 1.71232228e-02 4.49715917e+01] [-2.20811434e-01 9.75310112e-01 -3.53497982e-03 -5.57993794e+00] [-1.74811155e-02 -3.33833021e-04 9.99847138e-01 -1.07626397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.818623853000005 meters 0.02714657474855188 Centerline is valid? [True, True] Translation: X:45.00, Y:-5.58, Z:-1.08 [[ 9.74674067e-01 2.22935337e-01 1.76153170e-02 4.50000517e+01] [-2.22906006e-01 9.74833160e-01 -3.63638685e-03 -5.58279472e+00] [-1.79826743e-02 -3.82267991e-04 9.99838226e-01 -1.07609166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.848623853 meters 0.030600408816779216 Centerline is valid? [True, True] Translation: X:45.03, Y:-5.58, Z:-1.08 [[ 9.74223347e-01 2.24902533e-01 1.75419981e-02 4.50279679e+01] [-2.24873782e-01 9.74381176e-01 -3.62024825e-03 -5.58287737e+00] [-1.79067958e-02 -4.17805098e-04 9.99839573e-01 -1.07719684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.878623853 meters 0.029520175027809074 Centerline is valid? [True, True] Translation: X:45.06, Y:-5.59, Z:-1.08 [[ 9.73830592e-01 2.26577247e-01 1.77968900e-02 4.50561883e+01] [-2.26547961e-01 9.73993092e-01 -3.67133355e-03 -5.58925822e+00] [-1.81658886e-02 -4.56592219e-04 9.99834882e-01 -1.07668108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.908623853 meters 0.035378428406527586 Centerline is valid? [True, True] Translation: X:45.09, Y:-5.59, Z:-1.08 [[ 9.73138604e-01 2.29529071e-01 1.78231107e-02 4.50863091e+01] [-2.29500211e-01 9.73301671e-01 -3.67574443e-03 -5.58537057e+00] [-1.81909537e-02 -5.13398870e-04 9.99834399e-01 -1.07859126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.938623853 meters 0.03579416483424102 Centerline is valid? [True, True] Translation: X:45.11, Y:-5.59, Z:-1.08 [[ 9.72905287e-01 2.30509141e-01 1.79119454e-02 4.51146098e+01] [-2.30480170e-01 9.73070013e-01 -3.69345486e-03 -5.58974350e+00] [-1.82809520e-02 -5.34966445e-04 9.99832746e-01 -1.07887447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.968623853000004 meters 0.03574834732824978 Centerline is valid? [True, True] Translation: X:45.14, Y:-5.59, Z:-1.08 [[ 9.72725897e-01 2.31245430e-01 1.81626230e-02 4.51427263e+01] [-2.31215787e-01 9.72895287e-01 -3.74424990e-03 -5.59425174e+00] [-1.85361710e-02 -5.57356342e-04 9.99828035e-01 -1.07905341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.998623853000005 meters 0.03737847438738937 Centerline is valid? [True, True] Translation: X:45.17, Y:-5.59, Z:-1.08 [[ 9.72508030e-01 2.32095397e-01 1.89699253e-02 4.51710131e+01] [-2.32063236e-01 9.72692843e-01 -3.90992886e-03 -5.59307598e+00] [-1.93593871e-02 -5.99785056e-04 9.99812410e-01 -1.07894462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.028623853000006 meters 0.03779258883955178 Centerline is valid? [True, True] Translation: X:45.20, Y:-5.60, Z:-1.08 [[ 9.72580301e-01 2.31807799e-01 1.87803691e-02 4.51988203e+01] [-2.31776260e-01 9.72761428e-01 -3.86897392e-03 -5.59650965e+00] [-1.91656770e-02 -5.89955907e-04 9.99816147e-01 -1.07963459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.058623853 meters 0.03639564913637852 Centerline is valid? [True, True] Translation: X:45.23, Y:-5.60, Z:-1.08 [[ 9.72821454e-01 2.30813045e-01 1.85406880e-02 4.52273542e+01] [-2.30782148e-01 9.72997955e-01 -3.81842601e-03 -5.60253337e+00] [-1.89213940e-02 -5.64213052e-04 9.99820815e-01 -1.08147052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.088623853 meters 0.03365034394861277 Centerline is valid? [True, True] Translation: X:45.26, Y:-5.61, Z:-1.08 [[ 9.73609187e-01 2.27504361e-01 1.80808325e-02 4.52553719e+01] [-2.27474425e-01 9.73776939e-01 -3.72278904e-03 -5.60898078e+00] [-1.84536485e-02 -4.88385366e-04 9.99829598e-01 -1.08358433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.118623853 meters 0.03142045119855798 Centerline is valid? [True, True] Translation: X:45.28, Y:-5.62, Z:-1.08 [[ 9.74135753e-01 2.25226430e-01 1.82370361e-02 4.52836722e+01] [-2.25195588e-01 9.74306344e-01 -3.75427782e-03 -5.61666572e+00] [-1.86140225e-02 -4.49723803e-04 9.99826643e-01 -1.08464102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.148623853000004 meters 0.028162003404590696 Centerline is valid? [True, True] Translation: X:45.31, Y:-5.63, Z:-1.09 [[ 9.74738502e-01 2.22607818e-01 1.81827493e-02 4.53110720e+01] [-2.22576713e-01 9.74907996e-01 -3.74253194e-03 -5.62616337e+00] [-1.85596246e-02 -3.99066606e-04 9.99827676e-01 -1.08513657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.178623853000005 meters 0.02315823734669993 Centerline is valid? [True, True] Translation: X:45.34, Y:-5.64, Z:-1.09 [[ 9.75821383e-01 2.17803991e-01 1.82770298e-02 4.53391054e+01] [-2.17771739e-01 9.75992482e-01 -3.76088509e-03 -5.63762294e+00] [-1.86573795e-02 -3.10268477e-04 9.99825888e-01 -1.08551311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.208623853000006 meters 0.02247207877557415 Centerline is valid? [True, True] Translation: X:45.37, Y:-5.64, Z:-1.09 [[ 9.76281445e-01 2.15713198e-01 1.85028644e-02 4.53668385e+01] [-2.15679775e-01 9.76456728e-01 -3.80703981e-03 -5.64331127e+00] [-1.88884752e-02 -2.73951305e-04 9.99821559e-01 -1.08628391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.238623853 meters 0.020956299380986202 Centerline is valid? [True, True] Translation: X:45.39, Y:-5.65, Z:-1.09 [[ 9.76661714e-01 2.13973766e-01 1.86312526e-02 4.53946822e+01] [-2.13939578e-01 9.76839377e-01 -3.83252149e-03 -5.65020435e+00] [-1.90198003e-02 -2.42885317e-04 9.99819078e-01 -1.08626962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.268623853 meters 0.01863983319976678 Centerline is valid? [True, True] Translation: X:45.42, Y:-5.66, Z:-1.09 [[ 9.77234781e-01 2.11270232e-01 1.94183401e-02 4.54216120e+01] [-2.11232579e-01 9.77427670e-01 -3.99351979e-03 -5.65709268e+00] [-1.98237347e-02 -1.99179618e-04 9.99803471e-01 -1.08513075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.298623853 meters 0.018058346678910906 Centerline is valid? [True, True] Translation: X:45.45, Y:-5.66, Z:-1.09 [[ 9.77425361e-01 2.10365584e-01 1.96464970e-02 4.54490768e+01] [-2.10326882e-01 9.77622773e-01 -4.03925761e-03 -5.66216618e+00] [-2.00565836e-02 -1.84113629e-04 9.99798830e-01 -1.08546230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.328623853 meters 0.01742571844968619 Centerline is valid? [True, True] Translation: X:45.48, Y:-5.67, Z:-1.09 [[ 9.77595432e-01 2.09557364e-01 1.98212874e-02 4.54772266e+01] [-2.09517829e-01 9.77796340e-01 -4.07396483e-03 -5.66796127e+00] [-2.02349116e-02 -1.70223681e-04 9.99795239e-01 -1.08584238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.358623853000005 meters 0.016275293289986 Centerline is valid? [True, True] Translation: X:45.51, Y:-5.68, Z:-1.09 [[ 9.77857815e-01 2.08369861e-01 1.93931605e-02 4.55052717e+01] [-2.08331799e-01 9.78050091e-01 -3.98509385e-03 -5.67542044e+00] [-1.97978558e-02 -1.43356842e-04 9.99803993e-01 -1.08695165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.388623853000006 meters 0.015980535392224528 Centerline is valid? [True, True] Translation: X:45.53, Y:-5.68, Z:-1.09 [[ 9.77981035e-01 2.07807009e-01 1.92182796e-02 4.55318063e+01] [-2.07769536e-01 9.78169837e-01 -3.94843162e-03 -5.68026847e+00] [-1.96192532e-02 -1.31481786e-04 9.99807515e-01 -1.08763160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.418623853 meters 0.015980535392224528 Centerline is valid? [True, True] Translation: X:45.56, Y:-5.69, Z:-1.09 [[ 9.77995363e-01 2.07739536e-01 1.92186117e-02 4.55587581e+01] [-2.07702082e-01 9.78184169e-01 -3.94681422e-03 -5.68566369e+00] [-1.96192511e-02 -1.31779663e-04 9.99807515e-01 -1.08832308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.448623853 meters 0.01593257036745039 Centerline is valid? [True, True] Translation: X:45.59, Y:-5.69, Z:-1.09 [[ 9.78108612e-01 2.07189113e-01 1.93962412e-02 4.55858263e+01] [-2.07150884e-01 9.78300903e-01 -3.98181813e-03 -5.68981089e+00] [-1.98003496e-02 -1.23297907e-04 9.99803946e-01 -1.08880493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.478623853 meters 0.015241164796757346 Centerline is valid? [True, True] Translation: X:45.61, Y:-5.70, Z:-1.09 [[ 9.78449906e-01 2.05605548e-01 1.90299825e-02 4.56128496e+01] [-2.05568469e-01 9.78634942e-01 -3.90565314e-03 -5.69558724e+00] [-1.94264298e-02 -9.04784292e-05 9.99811285e-01 -1.09045000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.508623853 meters 0.0148174912765869 Centerline is valid? [True, True] Translation: X:45.64, Y:-5.70, Z:-1.09 [[ 9.78597524e-01 2.04912478e-01 1.89145869e-02 4.56399469e+01] [-2.04875748e-01 9.78780297e-01 -3.88036383e-03 -5.70244942e+00] [-1.93083600e-02 -7.78257207e-05 9.99813573e-01 -1.09050055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.538623853000004 meters 0.014482554677437073 Centerline is valid? [True, True] Translation: X:45.67, Y:-5.71, Z:-1.09 [[ 9.78683091e-01 2.04507871e-01 1.88663040e-02 4.56674777e+01] [-2.04471281e-01 9.78864917e-01 -3.86909100e-03 -5.70866190e+00] [-1.92588226e-02 -7.10033911e-05 9.99814529e-01 -1.09029704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.568623853000005 meters 0.014605430548301821 Centerline is valid? [True, True] Translation: X:45.69, Y:-5.71, Z:-1.09 [[ 9.78608277e-01 2.04823814e-01 1.93143847e-02 4.56946888e+01] [-2.04785552e-01 9.78798855e-01 -3.95964056e-03 -5.71170757e+00] [-1.97159264e-02 -8.03699197e-05 9.99805619e-01 -1.09036998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.598623853 meters 0.014622685035646704 Centerline is valid? [True, True] Translation: X:45.72, Y:-5.72, Z:-1.09 [[ 9.78507680e-01 2.05296997e-01 1.93872064e-02 4.57236356e+01] [-2.05258588e-01 9.78699716e-01 -3.97208340e-03 -5.71614877e+00] [-1.97897102e-02 -9.26765149e-05 9.99804160e-01 -1.09045274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.628623853 meters 0.019382090569284485 Centerline is valid? [True, True] Translation: X:45.75, Y:-5.72, Z:-1.09 [[ 9.78215283e-01 2.06698445e-01 1.92513247e-02 4.57519914e+01] [-2.06660859e-01 9.78404690e-01 -3.94347067e-03 -5.71662450e+00] [-1.96506956e-02 -1.20932023e-04 9.99806899e-01 -1.08780808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.658623853 meters 0.01595370207116143 Centerline is valid? [True, True] Translation: X:45.78, Y:-5.72, Z:-1.09 [[ 9.77996674e-01 2.07680771e-01 1.97788766e-02 4.57806732e+01] [-2.07641336e-01 9.78196645e-01 -4.04965318e-03 -5.71942792e+00] [-2.01886659e-02 -1.46365023e-04 9.99796177e-01 -1.09159317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.688623853 meters 0.016382470709882652 Centerline is valid? [True, True] Translation: X:45.81, Y:-5.72, Z:-1.09 [[ 9.77749547e-01 2.08855682e-01 1.96246470e-02 4.58096041e+01] [-2.08817115e-01 9.77946458e-01 -4.01712236e-03 -5.72237735e+00] [-2.00308529e-02 -1.70222610e-04 9.99799348e-01 -1.09184478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.718623853000004 meters 0.017137857640193075 Centerline is valid? [True, True] Translation: X:45.84, Y:-5.72, Z:-1.09 [[ 9.77521390e-01 2.09908179e-01 1.97607980e-02 4.58379405e+01] [-2.09869309e-01 9.77721084e-01 -4.04402677e-03 -5.72457327e+00] [-2.01694231e-02 -1.94062357e-04 9.99796558e-01 -1.09275483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.748623853000005 meters 0.03287965583790117 Centerline is valid? [True, True] Translation: X:45.87, Y:-5.72, Z:-1.09 [[ 9.77233464e-01 2.11329394e-01 1.88320185e-02 4.58667670e+01] [-2.11294378e-01 9.77414877e-01 -3.85281354e-03 -5.72434033e+00] [-1.92209078e-02 -2.14001333e-04 9.99815238e-01 -1.08983147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.778623853000006 meters 0.0188812363855347 Centerline is valid? [True, True] Translation: X:45.90, Y:-5.73, Z:-1.10 [[ 9.77148768e-01 2.11747202e-01 1.85312686e-02 4.58954099e+01] [-2.11713394e-01 9.77324447e-01 -3.79006029e-03 -5.72904812e+00] [-1.89135965e-02 -2.19865032e-04 9.99821098e-01 -1.09639616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.808623853 meters 0.018775309022378717 Centerline is valid? [True, True] Translation: X:45.92, Y:-5.73, Z:-1.10 [[ 9.77141714e-01 2.11814403e-01 1.81308746e-02 4.59242642e+01] [-2.11782069e-01 9.77309885e-01 -3.70728899e-03 -5.73320538e+00] [-1.85047402e-02 -2.17247423e-04 9.99828749e-01 -1.09750370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.838623853 meters 0.017905789932519765 Centerline is valid? [True, True] Translation: X:45.95, Y:-5.74, Z:-1.10 [[ 9.77347021e-01 2.10847315e-01 1.83360397e-02 4.59530155e+01] [-2.10814092e-01 9.77518986e-01 -3.74829755e-03 -5.73739100e+00] [-1.87141455e-02 -2.02108125e-04 9.99824855e-01 -1.09776130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.868623853 meters 0.01818994661020757 Centerline is valid? [True, True] Translation: X:45.98, Y:-5.74, Z:-1.10 [[ 9.77519106e-01 2.10021784e-01 1.86345689e-02 4.59801329e+01] [-2.09987337e-01 9.77696688e-01 -3.80841547e-03 -5.74148856e+00] [-1.90188065e-02 -1.90224612e-04 9.99819108e-01 -1.09864059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.898623853000004 meters 0.016902822938868568 Centerline is valid? [True, True] Translation: X:46.01, Y:-5.75, Z:-1.10 [[ 9.77678551e-01 2.09264776e-01 1.87857654e-02 4.60086615e+01] [-2.09229653e-01 9.77858999e-01 -3.83801951e-03 -5.74831939e+00] [-1.91729921e-02 -1.78189835e-04 9.99816165e-01 -1.09774215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.928623853000005 meters 0.01585917530338789 Centerline is valid? [True, True] Translation: X:46.04, Y:-5.75, Z:-1.10 [[ 9.78156936e-01 2.06956978e-01 1.94375501e-02 4.60364490e+01] [-2.06918939e-01 9.78350035e-01 -3.97020227e-03 -5.75340675e+00] [-1.98383888e-02 -1.38516350e-04 9.99803190e-01 -1.09795761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.958623853000006 meters 0.015244520943357898 Centerline is valid? [True, True] Translation: X:46.06, Y:-5.76, Z:-1.10 [[ 9.78447422e-01 2.05560849e-01 1.96310674e-02 4.60640296e+01] [-2.05521794e-01 9.78644330e-01 -4.00844920e-03 -5.75943138e+00] [-2.00358130e-02 -1.12555405e-04 9.99799257e-01 -1.09834452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.988623853 meters 0.014626930892704728 Centerline is valid? [True, True] Translation: X:46.09, Y:-5.77, Z:-1.10 [[ 9.78713504e-01 2.04281120e-01 1.97256499e-02 4.60916454e+01] [-2.04241454e-01 9.78912262e-01 -4.02646210e-03 -5.76604429e+00] [-2.01322108e-02 -8.80425846e-05 9.99797323e-01 -1.09867439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.018623853 meters 0.029075354415180475 Centerline is valid? [True, True] Translation: X:46.12, Y:-5.77, Z:-1.10 [[ 9.79341864e-01 2.01394599e-01 1.81584290e-02 4.61179099e+01] [-2.01360496e-01 9.79510191e-01 -3.70621699e-03 -5.77326879e+00] [-1.85327784e-02 -2.67368205e-05 9.99828253e-01 -1.09662256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.048623853 meters 0.013948504532204035 Centerline is valid? [True, True] Translation: X:46.15, Y:-5.78, Z:-1.10 [[ 9.79598726e-01 2.00104363e-01 1.85628888e-02 4.61453738e+01] [-2.00068545e-01 9.79774588e-01 -3.78595542e-03 -5.78073734e+00] [-1.89450329e-02 -5.13304109e-06 9.99820527e-01 -1.10139146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.078623853 meters 0.013933340310889669 Centerline is valid? [True, True] Translation: X:46.17, Y:-5.79, Z:-1.10 [[ 9.79843966e-01 1.98876450e-01 1.88137984e-02 4.61714251e+01] [-1.98839445e-01 9.80024570e-01 -3.83636689e-03 -5.78684291e+00] [-1.92009477e-02 1.81157089e-05 9.99815645e-01 -1.10196723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.108623853000005 meters 0.014137284820990453 Centerline is valid? [True, True] Translation: X:46.20, Y:-5.79, Z:-1.10 [[ 9.80095887e-01 1.97639575e-01 1.87256723e-02 4.61994351e+01] [-1.97602727e-01 9.80274756e-01 -3.81650078e-03 -5.79340747e+00] [-1.91105954e-02 4.02928201e-05 9.99817375e-01 -1.10233236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.138623853000006 meters 0.014760323185390601 Centerline is valid? [True, True] Translation: X:46.23, Y:-5.80, Z:-1.10 [[ 9.80562037e-01 1.95317951e-01 1.86812723e-02 4.62265446e+01] [-1.95280872e-01 9.80739971e-01 -3.80657986e-03 -5.80101737e+00] [-1.90649639e-02 8.44925573e-05 9.99818243e-01 -1.10324735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.168623853 meters 0.01508546096613114 Centerline is valid? [True, True] Translation: X:46.25, Y:-5.81, Z:-1.10 [[ 9.80717765e-01 1.94553584e-01 1.84815664e-02 4.62547373e+01] [-1.94517182e-01 9.80891887e-01 -3.76464605e-03 -5.80743945e+00] [-1.88608440e-02 9.70730385e-05 9.99822114e-01 -1.10437440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.198623853 meters 0.01588514938234877 Centerline is valid? [True, True] Translation: X:46.28, Y:-5.81, Z:-1.11 [[ 9.80942524e-01 1.93435884e-01 1.82845307e-02 4.62818730e+01] [-1.93400075e-01 9.81112912e-01 -3.72368643e-03 -5.81463250e+00] [-1.86594838e-02 1.16492756e-04 9.99825890e-01 -1.10587765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.228623853 meters 0.015657394649275222 Centerline is valid? [True, True] Translation: X:46.31, Y:-5.82, Z:-1.11 [[ 9.81039899e-01 1.92912597e-01 1.85861863e-02 4.63090099e+01] [-1.92875523e-01 9.81215936e-01 -3.78401998e-03 -5.81987181e+00] [-1.89670474e-02 1.27454158e-04 9.99820101e-01 -1.10564576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.258623853 meters 0.016322300091104743 Centerline is valid? [True, True] Translation: X:46.34, Y:-5.83, Z:-1.11 [[ 9.81141616e-01 1.92381766e-01 1.87185815e-02 4.63362660e+01] [-1.92344094e-01 9.81320150e-01 -3.80946609e-03 -5.82712360e+00] [-1.91017930e-02 1.37217103e-04 9.99817535e-01 -1.10667899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.288623853000004 meters 0.016524142569186138 Centerline is valid? [True, True] Translation: X:46.36, Y:-5.83, Z:-1.11 [[ 9.81228855e-01 1.91953779e-01 1.85386236e-02 4.63643548e+01] [-1.91916777e-01 9.81403957e-01 -3.77153322e-03 -5.83416662e+00] [-1.89178386e-02 1.42864333e-04 9.99821031e-01 -1.10777036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.318623853000005 meters 0.01637038642678708 Centerline is valid? [True, True] Translation: X:46.39, Y:-5.84, Z:-1.11 [[ 9.81316087e-01 1.91457879e-01 1.90425381e-02 4.63916713e+01] [-1.91418754e-01 9.81500818e-01 -3.87354838e-03 -5.84018900e+00] [-1.94318881e-02 1.56076424e-04 9.99811171e-01 -1.10691391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.34862385300001 meters 0.0166174213133058 Centerline is valid? [True, True] Translation: X:46.42, Y:-5.85, Z:-1.11 [[ 9.81320530e-01 1.91404390e-01 1.93488068e-02 4.64187086e+01] [-1.91364015e-01 9.81511250e-01 -3.93435891e-03 -5.84635839e+00] [-1.97441251e-02 1.58201829e-04 9.99805053e-01 -1.10756935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.378623853 meters 0.016411321361274604 Centerline is valid? [True, True] Translation: X:46.45, Y:-5.85, Z:-1.11 [[ 9.81320476e-01 1.91382868e-01 1.95632686e-02 4.64457765e+01] [-1.91341618e-01 9.81515447e-01 -3.97646755e-03 -5.85163559e+00] [-1.99626781e-02 1.58921558e-04 9.99800713e-01 -1.10725310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.408623853 meters 0.016527269799918375 Centerline is valid? [True, True] Translation: X:46.47, Y:-5.86, Z:-1.11 [[ 9.81307170e-01 1.91458122e-01 1.94942350e-02 4.64720170e+01] [-1.91417203e-01 9.81500771e-01 -3.96116474e-03 -5.85736559e+00] [-1.98920039e-02 1.55587412e-04 9.99802122e-01 -1.10803109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.438623853 meters 0.015999863277008905 Centerline is valid? [True, True] Translation: X:46.50, Y:-5.86, Z:-1.11 [[ 9.81102992e-01 1.92496333e-01 1.95468840e-02 4.64994580e+01] [-1.92455447e-01 9.81297684e-01 -3.96948396e-03 -5.86222420e+00] [-1.99454231e-02 1.32568299e-04 9.99801061e-01 -1.10850985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.468623853000004 meters 0.015567654806484229 Centerline is valid? [True, True] Translation: X:46.53, Y:-5.87, Z:-1.11 [[ 9.80980664e-01 1.93118585e-01 1.95486530e-02 4.65276480e+01] [-1.93077839e-01 9.81175417e-01 -3.96860666e-03 -5.86675425e+00] [-1.99470694e-02 1.18714722e-04 9.99801030e-01 -1.10928653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.498623853000005 meters 0.015141983895286057 Centerline is valid? [True, True] Translation: X:46.56, Y:-5.87, Z:-1.11 [[ 9.80816016e-01 1.93950521e-01 1.95739367e-02 4.65560382e+01] [-1.93909855e-01 9.81011307e-01 -3.97279467e-03 -5.87108609e+00] [-1.99727788e-02 1.01001417e-04 9.99800519e-01 -1.11014929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.528623853000006 meters 0.014486090140798285 Centerline is valid? [True, True] Translation: X:46.58, Y:-5.88, Z:-1.11 [[ 9.80481671e-01 1.95592853e-01 1.99782175e-02 4.65849929e+01] [-1.95550850e-01 9.80685185e-01 -4.05385020e-03 -5.87543404e+00] [-2.03852461e-02 6.79683935e-05 9.99792197e-01 -1.11015204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.558623853 meters 0.014285675304262547 Centerline is valid? [True, True] Translation: X:46.61, Y:-5.88, Z:-1.11 [[ 9.80322376e-01 1.96344356e-01 2.04189482e-02 4.66123766e+01] [-1.96300663e-01 9.80535002e-01 -4.14230785e-03 -5.88018662e+00] [-2.08348122e-02 5.25440121e-05 9.99782930e-01 -1.10995941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.588623853 meters 0.014064762793156523 Centerline is valid? [True, True] Translation: X:46.64, Y:-5.88, Z:-1.11 [[ 9.80166240e-01 1.97106327e-01 2.05727633e-02 4.66397056e+01] [-1.97062166e-01 9.80382117e-01 -4.17230331e-03 -5.88420603e+00] [-2.09915566e-02 3.54375642e-05 9.99779652e-01 -1.10957786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.618623853 meters 0.013903194514097137 Centerline is valid? [True, True] Translation: X:46.67, Y:-5.89, Z:-1.11 [[ 9.80031579e-01 1.97753171e-01 2.07795209e-02 4.66673818e+01] [-1.97708296e-01 9.80251847e-01 -4.21269912e-03 -5.88884650e+00] [-2.12022384e-02 2.02944984e-05 9.99775207e-01 -1.10951045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.648623853000004 meters 0.01397082907135544 Centerline is valid? [True, True] Translation: X:46.69, Y:-5.89, Z:-1.11 [[ 9.79883321e-01 1.98522162e-01 2.04359699e-02 4.66940355e+01] [-1.98478956e-01 9.80096399e-01 -4.14158911e-03 -5.89408448e+00] [-2.08514177e-02 2.16412660e-06 9.99782586e-01 -1.11121977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.678623853000005 meters 0.020139616031483572 Centerline is valid? [True, True] Translation: X:46.72, Y:-5.90, Z:-1.11 [[ 9.79827050e-01 1.98888756e-01 1.95503082e-02 4.67217393e+01] [-1.98849322e-01 9.80022073e-01 -3.96034614e-03 -5.89963016e+00] [-1.99474019e-02 -7.11125698e-06 9.99801031e-01 -1.10934290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.708623853000006 meters 0.01417633292625285 Centerline is valid? [True, True] Translation: X:46.75, Y:-5.91, Z:-1.11 [[ 9.79780330e-01 1.99099993e-01 1.97407606e-02 4.67486027e+01] [-1.99059854e-01 9.79979180e-01 -3.99774701e-03 -5.90580247e+00] [-2.01414858e-02 -1.26790419e-05 9.99797140e-01 -1.11411798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.738623853 meters 0.014333738432650048 Centerline is valid? [True, True] Translation: X:46.78, Y:-5.91, Z:-1.12 [[ 9.79623706e-01 1.99918628e-01 1.92337262e-02 4.67755324e+01] [-1.99880711e-01 9.79812503e-01 -3.89360938e-03 -5.91168510e+00] [-1.96238504e-02 -3.01788102e-05 9.99807433e-01 -1.11568839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.768623853 meters 0.014381947320608272 Centerline is valid? [True, True] Translation: X:46.80, Y:-5.92, Z:-1.12 [[ 9.79529712e-01 2.00344473e-01 1.95866158e-02 4.68019970e+01] [-2.00305256e-01 9.79725518e-01 -3.96409805e-03 -5.91682540e+00] [-1.99836925e-02 -4.03502829e-05 9.99800305e-01 -1.11659122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.798623853 meters 0.014360668546779877 Centerline is valid? [True, True] Translation: X:46.83, Y:-5.92, Z:-1.12 [[ 9.79476264e-01 2.00635829e-01 1.92746409e-02 4.68303374e+01] [-2.00597959e-01 9.79665893e-01 -3.89833573e-03 -5.92280291e+00] [-1.96648541e-02 -4.81263075e-05 9.99806627e-01 -1.11652846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.828623853 meters 0.01467774304589313 Centerline is valid? [True, True] Translation: X:46.86, Y:-5.93, Z:-1.12 [[ 9.79256191e-01 2.01645568e-01 1.99092358e-02 4.68574241e+01] [-2.01605389e-01 9.79458554e-01 -4.02582759e-03 -5.92748520e+00] [-2.03120617e-02 -7.14926495e-05 9.99793686e-01 -1.11623542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.858623853000005 meters 0.014638828630871684 Centerline is valid? [True, True] Translation: X:46.88, Y:-5.93, Z:-1.12 [[ 9.79167121e-01 2.02045955e-01 2.02282001e-02 4.68845229e+01] [-2.02004602e-01 9.79376039e-01 -4.08848924e-03 -5.93309260e+00] [-2.06370772e-02 -8.28752754e-05 9.99787029e-01 -1.11572086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.888623853000006 meters 0.014903756772940651 Centerline is valid? [True, True] Translation: X:46.91, Y:-5.94, Z:-1.12 [[ 9.79005324e-01 2.02799928e-01 2.05125387e-02 4.69131231e+01] [-2.02757605e-01 9.79220189e-01 -4.14426949e-03 -5.93854853e+00] [-2.09267496e-02 -1.01811324e-04 9.99781006e-01 -1.11621421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.918623853 meters 0.015614940757502036 Centerline is valid? [True, True] Translation: X:46.94, Y:-5.94, Z:-1.12 [[ 9.78800271e-01 2.03770953e-01 2.06743197e-02 4.69406942e+01] [-2.03728197e-01 9.79018582e-01 -4.17593948e-03 -5.94255108e+00] [-2.10914783e-02 -1.24531172e-04 9.99777542e-01 -1.11733478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.948623853 meters 0.01716318699741654 Centerline is valid? [True, True] Translation: X:46.97, Y:-5.95, Z:-1.12 [[ 9.78271920e-01 2.06248471e-01 2.11097035e-02 4.69694294e+01] [-2.06204502e-01 9.78499635e-01 -4.26246510e-03 -5.94520303e+00] [-2.15349641e-02 -1.83065988e-04 9.99768079e-01 -1.11678270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.978623853 meters 0.017674106671710522 Centerline is valid? [True, True] Translation: X:47.00, Y:-5.95, Z:-1.12 [[ 9.77990275e-01 2.07596540e-01 2.09451458e-02 4.69981070e+01] [-2.07553584e-01 9.78214512e-01 -4.22823760e-03 -5.95034294e+00] [-2.13666131e-02 -2.12064829e-04 9.99771685e-01 -1.11759106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.008623853 meters 0.019482603798248142 Centerline is valid? [True, True] Translation: X:47.03, Y:-5.95, Z:-1.12 [[ 9.77700232e-01 2.08971625e-01 2.08114554e-02 4.70262705e+01] [-2.08929548e-01 9.77921675e-01 -4.20025730e-03 -5.95242595e+00] [-2.12297079e-02 -2.41535439e-04 9.99774595e-01 -1.11914959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.038623853000004 meters 0.02138904683482583 Centerline is valid? [True, True] Translation: X:47.06, Y:-5.95, Z:-1.12 [[ 9.77148396e-01 2.11589158e-01 2.02741363e-02 4.70555546e+01] [-2.11549816e-01 9.77358656e-01 -4.09053051e-03 -5.95322547e+00] [-2.06806146e-02 -2.91934484e-04 9.99786091e-01 -1.12107362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.068623853000005 meters 0.02198627489969648 Centerline is valid? [True, True] Translation: X:47.08, Y:-5.96, Z:-1.12 [[ 9.76943370e-01 2.12578222e-01 1.98028061e-02 4.70840688e+01] [-2.12540910e-01 9.77144004e-01 -3.99449345e-03 -5.95750651e+00] [-2.01993356e-02 -3.06512550e-04 9.99795926e-01 -1.12246015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.09862385300001 meters 0.022896720296315867 Centerline is valid? [True, True] Translation: X:47.11, Y:-5.96, Z:-1.12 [[ 9.76811879e-01 2.13189071e-01 1.97224095e-02 4.71119038e+01] [-2.13152202e-01 9.77010910e-01 -3.97750806e-03 -5.96179398e+00] [-2.01169705e-02 -3.18597889e-04 9.99797583e-01 -1.12374471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.128623853 meters 0.02345472398478711 Centerline is valid? [True, True] Translation: X:47.14, Y:-5.97, Z:-1.12 [[ 9.76651818e-01 2.13899439e-01 1.99563563e-02 4.71399806e+01] [-2.13861880e-01 9.76855626e-01 -4.02261167e-03 -5.96701111e+00] [-2.03549133e-02 -3.39212876e-04 9.99792760e-01 -1.12426818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.158623853 meters 0.0243829956725452 Centerline is valid? [True, True] Translation: X:47.17, Y:-5.97, Z:-1.12 [[ 9.76639673e-01 2.13934124e-01 2.01776847e-02 4.71668373e+01] [-2.13895748e-01 9.76848029e-01 -4.06658565e-03 -5.97035123e+00] [-2.05805130e-02 -3.44332073e-04 9.99788140e-01 -1.12499842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.188623853 meters 0.026596463777188134 Centerline is valid? [True, True] Translation: X:47.19, Y:-5.97, Z:-1.13 [[ 9.76666821e-01 2.13798837e-01 2.02972633e-02 4.71940436e+01] [-2.13760036e-01 9.76877647e-01 -4.08774563e-03 -5.97174176e+00] [-2.07018981e-02 -3.46378214e-04 9.99785633e-01 -1.12591151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.218623853000004 meters 0.02380521914453289 Centerline is valid? [True, True] Translation: X:47.22, Y:-5.98, Z:-1.12 [[ 9.76733321e-01 2.13374665e-01 2.15237472e-02 4.72217312e+01] [-2.13330974e-01 9.76970380e-01 -4.33270188e-03 -5.98034310e+00] [-2.19525522e-02 -3.59787659e-04 9.99758949e-01 -1.12338602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.248623853000005 meters 0.023266766649771675 Centerline is valid? [True, True] Translation: X:47.25, Y:-5.99, Z:-1.12 [[ 9.76801374e-01 2.12988201e-01 2.22508948e-02 4.72497089e+01] [-2.12941434e-01 9.77054704e-01 -4.47795782e-03 -5.98589853e+00] [-2.26940936e-02 -3.64062098e-04 9.99742390e-01 -1.12267704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.278623853000006 meters 0.02666726108696129 Centerline is valid? [True, True] Translation: X:47.28, Y:-5.99, Z:-1.12 [[ 9.76916059e-01 2.12476550e-01 2.21072233e-02 4.72781707e+01] [-2.12430277e-01 9.77166103e-01 -4.44798021e-03 -5.99269128e+00] [-2.25475207e-02 -3.50940277e-04 9.99745711e-01 -1.11829603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.308623853 meters 0.02666726108696129 Centerline is valid? [True, True] Translation: X:47.31, Y:-6.00, Z:-1.12 [[ 9.76931390e-01 2.12406029e-01 2.21074253e-02 4.73051430e+01] [-2.12359762e-01 9.77181435e-01 -4.44697593e-03 -5.99798173e+00] [-2.25475301e-02 -3.50337192e-04 9.99745711e-01 -1.11898755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.338623853 meters 0.021122425204872973 Centerline is valid? [True, True] Translation: X:47.33, Y:-6.01, Z:-1.12 [[ 9.77158437e-01 2.11212383e-01 2.34674017e-02 4.73329359e+01] [-2.11159949e-01 9.77440131e-01 -4.71863323e-03 -6.00630644e+00] [-2.39346139e-02 -3.44523063e-04 9.99713467e-01 -1.12300463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.368623853 meters 0.021214852052097975 Centerline is valid? [True, True] Translation: X:47.36, Y:-6.01, Z:-1.12 [[ 9.77318536e-01 2.10455189e-01 2.36028141e-02 4.73603620e+01] [-2.10401955e-01 9.77603450e-01 -4.74468489e-03 -6.01147741e+00] [-2.40727360e-02 -3.29009730e-04 9.99710156e-01 -1.12381642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.398623853000004 meters 0.020754534924207518 Centerline is valid? [True, True] Translation: X:47.39, Y:-6.02, Z:-1.12 [[ 9.77461636e-01 2.09827919e-01 2.32592713e-02 4.73881126e+01] [-2.09776081e-01 9.77738282e-01 -4.67418072e-03 -6.01752539e+00] [-2.37222536e-02 -3.10406434e-04 9.99718540e-01 -1.12487716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.428623853000005 meters 0.02126670433213457 Centerline is valid? [True, True] Translation: X:47.42, Y:-6.02, Z:-1.13 [[ 9.77577319e-01 2.09324086e-01 2.29349625e-02 4.74158942e+01] [-2.09273570e-01 9.77846276e-01 -4.60792536e-03 -6.02111418e+00] [-2.33914174e-02 -2.95078153e-04 9.99726340e-01 -1.12672666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.458623853000006 meters 0.019875434493666227 Centerline is valid? [True, True] Translation: X:47.44, Y:-6.03, Z:-1.13 [[ 9.77814011e-01 2.08326791e-01 2.19022541e-02 4.74438922e+01] [-2.08280501e-01 9.78059242e-01 -4.39914722e-03 -6.02791653e+00] [-2.23381623e-02 -2.60264670e-04 9.99750438e-01 -1.12963450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.488623853 meters 0.019336114396829907 Centerline is valid? [True, True] Translation: X:47.47, Y:-6.03, Z:-1.13 [[ 9.77888302e-01 2.07997858e-01 2.17108230e-02 4.74709592e+01] [-2.07952314e-01 9.78129249e-01 -4.35973336e-03 -6.03359421e+00] [-2.21428062e-02 -2.51483636e-04 9.99754786e-01 -1.13060640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.518623853 meters 0.018996335410321617 Centerline is valid? [True, True] Translation: X:47.50, Y:-6.04, Z:-1.13 [[ 9.77989932e-01 2.07536734e-01 2.15452284e-02 4.74995930e+01] [-2.07491807e-01 9.78227196e-01 -4.32482327e-03 -6.03917705e+00] [-2.19736881e-02 -2.40824752e-04 9.99758520e-01 -1.13189796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.548623853 meters 0.01910888792013067 Centerline is valid? [True, True] Translation: X:47.53, Y:-6.04, Z:-1.13 [[ 9.78002239e-01 2.07486061e-01 2.14745280e-02 4.75268474e+01] [-2.07441437e-01 9.78237945e-01 -4.30965098e-03 -6.04380888e+00] [-2.19013906e-02 -2.39858627e-04 9.99760107e-01 -1.13274575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.578623853 meters 0.019490963718359348 Centerline is valid? [True, True] Translation: X:47.56, Y:-6.05, Z:-1.13 [[ 9.77929622e-01 2.07807071e-01 2.16766016e-02 4.75552387e+01] [-2.07761720e-01 9.78169800e-01 -4.34851715e-03 -6.04688203e+00] [-2.21070497e-02 -2.51024300e-04 9.99755578e-01 -1.13318727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.608623853000005 meters 0.019843321852517012 Centerline is valid? [True, True] Translation: X:47.58, Y:-6.05, Z:-1.13 [[ 9.77888853e-01 2.07963106e-01 2.20167668e-02 4.75817518e+01] [-2.07916378e-01 9.78136636e-01 -4.41591928e-03 -6.04941034e+00] [-2.24537545e-02 -2.59368177e-04 9.99747849e-01 -1.13323775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.638623853000006 meters 0.019707160052481357 Centerline is valid? [True, True] Translation: X:47.61, Y:-6.05, Z:-1.13 [[ 9.77888913e-01 2.07908830e-01 2.25209286e-02 4.76092429e+01] [-2.07860005e-01 9.78148172e-01 -4.51346757e-03 -6.05279172e+00] [-2.29671949e-02 -2.67530436e-04 9.99736183e-01 -1.13286940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.668623853 meters 0.019063152030378876 Centerline is valid? [True, True] Translation: X:47.64, Y:-6.06, Z:-1.13 [[ 9.77923055e-01 2.07699224e-01 2.29680239e-02 4.76381027e+01] [-2.07648424e-01 9.78192701e-01 -4.60131911e-03 -6.05567876e+00] [-2.34228437e-02 -2.69537919e-04 9.99725611e-01 -1.13354377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.698623853 meters 0.019423545948291106 Centerline is valid? [True, True] Translation: X:47.67, Y:-6.06, Z:-1.13 [[ 9.77942261e-01 2.07574958e-01 2.32716772e-02 4.76652995e+01] [-2.07522797e-01 9.78219077e-01 -4.66102291e-03 -6.05882039e+00] [-2.37323102e-02 -2.71192264e-04 9.99718312e-01 -1.13435190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.728623853 meters 0.01917078235794011 Centerline is valid? [True, True] Translation: X:47.69, Y:-6.06, Z:-1.13 [[ 9.78023514e-01 2.07171719e-01 2.34496410e-02 4.76937401e+01] [-2.07118692e-01 9.78304558e-01 -4.69456270e-03 -6.06340586e+00] [-2.39134713e-02 -2.65466256e-04 9.99713997e-01 -1.13464303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.758623853 meters 0.026402317627810278 Centerline is valid? [True, True] Translation: X:47.72, Y:-6.07, Z:-1.13 [[ 9.78272009e-01 2.06059614e-01 2.28760340e-02 4.77225990e+01] [-2.06008871e-01 9.78539412e-01 -4.57864458e-03 -6.06834949e+00] [-2.33285746e-02 -2.33506099e-04 9.99727825e-01 -1.13049638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.788623853000004 meters 0.01790338739657922 Centerline is valid? [True, True] Translation: X:47.75, Y:-6.07, Z:-1.14 [[ 9.78331937e-01 2.05730816e-01 2.32691378e-02 4.77510169e+01] [-2.05678249e-01 9.78608593e-01 -4.65613683e-03 -6.07351824e+00] [-2.37292890e-02 -2.30708165e-04 9.99718394e-01 -1.13678649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.818623853000005 meters 0.01787529328343716 Centerline is valid? [True, True] Translation: X:47.78, Y:-6.08, Z:-1.14 [[ 9.78446539e-01 2.05220341e-01 2.29560759e-02 4.77786325e+01] [-2.05169065e-01 9.78715773e-01 -4.59238700e-03 -6.07661605e+00] [-2.34099248e-02 -2.16471454e-04 9.99725927e-01 -1.13786322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.84862385300001 meters 0.017471796875314517 Centerline is valid? [True, True] Translation: X:47.81, Y:-6.08, Z:-1.14 [[ 9.78610988e-01 2.04433821e-01 2.29640323e-02 4.78080598e+01] [-2.04382327e-01 9.78880367e-01 -4.59253291e-03 -6.07856130e+00] [-2.34179094e-02 -1.99139185e-04 9.99725743e-01 -1.13880248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.878623853 meters 0.016962354718872807 Centerline is valid? [True, True] Translation: X:47.84, Y:-6.08, Z:-1.14 [[ 9.78771603e-01 2.03675420e-01 2.28576565e-02 4.78367731e+01] [-2.03624221e-01 9.79038452e-01 -4.57014812e-03 -6.08347909e+00] [-2.33093515e-02 -1.81241309e-04 9.99728284e-01 -1.14008843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.908623853 meters 0.016333968785040343 Centerline is valid? [True, True] Translation: X:47.86, Y:-6.09, Z:-1.14 [[ 9.78957360e-01 2.02794845e-01 2.27318604e-02 4.78648815e+01] [-2.02743996e-01 9.79221234e-01 -4.54388226e-03 -6.08947689e+00] [-2.31809963e-02 -1.60481229e-04 9.99731272e-01 -1.14131362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.938623853 meters 0.01530783696419107 Centerline is valid? [True, True] Translation: X:47.89, Y:-6.10, Z:-1.14 [[ 9.79458971e-01 2.00348670e-01 2.28152111e-02 4.78926219e+01] [-2.00296811e-01 9.79724655e-01 -4.55938465e-03 -6.09513378e+00] [-2.32660915e-02 -1.04083825e-04 9.99729302e-01 -1.14234321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.968623853000004 meters 0.014951326773488415 Centerline is valid? [True, True] Translation: X:47.92, Y:-6.10, Z:-1.14 [[ 9.79790600e-01 1.98697653e-01 2.30135314e-02 4.79206841e+01] [-1.98644460e-01 9.80060834e-01 -4.59785745e-03 -6.10160245e+00] [-2.34682442e-02 -6.65730007e-05 9.99724581e-01 -1.14305155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.998623853000005 meters 0.01457661854644201 Centerline is valid? [True, True] Translation: X:47.95, Y:-6.11, Z:-1.14 [[ 9.80098602e-01 1.97119016e-01 2.34696171e-02 4.79480301e+01] [-1.97063269e-01 9.80379566e-01 -4.68778658e-03 -6.10777117e+00] [-2.39331849e-02 -3.05063994e-05 9.99713560e-01 -1.14340766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.028623853000006 meters 0.014724577910501187 Centerline is valid? [True, True] Translation: X:47.97, Y:-6.11, Z:-1.14 [[ 9.80766375e-01 1.93740424e-01 2.37058095e-02 4.79742879e+01] [-1.93682598e-01 9.81052825e-01 -4.73348418e-03 -6.11423176e+00] [-2.41737187e-02 5.10393563e-05 9.99707772e-01 -1.14313535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.058623853 meters 0.015074405790924048 Centerline is valid? [True, True] Translation: X:48.00, Y:-6.12, Z:-1.14 [[ 9.81061267e-01 1.92249112e-01 2.36446433e-02 4.80024212e+01] [-1.92191199e-01 9.81346153e-01 -4.71922694e-03 -6.11999464e+00] [-2.41108469e-02 8.55584068e-05 9.99709288e-01 -1.14408202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.088623853 meters 0.015415378038432544 Centerline is valid? [True, True] Translation: X:48.03, Y:-6.13, Z:-1.15 [[ 9.81312473e-01 1.90957469e-01 2.36870467e-02 4.80306947e+01] [-1.90899000e-01 9.81598305e-01 -4.72653891e-03 -6.12642353e+00] [-2.41537328e-02 1.16378039e-04 9.99708249e-01 -1.14526154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.118623853 meters 0.01631428568365275 Centerline is valid? [True, True] Translation: X:48.06, Y:-6.13, Z:-1.15 [[ 9.81663977e-01 1.89132065e-01 2.37676011e-02 4.80571123e+01] [-1.89072692e-01 9.81951646e-01 -4.74143666e-03 -6.13486570e+00] [-2.42353927e-02 1.60693259e-04 9.99706267e-01 -1.14641309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.148623853000004 meters 0.016435698513184778 Centerline is valid? [True, True] Translation: X:48.09, Y:-6.14, Z:-1.15 [[ 9.81727135e-01 1.88779140e-01 2.39638910e-02 4.80858632e+01] [-1.88718713e-01 9.82019556e-01 -4.77909600e-03 -6.14059244e+00] [-2.44352033e-02 1.69333554e-04 9.99701402e-01 -1.14670983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.178623853000005 meters 0.016512286927789954 Centerline is valid? [True, True] Translation: X:48.11, Y:-6.14, Z:-1.15 [[ 9.81814666e-01 1.88319244e-01 2.39963394e-02 4.81145125e+01] [-1.88258544e-01 9.82107851e-01 -4.78439084e-03 -6.14457171e+00] [-2.44679861e-02 1.79869178e-04 9.99700598e-01 -1.14719173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.208623853000006 meters 0.01659706095569474 Centerline is valid? [True, True] Translation: X:48.14, Y:-6.15, Z:-1.15 [[ 9.81787739e-01 1.88518467e-01 2.35291869e-02 4.81414083e+01] [-1.88460193e-01 9.82069630e-01 -4.69012739e-03 -6.14898214e+00] [-2.39914755e-02 1.70394467e-04 9.99712149e-01 -1.14846298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.238623853 meters 0.015962103913439538 Centerline is valid? [True, True] Translation: X:48.17, Y:-6.15, Z:-1.15 [[ 9.81660936e-01 1.89229421e-01 2.31091320e-02 4.81704151e+01] [-1.89173454e-01 9.81932892e-01 -4.60434632e-03 -6.15110374e+00] [-2.35628946e-02 1.48272604e-04 9.99722345e-01 -1.15074625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.268623853 meters 0.016237538505576448 Centerline is valid? [True, True] Translation: X:48.20, Y:-6.16, Z:-1.15 [[ 9.81593175e-01 1.89614355e-01 2.28305897e-02 4.81967147e+01] [-1.89559857e-01 9.81858634e-01 -4.54780009e-03 -6.15608693e+00] [-2.32787398e-02 1.36326208e-04 9.99729004e-01 -1.15256844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.298623853 meters 0.01583608084688695 Centerline is valid? [True, True] Translation: X:48.23, Y:-6.16, Z:-1.15 [[ 9.81497498e-01 1.90154171e-01 2.24511161e-02 4.82251117e+01] [-1.90101657e-01 9.81754235e-01 -4.47022727e-03 -6.16015282e+00] [-2.28915106e-02 1.19522510e-04 9.99737948e-01 -1.15363251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.328623853 meters 0.015644001513032784 Centerline is valid? [True, True] Translation: X:48.25, Y:-6.16, Z:-1.15 [[ 9.81370524e-01 1.90827343e-01 2.22894374e-02 4.82523871e+01] [-1.90775781e-01 9.81623612e-01 -4.43699318e-03 -6.16449191e+00] [-2.27265377e-02 1.02049504e-04 9.99741714e-01 -1.15493863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.358623853000005 meters 0.015150229451165153 Centerline is valid? [True, True] Translation: X:48.28, Y:-6.17, Z:-1.16 [[ 9.81067542e-01 1.92398487e-01 2.21201308e-02 4.82804484e+01] [-1.92348134e-01 9.81316880e-01 -4.40197250e-03 -6.16685091e+00] [-2.25537906e-02 6.38664657e-05 9.99745629e-01 -1.15635068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.388623853000006 meters 0.014909935223890699 Centerline is valid? [True, True] Translation: X:48.31, Y:-6.17, Z:-1.16 [[ 9.80957980e-01 1.92970621e-01 2.19950283e-02 4.83079228e+01] [-1.92921008e-01 9.81204534e-01 -4.37581588e-03 -6.17014175e+00] [-2.24260254e-02 4.91884940e-05 9.99748504e-01 -1.15718090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.418623853 meters 0.014845198021598413 Centerline is valid? [True, True] Translation: X:48.33, Y:-6.17, Z:-1.16 [[ 9.80853238e-01 1.93512145e-01 2.19083355e-02 4.83346707e+01] [-1.93463094e-01 9.81097879e-01 -4.35695160e-03 -6.17391475e+00] [-2.23373445e-02 3.50757268e-05 9.99750490e-01 -1.15841071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.448623853 meters 0.014661105160633046 Centerline is valid? [True, True] Translation: X:48.36, Y:-6.18, Z:-1.16 [[ 9.80527638e-01 1.95130022e-01 2.21320027e-02 4.83616255e+01] [-1.95080420e-01 9.80777383e-01 -4.39946573e-03 -6.17534434e+00] [-2.25650356e-02 -3.72264742e-06 9.99745377e-01 -1.15886840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.478623853 meters 0.014703783478209859 Centerline is valid? [True, True] Translation: X:48.39, Y:-6.18, Z:-1.16 [[ 9.80384777e-01 1.95816858e-01 2.23930044e-02 4.83889250e+01] [-1.95766303e-01 9.80640483e-01 -4.44937836e-03 -6.17947565e+00] [-2.28307500e-02 -2.16928698e-05 9.99739344e-01 -1.15912066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.508623853 meters 0.014740758097314727 Centerline is valid? [True, True] Translation: X:48.42, Y:-6.18, Z:-1.16 [[ 9.80266497e-01 1.96376389e-01 2.26695706e-02 4.84155591e+01] [-1.96324765e-01 9.80528588e-01 -4.50267376e-03 -6.18353152e+00] [-2.31123809e-02 -3.67778903e-05 9.99732873e-01 -1.15976974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.538623853000004 meters 0.014840798552039302 Centerline is valid? [True, True] Translation: X:48.44, Y:-6.19, Z:-1.16 [[ 9.80064364e-01 1.97302230e-01 2.33596487e-02 4.84430818e+01] [-1.97247727e-01 9.80342709e-01 -4.63767522e-03 -6.18639333e+00] [-2.38154849e-02 -6.24173863e-05 9.99716369e-01 -1.15949398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.568623853000005 meters 0.014936107996742077 Centerline is valid? [True, True] Translation: X:48.47, Y:-6.19, Z:-1.16 [[ 9.79974213e-01 1.97722009e-01 2.35912920e-02 4.84707771e+01] [-1.97666583e-01 9.80258130e-01 -4.68193685e-03 -6.19053828e+00] [-2.40512778e-02 -7.50327029e-05 9.99710723e-01 -1.16020115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.59862385300001 meters 0.015359706373494595 Centerline is valid? [True, True] Translation: X:48.50, Y:-6.19, Z:-1.16 [[ 9.79835745e-01 1.98460220e-01 2.31398716e-02 4.84989931e+01] [-1.98407141e-01 9.80108939e-01 -4.59062985e-03 -6.19354837e+00] [-2.35906525e-02 -9.30525633e-05 9.99721698e-01 -1.16224012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.628623853 meters 0.015455935292195709 Centerline is valid? [True, True] Translation: X:48.53, Y:-6.20, Z:-1.16 [[ 9.79622878e-01 1.99472857e-01 2.34434594e-02 4.85270162e+01] [-1.99418701e-01 9.79903345e-01 -4.64937585e-03 -6.19800471e+00] [-2.38997486e-02 -1.20429269e-04 9.99714353e-01 -1.16258231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.658623853 meters 0.016059953323052895 Centerline is valid? [True, True] Translation: X:48.55, Y:-6.20, Z:-1.16 [[ 9.79508446e-01 2.00085044e-01 2.30038865e-02 4.85548176e+01] [-2.00033096e-01 9.79778525e-01 -4.56107187e-03 -6.20051962e+00] [-2.34513162e-02 -1.33930202e-04 9.99724971e-01 -1.16406681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.688623853 meters 0.0161998414590483 Centerline is valid? [True, True] Translation: X:48.58, Y:-6.20, Z:-1.16 [[ 9.79420341e-01 2.00512684e-01 2.30316972e-02 4.85838955e+01] [-2.00460763e-01 9.79691095e-01 -4.56509915e-03 -6.20423784e+00] [-2.34793090e-02 -1.45800644e-04 9.99724312e-01 -1.16470381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.718623853000004 meters 0.016345399386528656 Centerline is valid? [True, True] Translation: X:48.61, Y:-6.21, Z:-1.16 [[ 9.79225735e-01 2.01393247e-01 2.36161103e-02 4.86125150e+01] [-2.01338939e-01 9.79510454e-01 -4.67989326e-03 -6.20765096e+00] [-2.40747259e-02 -1.72170679e-04 9.99710147e-01 -1.16492374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.748623853000005 meters 0.016995956988743347 Centerline is valid? [True, True] Translation: X:48.64, Y:-6.21, Z:-1.17 [[ 9.79118156e-01 2.01928894e-01 2.35023225e-02 4.86401049e+01] [-2.01875357e-01 9.79400167e-01 -4.65336783e-03 -6.21039209e+00] [-2.39578280e-02 -1.88342811e-04 9.99712952e-01 -1.16528182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.778623853000006 meters 0.016829274103906226 Centerline is valid? [True, True] Translation: X:48.67, Y:-6.21, Z:-1.17 [[ 9.79071671e-01 2.02081663e-01 2.41177170e-02 4.86676132e+01] [-2.02025370e-01 9.79368655e-01 -4.77365007e-03 -6.21464767e+00] [-2.45848032e-02 -1.98645144e-04 9.99697728e-01 -1.16512065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.808623853 meters 0.017719153986811835 Centerline is valid? [True, True] Translation: X:48.70, Y:-6.22, Z:-1.17 [[ 9.78941274e-01 2.02797713e-01 2.33894980e-02 4.86960608e+01] [-2.02745014e-01 9.79220630e-01 -4.62778963e-03 -6.21611056e+00] [-2.38419841e-02 -2.11769827e-04 9.99715717e-01 -1.16724861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.838623853 meters 0.017331618287486156 Centerline is valid? [True, True] Translation: X:48.72, Y:-6.22, Z:-1.17 [[ 9.78939202e-01 2.02825135e-01 2.32379564e-02 4.87233551e+01] [-2.02773159e-01 9.79214951e-01 -4.59638091e-03 -6.22138842e+00] [-2.36872159e-02 -2.12456361e-04 9.99719396e-01 -1.16852089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.868623853 meters 0.017670852105623927 Centerline is valid? [True, True] Translation: X:48.75, Y:-6.22, Z:-1.17 [[ 9.78940858e-01 2.02860920e-01 2.28526596e-02 4.87499570e+01] [-2.02810702e-01 9.79207538e-01 -4.51848946e-03 -6.22485934e+00] [-2.32941214e-02 -2.11429964e-04 9.99728633e-01 -1.17033346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.898623853000004 meters 0.01840355920187991 Centerline is valid? [True, True] Translation: X:48.78, Y:-6.23, Z:-1.17 [[ 9.78993777e-01 2.02653182e-01 2.24248221e-02 4.87774069e+01] [-2.02604817e-01 9.79250553e-01 -4.43195138e-03 -6.22733106e+00] [-2.28576685e-02 -2.04524172e-04 9.99738708e-01 -1.17232802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.928623853000005 meters 0.017420215931474015 Centerline is valid? [True, True] Translation: X:48.81, Y:-6.23, Z:-1.17 [[ 9.79183427e-01 2.01706944e-01 2.26743134e-02 4.88056571e+01] [-2.01657284e-01 9.79445902e-01 -4.47945466e-03 -6.23358945e+00] [-2.31118005e-02 -1.86232703e-04 9.99732869e-01 -1.17354362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.958623853000006 meters 0.016990009460907472 Centerline is valid? [True, True] Translation: X:48.83, Y:-6.24, Z:-1.17 [[ 9.79394683e-01 2.00672780e-01 2.27264192e-02 4.88326453e+01] [-2.00622702e-01 9.79658312e-01 -4.48593063e-03 -6.23949333e+00] [-2.31643296e-02 -1.65939028e-04 9.99731657e-01 -1.17466021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.988623853 meters 0.01650096396059708 Centerline is valid? [True, True] Translation: X:48.86, Y:-6.25, Z:-1.18 [[ 9.79600212e-01 1.99666436e-01 2.27318915e-02 4.88599025e+01] [-1.99616165e-01 9.79863915e-01 -4.48262100e-03 -6.24532763e+00] [-2.31691892e-02 -1.46476527e-04 9.99731548e-01 -1.17504741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.018623853 meters 0.01549006762138805 Centerline is valid? [True, True] Translation: X:48.89, Y:-6.25, Z:-1.18 [[ 9.80107909e-01 1.97144115e-01 2.28623158e-02 4.88874858e+01] [-1.97092688e-01 9.80374515e-01 -4.50363760e-03 -6.25305360e+00] [-2.33014974e-02 -9.19444524e-05 9.99728479e-01 -1.17614160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.048623853 meters 0.015142784779439181 Centerline is valid? [True, True] Translation: X:48.92, Y:-6.26, Z:-1.18 [[ 9.80397850e-01 1.95746321e-01 2.24373090e-02 4.89151612e+01] [-1.95696447e-01 9.80654564e-01 -4.41885524e-03 -6.26026682e+00] [-2.28682241e-02 -5.86654634e-05 9.99738486e-01 -1.17774681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.078623853 meters 0.015042342846196946 Centerline is valid? [True, True] Translation: X:48.94, Y:-6.27, Z:-1.18 [[ 9.80671340e-01 1.94380847e-01 2.23564101e-02 4.89417049e+01] [-1.94331001e-01 9.80926137e-01 -4.40190461e-03 -6.26791700e+00] [-2.27856329e-02 -2.77218575e-05 9.99740373e-01 -1.17903816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.108623853000005 meters 0.015237200928007353 Centerline is valid? [True, True] Translation: X:48.97, Y:-6.28, Z:-1.18 [[ 9.81174728e-01 1.91886768e-01 2.18087612e-02 4.89683120e+01] [-1.91838752e-01 9.81417071e-01 -4.29251695e-03 -6.27828785e+00] [-2.22271678e-02 2.79436216e-05 9.99752946e-01 -1.18122903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.138623853000006 meters 0.015451230466903616 Centerline is valid? [True, True] Translation: X:49.00, Y:-6.29, Z:-1.18 [[ 9.81358110e-01 1.91006864e-01 2.12752656e-02 4.89963089e+01] [-1.90960997e-01 9.81588700e-01 -4.18591565e-03 -6.28537753e+00] [-2.16830989e-02 4.51363376e-05 9.99764893e-01 -1.18265942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.168623853 meters 0.015667713298387374 Centerline is valid? [True, True] Translation: X:49.02, Y:-6.29, Z:-1.18 [[ 9.81568001e-01 1.89893957e-01 2.15532947e-02 4.90221865e+01] [-1.89846636e-01 9.81804604e-01 -4.23965421e-03 -6.29181004e+00] [-2.19662087e-02 6.96884254e-05 9.99758711e-01 -1.18346983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.198623853 meters 0.016220004354707843 Centerline is valid? [True, True] Translation: X:49.05, Y:-6.30, Z:-1.19 [[ 9.81934942e-01 1.88005698e-01 2.13922268e-02 4.90500430e+01] [-1.87958675e-01 9.82167931e-01 -4.20603981e-03 -6.30059370e+00] [-2.18015186e-02 1.09202849e-04 9.99762313e-01 -1.18532406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.228623853 meters 0.020104766541322608 Centerline is valid? [True, True] Translation: X:49.08, Y:-6.31, Z:-1.18 [[ 9.82086006e-01 1.87263748e-01 2.09610460e-02 4.90783120e+01] [-1.87218454e-01 9.82309663e-01 -4.12025684e-03 -6.30730125e+00] [-2.13618128e-02 1.22151941e-04 9.99771803e-01 -1.18247609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.258623853 meters 0.020104766541322608 Centerline is valid? [True, True] Translation: X:49.11, Y:-6.31, Z:-1.18 [[ 9.82099293e-01 1.87194034e-01 2.09612231e-02 4.91053021e+01] [-1.87148744e-01 9.82322950e-01 -4.11935568e-03 -6.31247318e+00] [-2.13618094e-02 1.22749726e-04 9.99771803e-01 -1.18316752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.288623853000004 meters 0.016932486716352058 Centerline is valid? [True, True] Translation: X:49.13, Y:-6.32, Z:-1.19 [[ 9.82258445e-01 1.86306198e-01 2.14090530e-02 4.91319451e+01] [-1.86258777e-01 9.82491720e-01 -4.20570602e-03 -6.32048861e+00] [-2.18177664e-02 1.43466232e-04 9.99761954e-01 -1.18758007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.318623853000005 meters 0.016851922863386427 Centerline is valid? [True, True] Translation: X:49.16, Y:-6.33, Z:-1.19 [[ 9.82355591e-01 1.85673034e-01 2.24280404e-02 4.91593340e+01] [-1.85620858e-01 9.82611570e-01 -4.40446916e-03 -6.32724625e+00] [-2.28558431e-02 1.63642793e-04 9.99738758e-01 -1.18600303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.34862385300001 meters 0.017089801469461235 Centerline is valid? [True, True] Translation: X:49.19, Y:-6.33, Z:-1.19 [[ 9.82320663e-01 1.85859000e-01 2.24175655e-02 4.91854761e+01] [-1.85806959e-01 9.82576413e-01 -4.40076483e-03 -6.33438230e+00] [-2.28448929e-02 1.57622537e-04 9.99739009e-01 -1.18756278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.378623853 meters 0.01687585039728342 Centerline is valid? [True, True] Translation: X:49.21, Y:-6.34, Z:-1.19 [[ 9.82314070e-01 1.85901257e-01 2.23560024e-02 4.92124229e+01] [-1.85849557e-01 9.82568419e-01 -4.38672143e-03 -6.33983331e+00] [-2.27817989e-02 1.54285054e-04 9.99740449e-01 -1.18805367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.408623853 meters 0.016505302142884017 Centerline is valid? [True, True] Translation: X:49.24, Y:-6.35, Z:-1.19 [[ 9.82082097e-01 1.87231403e-01 2.14279460e-02 4.92392631e+01] [-1.87184255e-01 9.82315829e-01 -4.20317121e-03 -6.34560532e+00] [-2.18359762e-02 1.16885099e-04 9.99761560e-01 -1.19097470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.438623853 meters 0.01613160366973668 Centerline is valid? [True, True] Translation: X:49.27, Y:-6.35, Z:-1.19 [[ 9.81886312e-01 1.88273860e-01 2.12655545e-02 4.92678578e+01] [-1.88227712e-01 9.82116564e-01 -4.16931306e-03 -6.35070242e+00] [-2.16702260e-02 9.10247603e-05 9.99765169e-01 -1.19200166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.468623853000004 meters 0.015658795064682974 Centerline is valid? [True, True] Translation: X:49.30, Y:-6.35, Z:-1.19 [[ 9.81589796e-01 1.89823380e-01 2.11791728e-02 4.92956358e+01] [-1.89777988e-01 9.81818253e-01 -4.15140294e-03 -6.35464962e+00] [-2.15821317e-02 5.56339745e-05 9.99767077e-01 -1.19266688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.498623853000005 meters 0.015450444878624462 Centerline is valid? [True, True] Translation: X:49.32, Y:-6.36, Z:-1.19 [[ 9.81317120e-01 1.91208825e-01 2.13517214e-02 4.93239966e+01] [-1.91163046e-01 9.81549380e-01 -4.18389372e-03 -6.35787039e+00] [-2.17577663e-02 2.40664300e-05 9.99763271e-01 -1.19221513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.528623853000006 meters 0.015501995900713068 Centerline is valid? [True, True] Translation: X:49.35, Y:-6.36, Z:-1.19 [[ 9.80739832e-01 1.94109383e-01 2.17009015e-02 4.93512128e+01] [-1.94062827e-01 9.80979890e-01 -4.25131805e-03 -6.35865901e+00] [-2.21133687e-02 -4.19013491e-05 9.99755469e-01 -1.19291260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.558623853 meters 0.01557261717455848 Centerline is valid? [True, True] Translation: X:49.38, Y:-6.36, Z:-1.19 [[ 9.80609774e-01 1.94759759e-01 2.17510469e-02 4.93785777e+01] [-1.94713190e-01 9.80850974e-01 -4.25919753e-03 -6.36343441e+00] [-2.21640558e-02 -5.86050026e-05 9.99754345e-01 -1.19310182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.588623853 meters 0.01584063164869089 Centerline is valid? [True, True] Translation: X:49.41, Y:-6.37, Z:-1.19 [[ 9.80522537e-01 1.95191688e-01 2.18119132e-02 4.94053724e+01] [-1.95144997e-01 9.80765110e-01 -4.26965999e-03 -6.36887467e+00] [-2.22257656e-02 -6.99878950e-05 9.99752975e-01 -1.19385168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.618623853 meters 0.015837271644478422 Centerline is valid? [True, True] Translation: X:49.43, Y:-6.38, Z:-1.19 [[ 9.80483491e-01 1.95391957e-01 2.17739886e-02 4.94329456e+01] [-1.95345547e-01 9.80725230e-01 -4.25912766e-03 -6.37531159e+00] [-2.21864992e-02 -7.74473383e-05 9.99753846e-01 -1.19480132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.648623853000004 meters 0.01971495303497893 Centerline is valid? [True, True] Translation: X:49.46, Y:-6.38, Z:-1.19 [[ 9.80486396e-01 1.95375285e-01 2.17927689e-02 4.94591401e+01] [-1.95328827e-01 9.80728551e-01 -4.26119865e-03 -6.38053782e+00] [-2.22053236e-02 -7.87086729e-05 9.99753428e-01 -1.19213062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.678623853000005 meters 0.015833636299098244 Centerline is valid? [True, True] Translation: X:49.49, Y:-6.39, Z:-1.20 [[ 9.80519189e-01 1.95172533e-01 2.21314686e-02 4.94863827e+01] [-1.95124612e-01 9.80768921e-01 -4.32543367e-03 -6.38669893e+00] [-2.25500624e-02 -7.72235005e-05 9.99745712e-01 -1.19618435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.708623853000006 meters 0.01569192042470744 Centerline is valid? [True, True] Translation: X:49.51, Y:-6.39, Z:-1.20 [[ 9.80630264e-01 1.94572476e-01 2.24908157e-02 4.95123967e+01] [-1.94522866e-01 9.80888142e-01 -4.39402472e-03 -6.39360199e+00] [-2.29159307e-02 -6.60642940e-05 9.99737393e-01 -1.19612931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.738623853 meters 0.015659924044757086 Centerline is valid? [True, True] Translation: X:49.54, Y:-6.40, Z:-1.20 [[ 9.80725437e-01 1.94051949e-01 2.28354828e-02 4.95396772e+01] [-1.94000711e-01 9.80991253e-01 -4.45938371e-03 -6.40009123e+00] [-2.32667610e-02 -5.66688752e-05 9.99729291e-01 -1.19641486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.768623853 meters 0.015509082938651053 Centerline is valid? [True, True] Translation: X:49.57, Y:-6.41, Z:-1.20 [[ 9.80892106e-01 1.93216170e-01 2.27637500e-02 4.95667406e+01] [-1.93165067e-01 9.81156211e-01 -4.44374463e-03 -6.40712417e+00] [-2.31933980e-02 -3.83272578e-05 9.99730996e-01 -1.19755677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.798623853 meters 0.01538689101382012 Centerline is valid? [True, True] Translation: X:49.59, Y:-6.42, Z:-1.20 [[ 9.81127342e-01 1.92012152e-01 2.28138472e-02 4.95941377e+01] [-1.91960536e-01 9.81392548e-01 -4.45187346e-03 -6.41524679e+00] [-2.32441535e-02 -1.15035741e-05 9.99729818e-01 -1.19838106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.828623853 meters 0.015623072278563348 Centerline is valid? [True, True] Translation: X:49.62, Y:-6.43, Z:-1.20 [[ 9.81668451e-01 1.89245164e-01 2.26565781e-02 4.96212185e+01] [-1.89193559e-01 9.81929868e-01 -4.41951921e-03 -6.42711474e+00] [-2.30835434e-02 5.20239419e-05 9.99733538e-01 -1.19936767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.858623853000005 meters 0.0160540271945994 Centerline is valid? [True, True] Translation: X:49.65, Y:-6.44, Z:-1.20 [[ 9.81957217e-01 1.87707567e-01 2.29323816e-02 4.96490230e+01] [-1.87654304e-01 9.82224955e-01 -4.47220245e-03 -6.43542911e+00] [-2.33642237e-02 8.81513586e-05 9.99727015e-01 -1.19954954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.888623853000006 meters 0.016663522199196788 Centerline is valid? [True, True] Translation: X:49.68, Y:-6.44, Z:-1.20 [[ 9.82270484e-01 1.86044597e-01 2.30673947e-02 4.96763102e+01] [-1.85990273e-01 9.82541293e-01 -4.49741941e-03 -6.44397075e+00] [-2.35013884e-02 1.27371295e-04 9.99723796e-01 -1.20025682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.91862385300001 meters 0.01854652226448116 Centerline is valid? [True, True] Translation: X:49.70, Y:-6.46, Z:-1.20 [[ 9.82932072e-01 1.82579110e-01 2.25701109e-02 4.97028087e+01] [-1.82526213e-01 9.83191145e-01 -4.39939982e-03 -6.45759355e+00] [-2.29939716e-02 2.04674311e-04 9.99735583e-01 -1.20200041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.948623853 meters 0.01905950673183372 Centerline is valid? [True, True] Translation: X:49.73, Y:-6.47, Z:-1.20 [[ 9.83258096e-01 1.80862651e-01 2.21859662e-02 4.97305412e+01] [-1.80811127e-01 9.83508334e-01 -4.32347928e-03 -6.46628277e+00] [-2.26020386e-02 2.39626454e-04 9.99744513e-01 -1.20325367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.978623853 meters 0.020957619667316907 Centerline is valid? [True, True] Translation: X:49.76, Y:-6.48, Z:-1.21 [[ 9.83522280e-01 1.79478702e-01 2.17099300e-02 4.97569724e+01] [-1.79429051e-01 9.83761824e-01 -4.22967946e-03 -6.47722521e+00] [-2.21165377e-02 2.64591862e-04 9.99755364e-01 -1.20545677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.008623853 meters 0.021624041823170907 Centerline is valid? [True, True] Translation: X:49.78, Y:-6.49, Z:-1.21 [[ 9.83756315e-01 1.78250211e-01 2.12220171e-02 4.97843314e+01] [-1.78202510e-01 9.83985153e-01 -4.13327374e-03 -6.48543277e+00] [-2.16189067e-02 2.84317429e-04 9.99766244e-01 -1.20685710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.038623853000004 meters 0.02274195066631849 Centerline is valid? [True, True] Translation: X:49.81, Y:-6.50, Z:-1.21 [[ 9.84218894e-01 1.75746259e-01 2.06499698e-02 4.98114036e+01] [-1.75700564e-01 9.84435444e-01 -4.02090371e-03 -6.49687531e+00] [-2.10352210e-02 3.29238051e-04 9.99778681e-01 -1.20865834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.068623853000005 meters 0.0254934893030934 Centerline is valid? [True, True] Translation: X:49.84, Y:-6.51, Z:-1.21 [[ 9.84412516e-01 1.74699384e-01 2.03007991e-02 4.98382473e+01] [-1.74655019e-01 9.84621758e-01 -3.95197637e-03 -6.50684511e+00] [-2.06790164e-02 3.44738547e-04 9.99786107e-01 -1.20773421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.09862385300001 meters 0.025332271761847193 Centerline is valid? [True, True] Translation: X:49.87, Y:-6.52, Z:-1.21 [[ 9.84612680e-01 1.73555663e-01 2.04034830e-02 4.98661127e+01] [-1.73510629e-01 9.84823992e-01 -3.97063825e-03 -6.51600511e+00] [-2.07829664e-02 3.69319586e-04 9.99783943e-01 -1.21046590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.128623853 meters 0.027329464404649825 Centerline is valid? [True, True] Translation: X:49.89, Y:-6.53, Z:-1.21 [[ 9.85003137e-01 1.71279013e-01 2.07922864e-02 4.98932036e+01] [-1.71231762e-01 9.85222472e-01 -4.04522891e-03 -6.52987864e+00] [-2.11778906e-02 4.24263333e-04 9.99775633e-01 -1.21094114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.158623853 meters 0.028331506652340313 Centerline is valid? [True, True] Translation: X:49.92, Y:-6.54, Z:-1.21 [[ 9.85223356e-01 1.69980929e-01 2.10100757e-02 4.99209133e+01] [-1.69932405e-01 9.85447246e-01 -4.08682999e-03 -6.54028486e+00] [-2.13990044e-02 4.56147671e-04 9.99770911e-01 -1.21152521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.188623853 meters 0.03024792098122297 Centerline is valid? [True, True] Translation: X:49.95, Y:-6.55, Z:-1.21 [[ 9.85448565e-01 1.68687390e-01 2.08732126e-02 4.99481697e+01] [-1.68639222e-01 9.85669485e-01 -4.05945537e-03 -6.55199684e+00] [-2.12588676e-02 4.80342140e-04 9.99773889e-01 -1.21287007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.218623853000004 meters 0.03181520085634403 Centerline is valid? [True, True] Translation: X:49.98, Y:-6.57, Z:-1.21 [[ 9.85735148e-01 1.66992998e-01 2.09655953e-02 4.99768152e+01] [-1.66944038e-01 9.85957945e-01 -4.07652872e-03 -6.56652874e+00] [-2.13519470e-02 5.18296494e-04 9.99771887e-01 -1.21373499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.248623853000005 meters 0.03291195343672639 Centerline is valid? [True, True] Translation: X:50.00, Y:-6.58, Z:-1.21 [[ 9.85857324e-01 1.66283297e-01 2.08615073e-02 5.00044997e+01] [-1.66234663e-01 9.86077879e-01 -4.05633526e-03 -6.57654839e+00] [-2.12455716e-02 5.31062197e-04 9.99774146e-01 -1.21412066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.278623853000006 meters 0.033937814494007054 Centerline is valid? [True, True] Translation: X:50.03, Y:-6.58, Z:-1.21 [[ 9.85896978e-01 1.66070673e-01 2.06804588e-02 5.00335992e+01] [-1.66022839e-01 9.86113711e-01 -4.02080010e-03 -6.58460760e+00] [-2.10610209e-02 5.30666176e-04 9.99778051e-01 -1.21092238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.308623853 meters 0.03764041681086866 Centerline is valid? [True, True] Translation: X:50.06, Y:-6.59, Z:-1.21 [[ 9.85924989e-01 1.65917089e-01 2.05775296e-02 5.00633328e+01] [-1.65869692e-01 9.86139563e-01 -4.00104547e-03 -6.59361783e+00] [-2.09561578e-02 5.31542223e-04 9.99780254e-01 -1.20883335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.338623853 meters 0.03528923200163272 Centerline is valid? [True, True] Translation: X:50.09, Y:-6.61, Z:-1.21 [[ 9.85841256e-01 1.66343626e-01 2.11380096e-02 5.00909567e+01] [-1.66293710e-01 9.86067701e-01 -4.10998118e-03 -6.60815342e+00] [-2.15271777e-02 5.36670988e-04 9.99768119e-01 -1.21040210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.368623853 meters 0.03567868676296187 Centerline is valid? [True, True] Translation: X:50.12, Y:-6.62, Z:-1.21 [[ 9.85790469e-01 1.66668661e-01 2.09453590e-02 5.01214043e+01] [-1.66619720e-01 9.86012820e-01 -4.07272764e-03 -6.61695318e+00] [-2.13311885e-02 5.24946242e-04 9.99772326e-01 -1.21062439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.398623853000004 meters 0.031013336031066107 Centerline is valid? [True, True] Translation: X:50.15, Y:-6.63, Z:-1.22 [[ 9.85677142e-01 1.67280153e-01 2.13991068e-02 5.01511377e+01] [-1.67229200e-01 9.85909264e-01 -4.16148143e-03 -6.62571010e+00] [-2.17937109e-02 5.23321610e-04 9.99762352e-01 -1.21678212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.428623853000005 meters 0.03137350725654427 Centerline is valid? [True, True] Translation: X:50.18, Y:-6.64, Z:-1.22 [[ 9.85333248e-01 1.69428306e-01 2.03086053e-02 5.01803018e+01] [-1.69382874e-01 9.85542412e-01 -3.94924269e-03 -6.64044001e+00] [-2.06841054e-02 4.51390182e-04 9.99785959e-01 -1.22015219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.458623853000006 meters 0.028252765361725468 Centerline is valid? [True, True] Translation: X:50.21, Y:-6.65, Z:-1.22 [[ 9.85086164e-01 1.70905801e-01 1.99112062e-02 5.02119984e+01] [-1.70862366e-01 9.85287285e-01 -3.87521991e-03 -6.64635100e+00] [-2.02805558e-02 4.15349724e-04 9.99794242e-01 -1.22123087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.488623853 meters 0.026815803929542595 Centerline is valid? [True, True] Translation: X:50.24, Y:-6.65, Z:-1.22 [[ 9.84807660e-01 1.72568118e-01 1.93421426e-02 5.02431029e+01] [-1.72527388e-01 9.84997515e-01 -3.76761244e-03 -6.65390605e+00] [-1.97021322e-02 3.73324237e-04 9.99805824e-01 -1.22303840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.518623853 meters 0.02565120180432601 Centerline is valid? [True, True] Translation: X:50.27, Y:-6.66, Z:-1.22 [[ 9.84564218e-01 1.74017611e-01 1.87395668e-02 5.02736749e+01] [-1.73979567e-01 9.84742483e-01 -3.65416552e-03 -6.66161334e+00] [-1.90895366e-02 3.37458910e-04 9.99817721e-01 -1.22427336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.548623853 meters 0.024491658330480406 Centerline is valid? [True, True] Translation: X:50.30, Y:-6.67, Z:-1.23 [[ 9.84119300e-01 1.76487219e-01 1.90122233e-02 5.03023257e+01] [-1.76448510e-01 9.84302888e-01 -3.70787375e-03 -6.67286027e+00] [-1.93681786e-02 2.94311658e-04 9.99812376e-01 -1.22597906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.578623853 meters 0.022032539836457265 Centerline is valid? [True, True] Translation: X:50.33, Y:-6.68, Z:-1.23 [[ 9.83898289e-01 1.77744875e-01 1.87327443e-02 5.03341048e+01] [-1.77707539e-01 9.84076567e-01 -3.65261440e-03 -6.67854226e+00] [-1.90836882e-02 2.64851180e-04 9.99817855e-01 -1.22671460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.608623853000005 meters 0.02111145952886599 Centerline is valid? [True, True] Translation: X:50.36, Y:-6.69, Z:-1.23 [[ 9.83603354e-01 1.79406483e-01 1.83781311e-02 5.03639056e+01] [-1.79370775e-01 9.83775005e-01 -3.58670860e-03 -6.68624027e+00] [-1.87234248e-02 2.31398989e-04 9.99824675e-01 -1.22844656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.638623853000006 meters 0.019795130931921607 Centerline is valid? [True, True] Translation: X:50.40, Y:-6.69, Z:-1.23 [[ 9.83258807e-01 1.81318900e-01 1.80436735e-02 5.03952588e+01] [-1.81284752e-01 9.83424333e-01 -3.52420381e-03 -6.69278282e+00] [-1.83835924e-02 1.94161553e-04 9.99830989e-01 -1.22950004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.66862385300001 meters 0.018153009613262824 Centerline is valid? [True, True] Translation: X:50.42, Y:-6.70, Z:-1.23 [[ 9.82589144e-01 1.84876066e-01 1.84232075e-02 5.04249704e+01] [-1.84841009e-01 9.82761834e-01 -3.60271883e-03 -6.70036415e+00] [-1.87716817e-02 1.34628154e-04 9.99823787e-01 -1.23024354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.698623853 meters 0.01713800919475678 Centerline is valid? [True, True] Translation: X:50.45, Y:-6.71, Z:-1.23 [[ 9.82209570e-01 1.86870845e-01 1.85377332e-02 5.04545702e+01] [-1.86835699e-01 9.82384486e-01 -3.62542752e-03 -6.70597926e+00] [-1.88886682e-02 9.74192677e-05 9.99821588e-01 -1.23072924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.728623853 meters 0.01661821919472778 Centerline is valid? [True, True] Translation: X:50.48, Y:-6.71, Z:-1.23 [[ 9.81858960e-01 1.88721461e-01 1.83628166e-02 5.04839063e+01] [-1.88687297e-01 9.82030655e-01 -3.59129653e-03 -6.71197301e+00] [-1.87106036e-02 6.13164373e-05 9.99824939e-01 -1.23185423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.758623853 meters 0.018036000738845075 Centerline is valid? [True, True] Translation: X:50.51, Y:-6.72, Z:-1.23 [[ 9.81497422e-01 1.90639167e-01 1.78750772e-02 5.05146478e+01] [-1.90607120e-01 9.81660179e-01 -3.49544097e-03 -6.71746040e+00] [-1.82136195e-02 2.36493110e-05 9.99834118e-01 -1.22947423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.788623853000004 meters 0.01625174925560071 Centerline is valid? [True, True] Translation: X:50.54, Y:-6.72, Z:-1.23 [[ 9.80949967e-01 1.93416552e-01 1.80886846e-02 5.05430471e+01] [-1.93384194e-01 9.81116729e-01 -3.53792431e-03 -6.72346947e+00] [-1.84314042e-02 -2.75389544e-05 9.99830127e-01 -1.23416736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.818623853000005 meters 0.016622828351751866 Centerline is valid? [True, True] Translation: X:50.57, Y:-6.73, Z:-1.24 [[ 9.80678184e-01 1.94849633e-01 1.74333159e-02 5.05724652e+01] [-1.94819806e-01 9.80833124e-01 -3.40961794e-03 -6.72855602e+00] [-1.77635365e-02 -5.26172935e-05 9.99842215e-01 -1.23578031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.84862385300001 meters 0.01708946241710333 Centerline is valid? [True, True] Translation: X:50.60, Y:-6.73, Z:-1.24 [[ 9.80450277e-01 1.96053802e-01 1.67379980e-02 5.06019537e+01] [-1.96026488e-01 9.80593138e-01 -3.27324958e-03 -6.73370053e+00] [-1.70548990e-02 -7.18325072e-05 9.99854552e-01 -1.23786884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.878623853 meters 0.017627113144815437 Centerline is valid? [True, True] Translation: X:50.63, Y:-6.74, Z:-1.24 [[ 9.80211053e-01 1.97270321e-01 1.64533525e-02 5.06306433e+01] [-1.97244105e-01 9.80349128e-01 -3.21729471e-03 -6.73870679e+00] [-1.67647065e-02 -9.16989434e-05 9.99859458e-01 -1.23944535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.908623853 meters 0.018186069199305738 Centerline is valid? [True, True] Translation: X:50.66, Y:-6.74, Z:-1.24 [[ 9.79967779e-01 1.98485461e-01 1.63301542e-02 5.06601150e+01] [-1.98459816e-01 9.80103826e-01 -3.19251078e-03 -6.74482800e+00] [-1.66389136e-02 -1.12321718e-04 9.99861557e-01 -1.24046455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.938623853 meters 0.01929791235442873 Centerline is valid? [True, True] Translation: X:50.69, Y:-6.75, Z:-1.24 [[ 9.79566285e-01 2.00482465e-01 1.60210995e-02 5.06887581e+01] [-2.00458055e-01 9.79697280e-01 -3.13170908e-03 -6.75198168e+00] [-1.63236804e-02 -1.43841820e-04 9.99866750e-01 -1.24115720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.968623853000004 meters 0.01999286167466985 Centerline is valid? [True, True] Translation: X:50.72, Y:-6.76, Z:-1.24 [[ 9.79395611e-01 2.01303407e-01 1.61609027e-02 5.07167847e+01] [-2.01278686e-01 9.79528924e-01 -3.15873948e-03 -6.75640738e+00] [-1.64659367e-02 -1.59189680e-04 9.99864415e-01 -1.24202877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.998623853000005 meters 0.020912910847592038 Centerline is valid? [True, True] Translation: X:50.75, Y:-6.76, Z:-1.24 [[ 9.79062914e-01 2.02910436e-01 1.62223919e-02 5.07452424e+01] [-2.02885755e-01 9.79197283e-01 -3.17026768e-03 -6.76028169e+00] [-1.65282025e-02 -1.87400711e-04 9.99863382e-01 -1.24214930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.028623853000006 meters 0.025768559553862144 Centerline is valid? [True, True] Translation: X:50.77, Y:-6.77, Z:-1.24 [[ 9.78933842e-01 2.03558961e-01 1.58834143e-02 5.07740729e+01] [-2.03535398e-01 9.79062670e-01 -3.10328076e-03 -6.76501625e+00] [-1.61825586e-02 -1.94930493e-04 9.99869035e-01 -1.23743144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.058623853 meters 0.02242570975600083 Centerline is valid? [True, True] Translation: X:50.80, Y:-6.77, Z:-1.24 [[ 9.78900837e-01 2.03689701e-01 1.62375262e-02 5.08010946e+01] [-2.03665106e-01 9.79035477e-01 -3.17174682e-03 -6.76884081e+00] [-1.65431663e-02 -2.02191873e-04 9.99863132e-01 -1.24444978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.088623853 meters 0.020816886866981348 Centerline is valid? [True, True] Translation: X:50.83, Y:-6.78, Z:-1.24 [[ 9.78890883e-01 2.03731715e-01 1.63103642e-02 5.08298814e+01] [-2.03706925e-01 9.79026734e-01 -3.18468114e-03 -6.77782925e+00] [-1.66171032e-02 -2.05078816e-04 9.99861905e-01 -1.24328127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.118623853 meters 0.02914260880631274 Centerline is valid? [True, True] Translation: X:50.86, Y:-6.78, Z:-1.24 [[ 9.79069331e-01 2.02896564e-01 1.60071520e-02 5.08582299e+01] [-2.02872583e-01 9.79200158e-01 -3.12507041e-03 -6.78374652e+00] [-1.63082718e-02 -1.87751673e-04 9.99866994e-01 -1.23822654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.148623853000004 meters 0.02914260880631274 Centerline is valid? [True, True] Translation: X:50.89, Y:-6.79, Z:-1.24 [[ 9.79074069e-01 2.02873694e-01 1.60072240e-02 5.08868580e+01] [-2.02849716e-01 9.79204896e-01 -3.12470145e-03 -6.78928919e+00] [-1.63082718e-02 -1.87746672e-04 9.99866994e-01 -1.23896008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.178623853000005 meters 0.028731485805164287 Centerline is valid? [True, True] Translation: X:50.92, Y:-6.80, Z:-1.24 [[ 9.79240843e-01 2.02043605e-01 1.63019234e-02 5.09160470e+01] [-2.02018628e-01 9.79376511e-01 -3.18182117e-03 -6.79647268e+00] [-1.66085875e-02 -1.77522956e-04 9.99862052e-01 -1.23900570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.208623853000006 meters 0.02531340638394429 Centerline is valid? [True, True] Translation: X:50.95, Y:-6.81, Z:-1.24 [[ 9.79494326e-01 2.00788829e-01 1.65744293e-02 5.09455071e+01] [-2.00762839e-01 9.79634534e-01 -3.23440363e-03 -6.80534844e+00] [-1.68863154e-02 -1.59449476e-04 9.99857403e-01 -1.23956069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.238623853 meters 0.023176952025918553 Centerline is valid? [True, True] Translation: X:50.98, Y:-6.81, Z:-1.24 [[ 9.79816452e-01 1.99217585e-01 1.64946517e-02 5.09754207e+01] [-1.99191623e-01 9.79955273e-01 -3.21883551e-03 -6.81352484e+00] [-1.68052696e-02 -1.31728459e-04 9.99858773e-01 -1.24078294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.268623853 meters 0.01691142483322215 Centerline is valid? [True, True] Translation: X:51.01, Y:-6.82, Z:-1.25 [[ 9.80364129e-01 1.96470969e-01 1.68917757e-02 5.10055725e+01] [-1.96443337e-01 9.80509638e-01 -3.29613525e-03 -6.82411458e+00] [-1.72101438e-02 -8.68640309e-05 9.99851891e-01 -1.24677382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.298623853 meters 0.016626439299051703 Centerline is valid? [True, True] Translation: X:51.04, Y:-6.83, Z:-1.25 [[ 9.80616369e-01 1.95239291e-01 1.65274564e-02 5.10360516e+01] [-1.95212675e-01 9.80755635e-01 -3.22432939e-03 -6.83198022e+00] [-1.68389118e-02 -6.45388039e-05 9.99858213e-01 -1.24877683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.328623853 meters 0.016393229437850456 Centerline is valid? [True, True] Translation: X:51.07, Y:-6.84, Z:-1.25 [[ 9.80991266e-01 1.93419604e-01 1.56522521e-02 5.10672960e+01] [-1.93395466e-01 9.81116128e-01 -3.05580639e-03 -6.84190194e+00] [-1.59477299e-02 -2.93552141e-05 9.99872826e-01 -1.25016898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.358623853000005 meters 0.01627905225989878 Centerline is valid? [True, True] Translation: X:51.10, Y:-6.85, Z:-1.25 [[ 9.81158916e-01 1.92546179e-01 1.59107187e-02 5.10972437e+01] [-1.92521074e-01 9.81287913e-01 -3.10923073e-03 -6.84907271e+00] [-1.62116664e-02 -1.24992003e-05 9.99868582e-01 -1.25126394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.388623853000006 meters 0.016428535786466192 Centerline is valid? [True, True] Translation: X:51.13, Y:-6.86, Z:-1.25 [[ 9.81330142e-01 1.91695445e-01 1.56207733e-02 5.11275988e+01] [-1.91671100e-01 9.81454460e-01 -3.05504053e-03 -6.85621451e+00] [-1.59167150e-02 3.95255295e-06 9.99873321e-01 -1.25209209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.41862385300001 meters 0.01691866909694815 Centerline is valid? [True, True] Translation: X:51.16, Y:-6.86, Z:-1.26 [[ 9.81600541e-01 1.90388922e-01 1.45751776e-02 5.11573847e+01] [-1.90367551e-01 9.81708744e-01 -2.85264763e-03 -6.86366811e+00] [-1.48516918e-02 2.55195961e-05 9.99889707e-01 -1.25541817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.448623853 meters 0.017014534164015254 Centerline is valid? [True, True] Translation: X:51.19, Y:-6.87, Z:-1.26 [[ 9.81719812e-01 1.89777333e-01 1.45181023e-02 5.11871776e+01] [-1.89756007e-01 9.81827155e-01 -2.84524805e-03 -6.86996756e+00] [-1.47942307e-02 3.83392539e-05 9.99890559e-01 -1.25628897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.478623853 meters 0.017115226642324385 Centerline is valid? [True, True] Translation: X:51.22, Y:-6.88, Z:-1.26 [[ 9.81796332e-01 1.89377241e-01 1.45678909e-02 5.12177476e+01] [-1.89355724e-01 9.81904404e-01 -2.85506110e-03 -6.87649995e+00] [-1.48449598e-02 4.45749891e-05 9.99889807e-01 -1.25743744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.508623853 meters 0.017685051819803253 Centerline is valid? [True, True] Translation: X:51.25, Y:-6.89, Z:-1.26 [[ 9.82038633e-01 1.88126405e-01 1.44422708e-02 5.12476957e+01] [-1.88105136e-01 9.82144822e-01 -2.82942481e-03 -6.88520946e+00] [-1.47166910e-02 6.19391655e-05 9.99891702e-01 -1.25884715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.538623853000004 meters 0.017687391481427846 Centerline is valid? [True, True] Translation: X:51.28, Y:-6.89, Z:-1.26 [[ 9.82096081e-01 1.87815893e-01 1.45766549e-02 5.12791668e+01] [-1.87794160e-01 9.82204248e-01 -2.85793831e-03 -6.89205788e+00] [-1.48540186e-02 6.93593462e-05 9.99889671e-01 -1.25920921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.568623853000005 meters 0.017897772144365 Centerline is valid? [True, True] Translation: X:51.31, Y:-6.90, Z:-1.26 [[ 9.82166214e-01 1.87448290e-01 1.45830944e-02 5.13092066e+01] [-1.87426448e-01 9.82274469e-01 -2.86248199e-03 -6.89884087e+00] [-1.48611686e-02 7.81755174e-05 9.99889564e-01 -1.26036674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.59862385300001 meters 0.018438347659910034 Centerline is valid? [True, True] Translation: X:51.34, Y:-6.91, Z:-1.26 [[ 9.82336598e-01 1.86579580e-01 1.42431794e-02 5.13405834e+01] [-1.86558647e-01 9.82439847e-01 -2.79627464e-03 -6.90670481e+00] [-1.45147948e-02 8.96946362e-05 9.99894651e-01 -1.26155585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.628623853 meters 0.01911598572365424 Centerline is valid? [True, True] Translation: X:51.37, Y:-6.91, Z:-1.26 [[ 9.82411533e-01 1.86166144e-01 1.44826567e-02 5.13711494e+01] [-1.86144420e-01 9.82518273e-01 -2.84571703e-03 -6.91481132e+00] [-1.47592510e-02 9.97995107e-05 9.99891071e-01 -1.26325169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.658623853 meters 0.023764265015386678 Centerline is valid? [True, True] Translation: X:51.40, Y:-6.92, Z:-1.26 [[ 9.82466026e-01 1.85877677e-01 1.44913108e-02 5.14011366e+01] [-1.85855830e-01 9.82572887e-01 -2.85179109e-03 -6.92093158e+00] [-1.47688534e-02 1.08493257e-04 9.99890929e-01 -1.25837687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.688623853 meters 0.01979076600922998 Centerline is valid? [True, True] Translation: X:51.43, Y:-6.93, Z:-1.26 [[ 9.82551423e-01 1.85402736e-01 1.47826378e-02 5.14319778e+01] [-1.85379948e-01 9.82662613e-01 -2.90918901e-03 -6.92765929e+00] [-1.50657171e-02 1.18023179e-04 9.99886499e-01 -1.26416817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.718623853000004 meters 0.021097692855560308 Centerline is valid? [True, True] Translation: X:51.46, Y:-6.93, Z:-1.26 [[ 9.82632713e-01 1.85007503e-01 1.43239457e-02 5.14628936e+01] [-1.84986061e-01 9.82737101e-01 -2.81922612e-03 -6.93272396e+00] [-1.45982509e-02 1.20533520e-04 9.99893433e-01 -1.26247217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.748623853000005 meters 0.01987635950588962 Centerline is valid? [True, True] Translation: X:51.49, Y:-6.94, Z:-1.27 [[ 9.82640685e-01 1.84954669e-01 1.44587279e-02 5.14929646e+01] [-1.84932810e-01 9.82747045e-01 -2.84609627e-03 -6.93930951e+00] [-1.47356709e-02 1.22796801e-04 9.99891417e-01 -1.26591350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.778623853000006 meters 0.02008315747030211 Centerline is valid? [True, True] Translation: X:51.52, Y:-6.95, Z:-1.27 [[ 9.82712518e-01 1.84590876e-01 1.42237769e-02 5.15242206e+01] [-1.84569701e-01 9.82815442e-01 -2.79868192e-03 -6.94682402e+00] [-1.44959587e-02 1.25021505e-04 9.99894920e-01 -1.26677649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.808623853 meters 0.020579712009775396 Centerline is valid? [True, True] Translation: X:51.55, Y:-6.95, Z:-1.27 [[ 9.82757596e-01 1.84368130e-01 1.39964525e-02 5.15547557e+01] [-1.84347569e-01 9.82857251e-01 -2.75635323e-03 -6.95385503e+00] [-1.42646985e-02 1.28615073e-04 9.99898246e-01 -1.26794047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.838623853 meters 0.020616871396033208 Centerline is valid? [True, True] Translation: X:51.59, Y:-6.96, Z:-1.27 [[ 9.82733405e-01 1.84480695e-01 1.42100990e-02 5.15853313e+01] [-1.84459482e-01 9.82836129e-01 -2.80066808e-03 -6.96027112e+00] [-1.44828679e-02 1.31122573e-04 9.99895109e-01 -1.26839519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.868623853 meters 0.019496089353270636 Centerline is valid? [True, True] Translation: X:51.62, Y:-6.96, Z:-1.27 [[ 9.82491791e-01 1.85695072e-01 1.50738356e-02 5.16169623e+01] [-1.85671286e-01 9.82607411e-01 -2.97466945e-03 -6.96406504e+00] [-1.53640441e-02 1.23809867e-04 9.99881958e-01 -1.26727019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.898623853000004 meters 0.01881862004082302 Centerline is valid? [True, True] Translation: X:51.65, Y:-6.97, Z:-1.27 [[ 9.82277794e-01 1.86803177e-01 1.53267276e-02 5.16473562e+01] [-1.86778721e-01 9.82397354e-01 -3.02458825e-03 -6.96803980e+00] [-1.56219394e-02 1.08279292e-04 9.99877964e-01 -1.26757048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.928623853000005 meters 0.018561704418517365 Centerline is valid? [True, True] Translation: X:51.68, Y:-6.97, Z:-1.27 [[ 9.82131077e-01 1.87580149e-01 1.52392714e-02 5.16769752e+01] [-1.87556043e-01 9.82249295e-01 -3.00872183e-03 -6.97218972e+00] [-1.55331401e-02 9.67417745e-05 9.99879349e-01 -1.26912818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.958623853000006 meters 0.018151088982643924 Centerline is valid? [True, True] Translation: X:51.71, Y:-6.98, Z:-1.27 [[ 9.81991718e-01 1.88315427e-01 1.51514440e-02 5.17079669e+01] [-1.88291684e-01 9.82108595e-01 -2.99144574e-03 -6.97653455e+00] [-1.54436988e-02 8.46840260e-05 9.99880735e-01 -1.26971873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.988623853 meters 0.020431510982367174 Centerline is valid? [True, True] Translation: X:51.74, Y:-6.98, Z:-1.26 [[ 9.81910866e-01 1.88730571e-01 1.52257376e-02 5.17402646e+01] [-1.88706662e-01 9.82028903e-01 -3.00502864e-03 -6.98043336e+00] [-1.55192551e-02 7.74721603e-05 9.99879566e-01 -1.26372340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.018623853 meters 0.01803750331947459 Centerline is valid? [True, True] Translation: X:51.77, Y:-6.99, Z:-1.27 [[ 9.81892913e-01 1.88797353e-01 1.55520896e-02 5.17706812e+01] [-1.88772360e-01 9.82016066e-01 -3.07296354e-03 -6.98790699e+00] [-1.58525692e-02 8.15164630e-05 9.99874337e-01 -1.27107326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.048623853 meters 0.018380309323498652 Centerline is valid? [True, True] Translation: X:51.80, Y:-6.99, Z:-1.27 [[ 9.82010043e-01 1.88218401e-01 1.51693447e-02 5.18004678e+01] [-1.88194517e-01 9.82127194e-01 -2.99969920e-03 -6.99405055e+00] [-1.54628245e-02 9.09472448e-05 9.99880439e-01 -1.27285762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.078623853 meters 0.01873245424432775 Centerline is valid? [True, True] Translation: X:51.83, Y:-7.00, Z:-1.27 [[ 9.82111512e-01 1.87678317e-01 1.52913947e-02 5.18300760e+01] [-1.87653982e-01 9.82230543e-01 -3.02383429e-03 -7.00117666e+00] [-1.55871831e-02 1.00251352e-04 9.99878507e-01 -1.27381704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.108623853000005 meters 0.018143864047321025 Centerline is valid? [True, True] Translation: X:51.86, Y:-7.01, Z:-1.27 [[ 9.82172533e-01 1.87368836e-01 1.51668846e-02 5.18613435e+01] [-1.87344885e-01 9.82289626e-01 -2.99758159e-03 -7.00690940e+00] [-1.54599268e-02 1.02704048e-04 9.99880483e-01 -1.27212974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.138623853000006 meters 0.018404876326479008 Centerline is valid? [True, True] Translation: X:51.89, Y:-7.01, Z:-1.27 [[ 9.82209383e-01 1.87214801e-01 1.46746974e-02 5.18928004e+01] [-1.87192326e-01 9.82318995e-01 -2.90268816e-03 -7.01334232e+00] [-1.49586602e-02 1.04056795e-04 9.99888108e-01 -1.27372261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.16862385300001 meters 0.018546045889714105 Centerline is valid? [True, True] Translation: X:51.92, Y:-7.02, Z:-1.28 [[ 9.82116987e-01 1.87766383e-01 1.37843795e-02 5.19239707e+01] [-1.87746575e-01 9.82213712e-01 -2.72883054e-03 -7.01754030e+00] [-1.40515892e-02 9.20607804e-05 9.99901267e-01 -1.27657388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.198623853 meters 0.018276051855615146 Centerline is valid? [True, True] Translation: X:51.95, Y:-7.02, Z:-1.28 [[ 9.81976542e-01 1.88508023e-01 1.36673321e-02 5.19533829e+01] [-1.88488570e-01 9.82071646e-01 -2.70940428e-03 -7.02275482e+00] [-1.39330438e-02 8.44355653e-05 9.99902927e-01 -1.27723418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.228623853 meters 0.025253787484752568 Centerline is valid? [True, True] Translation: X:51.98, Y:-7.03, Z:-1.27 [[ 9.81703479e-01 1.89950003e-01 1.33145044e-02 5.19832992e+01] [-1.89931668e-01 9.81793763e-01 -2.63988762e-03 -7.02545783e+00] [-1.35735440e-02 6.27408454e-05 9.99907873e-01 -1.27128444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.258623853 meters 0.017341250611885458 Centerline is valid? [True, True] Translation: X:52.01, Y:-7.03, Z:-1.28 [[ 9.81559123e-01 1.90656810e-01 1.38444394e-02 5.20138002e+01] [-1.90637063e-01 9.81656751e-01 -2.74451996e-03 -7.03024915e+00] [-1.41137489e-02 5.46453298e-05 9.99900395e-01 -1.27828421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.288623853000004 meters 0.017293988946859407 Centerline is valid? [True, True] Translation: X:52.04, Y:-7.03, Z:-1.28 [[ 9.81513159e-01 1.90891380e-01 1.38708217e-02 5.20437270e+01] [-1.90871577e-01 9.81611165e-01 -2.75004897e-03 -7.03497462e+00] [-1.41407140e-02 5.16636444e-05 9.99900014e-01 -1.27900679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.318623853000005 meters 0.0343890085008846 Centerline is valid? [True, True] Translation: X:52.07, Y:-7.04, Z:-1.27 [[ 9.81507993e-01 1.90936414e-01 1.36141772e-02 5.20740138e+01] [-1.90917341e-01 9.81602406e-01 -2.69916627e-03 -7.03923955e+00] [-1.38790782e-02 5.00707522e-05 9.99903680e-01 -1.27043470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.34862385300001 meters 0.01685578467888348 Centerline is valid? [True, True] Translation: X:52.10, Y:-7.04, Z:-1.28 [[ 9.81378945e-01 1.91522987e-01 1.46393827e-02 5.21030430e+01] [-1.91500997e-01 9.81488127e-01 -2.90254911e-03 -7.04314316e+00] [-1.49242852e-02 4.50441981e-05 9.99888626e-01 -1.27914633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.378623853 meters 0.016701837422533457 Centerline is valid? [True, True] Translation: X:52.13, Y:-7.05, Z:-1.28 [[ 9.81325887e-01 1.91780352e-01 1.48256373e-02 5.21329668e+01] [-1.91757832e-01 9.81437871e-01 -2.93916857e-03 -7.04766116e+00] [-1.51141167e-02 4.13501438e-05 9.99885774e-01 -1.27917772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.408623853 meters 0.016695868280271815 Centerline is valid? [True, True] Translation: X:52.16, Y:-7.05, Z:-1.28 [[ 9.81216595e-01 1.92356959e-01 1.45874269e-02 5.21628975e+01] [-1.92335221e-01 9.81325022e-01 -2.89194359e-03 -7.05196701e+00] [-1.48712925e-02 3.19470648e-05 9.99889416e-01 -1.28082348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.438623853 meters 0.01697885152274267 Centerline is valid? [True, True] Translation: X:52.19, Y:-7.05, Z:-1.28 [[ 9.80949723e-01 1.93799405e-01 1.33952367e-02 5.21912132e+01] [-1.93781204e-01 9.81041177e-01 -2.65600325e-03 -7.05472768e+00] [-1.36560106e-02 9.66055742e-06 9.99906752e-01 -1.28442753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.468623853000004 meters 0.017012835026354763 Centerline is valid? [True, True] Translation: X:52.22, Y:-7.06, Z:-1.29 [[ 9.80844959e-01 1.94358097e-01 1.29652330e-02 5.22206684e+01] [-1.94341103e-01 9.80930645e-01 -2.57015566e-03 -7.05903479e+00] [-1.32175250e-02 1.24653708e-06 9.99912645e-01 -1.28585336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.498623853000005 meters 0.017143963935945652 Centerline is valid? [True, True] Translation: X:52.25, Y:-7.06, Z:-1.29 [[ 9.80738238e-01 1.94905910e-01 1.28138883e-02 5.22490175e+01] [-1.94889357e-01 9.80821944e-01 -2.54013818e-03 -7.06268343e+00] [-1.30632307e-02 -6.07980423e-06 9.99914672e-01 -1.28629221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.528623853000006 meters 0.017234633025336423 Centerline is valid? [True, True] Translation: X:52.28, Y:-7.06, Z:-1.29 [[ 9.80624663e-01 1.95494056e-01 1.25436747e-02 5.22770576e+01] [-1.95478247e-01 9.80704886e-01 -2.48613632e-03 -7.06465622e+00] [-1.27876680e-02 -1.40489576e-05 9.99918234e-01 -1.28857419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.558623853 meters 0.01735700668430104 Centerline is valid? [True, True] Translation: X:52.31, Y:-7.07, Z:-1.29 [[ 9.80602972e-01 1.95621784e-01 1.22445571e-02 5.23052349e+01] [-1.95606741e-01 9.80679416e-01 -2.42599501e-03 -7.06895204e+00] [-1.24825626e-02 -1.61800000e-05 9.99922090e-01 -1.28979117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.588623853 meters 0.01757046879442808 Centerline is valid? [True, True] Translation: X:52.33, Y:-7.07, Z:-1.29 [[ 9.80650910e-01 1.95390863e-01 1.20915009e-02 5.23325539e+01] [-1.95376181e-01 9.80725451e-01 -2.39525686e-03 -7.07355256e+00] [-1.23264539e-02 -1.34804408e-05 9.99924026e-01 -1.29121240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.618623853 meters 0.017140075546782933 Centerline is valid? [True, True] Translation: X:52.36, Y:-7.08, Z:-1.29 [[ 9.80748298e-01 1.94881891e-01 1.24026352e-02 5.23613452e+01] [-1.94866415e-01 9.80826717e-01 -2.45598466e-03 -7.07862030e+00] [-1.26434629e-02 -8.15427652e-06 9.99920068e-01 -1.28957858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.648623853000004 meters 0.016939637781984998 Centerline is valid? [True, True] Translation: X:52.39, Y:-7.08, Z:-1.29 [[ 9.80849703e-01 1.94351410e-01 1.27039484e-02 5.23893935e+01] [-1.94335137e-01 9.80931970e-01 -2.51500775e-03 -7.08419357e+00] [-1.29505044e-02 -1.97894659e-06 9.99916139e-01 -1.28904277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.678623853000005 meters 0.021806782298824733 Centerline is valid? [True, True] Translation: X:52.42, Y:-7.09, Z:-1.29 [[ 9.80958629e-01 1.93810282e-01 1.25595673e-02 5.24172931e+01] [-1.93794338e-01 9.81039028e-01 -2.48596413e-03 -7.08949497e+00] [-1.28032311e-02 4.65494256e-06 9.99918035e-01 -1.28555274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.708623853000006 meters 0.02463911885461282 Centerline is valid? [True, True] Translation: X:52.45, Y:-7.10, Z:-1.28 [[ 9.81230962e-01 1.92414836e-01 1.27409097e-02 5.24460621e+01] [-1.92398323e-01 9.81313676e-01 -2.52090500e-03 -7.09547360e+00] [-1.29878885e-02 2.22603822e-05 9.99915654e-01 -1.28296550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.738623853 meters 0.016762579427877195 Centerline is valid? [True, True] Translation: X:52.47, Y:-7.10, Z:-1.29 [[ 9.81404936e-01 1.91473607e-01 1.34985321e-02 5.24748482e+01] [-1.91454996e-01 9.81497762e-01 -2.66982050e-03 -7.10179808e+00] [-1.37599792e-02 3.58135956e-05 9.99905326e-01 -1.28802307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.768623853 meters 0.01860300144151243 Centerline is valid? [True, True] Translation: X:52.50, Y:-7.11, Z:-1.28 [[ 9.81641645e-01 1.90237169e-01 1.37659449e-02 5.25035521e+01] [-1.90217696e-01 9.81738161e-01 -2.72235095e-03 -7.10832549e+00] [-1.40324457e-02 5.38467472e-05 9.99901539e-01 -1.28473484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.798623853 meters 0.018696422830908114 Centerline is valid? [True, True] Translation: X:52.53, Y:-7.12, Z:-1.29 [[ 9.82197439e-01 1.87229636e-01 1.52726557e-02 5.25312057e+01] [-1.87205316e-01 9.82316167e-01 -3.01950388e-03 -7.12012962e+00] [-1.55679172e-02 1.06626642e-04 9.99878807e-01 -1.28862147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.828623853 meters 0.01885087159677403 Centerline is valid? [True, True] Translation: X:52.56, Y:-7.13, Z:-1.29 [[ 9.82520272e-01 1.85516769e-01 1.54091777e-02 5.25607623e+01] [-1.85491797e-01 9.82641089e-01 -3.04681518e-03 -7.12711794e+00] [-1.57069264e-02 1.35281635e-04 9.99876629e-01 -1.28712826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.858623853000005 meters 0.022580309699856124 Centerline is valid? [True, True] Translation: X:52.59, Y:-7.14, Z:-1.29 [[ 9.82873218e-01 1.83655249e-01 1.51982386e-02 5.25899114e+01] [-1.83630735e-01 9.82990704e-01 -3.00499114e-03 -7.13802469e+00] [-1.54916096e-02 1.62661594e-04 9.99879985e-01 -1.28698852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.888623853000006 meters 0.025456208588609162 Centerline is valid? [True, True] Translation: X:52.62, Y:-7.15, Z:-1.29 [[ 9.83626305e-01 1.79537016e-01 1.56764802e-02 5.26186876e+01] [-1.79510410e-01 9.83751190e-01 -3.09965691e-03 -7.15329717e+00] [-1.59782592e-02 2.34812690e-04 9.99872312e-01 -1.29029872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.91862385300001 meters 0.026380630420473474 Centerline is valid? [True, True] Translation: X:52.65, Y:-7.16, Z:-1.29 [[ 9.83935750e-01 1.77873264e-01 1.52165270e-02 5.26497744e+01] [-1.77848013e-01 9.84053371e-01 -3.00771558e-03 -7.16299869e+00] [-1.55088669e-02 2.53169789e-04 9.99879698e-01 -1.29124022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.948623853 meters 0.028100254349657315 Centerline is valid? [True, True] Translation: X:52.68, Y:-7.17, Z:-1.29 [[ 9.84255259e-01 1.76131679e-01 1.48059944e-02 5.26802633e+01] [-1.76107541e-01 9.84366576e-01 -2.92885605e-03 -7.17393325e+00] [-1.50903904e-02 2.75294700e-04 9.99886096e-01 -1.29247296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.978623853 meters 0.02833687229304194 Centerline is valid? [True, True] Translation: X:52.71, Y:-7.18, Z:-1.29 [[ 9.84520372e-01 1.74666983e-01 1.45286555e-02 5.27112324e+01] [-1.74643548e-01 9.84627523e-01 -2.87623590e-03 -7.18299120e+00] [-1.48076976e-02 2.94376896e-04 9.99890317e-01 -1.29237614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.008623853 meters 0.03481019031162754 Centerline is valid? [True, True] Translation: X:52.74, Y:-7.20, Z:-1.30 [[ 9.84854717e-01 1.72802237e-01 1.41624192e-02 5.27386191e+01] [-1.72779721e-01 9.84956489e-01 -2.80755073e-03 -7.20246236e+00] [-1.44345178e-02 3.18050740e-04 9.99895766e-01 -1.29607506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.038623853000004 meters 0.029138281990328425 Centerline is valid? [True, True] Translation: X:52.77, Y:-7.20, Z:-1.29 [[ 9.84896435e-01 1.72569035e-01 1.41046321e-02 5.27715304e+01] [-1.72546697e-01 9.84997374e-01 -2.79483414e-03 -7.20250145e+00] [-1.43753274e-02 3.18914501e-04 9.99896619e-01 -1.29333894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.068623853000005 meters 0.029138281990328425 Centerline is valid? [True, True] Translation: X:52.80, Y:-7.21, Z:-1.29 [[ 9.84863177e-01 1.72758772e-01 1.41042095e-02 5.28033738e+01] [-1.72736422e-01 9.84964114e-01 -2.79696490e-03 -7.20900353e+00] [-1.43753404e-02 3.18317054e-04 9.99896619e-01 -1.29415694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.09862385300001 meters 0.03495871367362481 Centerline is valid? [True, True] Translation: X:52.83, Y:-7.22, Z:-1.30 [[ 9.84752939e-01 1.73419909e-01 1.36815502e-02 5.28319082e+01] [-1.73398900e-01 9.84847929e-01 -2.71616371e-03 -7.22471024e+00] [-1.39452832e-02 3.02384445e-04 9.99902714e-01 -1.30018045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.128623853 meters 0.03462551027464375 Centerline is valid? [True, True] Translation: X:52.86, Y:-7.23, Z:-1.30 [[ 9.84605532e-01 1.74243006e-01 1.38318583e-02 5.28619924e+01] [-1.74221579e-01 9.84702639e-01 -2.74849987e-03 -7.23257598e+00] [-1.40991743e-02 2.96379967e-04 9.99900558e-01 -1.30129809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.158623853 meters 0.032735835622671544 Centerline is valid? [True, True] Translation: X:52.89, Y:-7.24, Z:-1.30 [[ 9.84289689e-01 1.76007655e-01 1.39683423e-02 5.28919571e+01] [-1.75985952e-01 9.84388759e-01 -2.77763884e-03 -7.24123186e+00] [-1.42391648e-02 2.75769255e-04 9.99898580e-01 -1.30132122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.188623853 meters 0.031852437064314745 Centerline is valid? [True, True] Translation: X:52.92, Y:-7.25, Z:-1.30 [[ 9.84076583e-01 1.77188481e-01 1.40542531e-02 5.29232695e+01] [-1.77166603e-01 9.84176902e-01 -2.79663129e-03 -7.24846376e+00] [-1.43274021e-02 2.62155071e-04 9.99897323e-01 -1.30180153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.218623853000004 meters 0.02547767670742607 Centerline is valid? [True, True] Translation: X:52.96, Y:-7.25, Z:-1.30 [[ 9.83772717e-01 1.78808177e-01 1.47945245e-02 5.29564555e+01] [-1.78784083e-01 9.83883922e-01 -2.94616628e-03 -7.24824978e+00] [-1.50828934e-02 2.53332496e-04 9.99886215e-01 -1.29746698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.248623853000005 meters 0.02303888792419212 Centerline is valid? [True, True] Translation: X:52.99, Y:-7.25, Z:-1.30 [[ 9.83443738e-01 1.80562220e-01 1.53524899e-02 5.29886885e+01] [-1.80536445e-01 9.83563535e-01 -3.06002442e-03 -7.25300908e+00] [-1.56526740e-02 2.37677909e-04 9.99877461e-01 -1.29597982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.278623853000006 meters 0.020431660996727437 Centerline is valid? [True, True] Translation: X:53.02, Y:-7.26, Z:-1.30 [[ 9.82572978e-01 1.85259856e-01 1.51369727e-02 5.30201320e+01] [-1.85235316e-01 9.82689554e-01 -3.01970764e-03 -7.25760389e+00] [-1.54343756e-02 1.63181214e-04 9.99880870e-01 -1.29741050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.308623853 meters 0.018727978217145804 Centerline is valid? [True, True] Translation: X:53.05, Y:-7.26, Z:-1.30 [[ 9.82025169e-01 1.88155047e-01 1.49748585e-02 5.30517723e+01] [-1.88131326e-01 9.82139330e-01 -2.98999706e-03 -7.26092887e+00] [-1.52699805e-02 1.19012385e-04 9.99883400e-01 -1.29869386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.338623853 meters 0.01660631262093515 Centerline is valid? [True, True] Translation: X:53.08, Y:-7.26, Z:-1.30 [[ 9.81406076e-01 1.91346281e-01 1.51233218e-02 5.30841277e+01] [-1.91322427e-01 9.81522590e-01 -3.02214379e-03 -7.26224230e+00] [-1.54221580e-02 7.25196549e-05 9.99881069e-01 -1.29779420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.368623853 meters 0.015716018013648123 Centerline is valid? [True, True] Translation: X:53.12, Y:-7.26, Z:-1.30 [[ 9.80130406e-01 1.97750175e-01 1.54678878e-02 5.31164325e+01] [-1.97725962e-01 9.80252451e-01 -3.09457845e-03 -7.26075210e+00] [-1.57743883e-02 -2.53125583e-05 9.99875576e-01 -1.29834409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.398623853000004 meters 0.016342395690465077 Centerline is valid? [True, True] Translation: X:53.15, Y:-7.26, Z:-1.30 [[ 9.79580691e-01 2.00461027e-01 1.53963387e-02 5.31472570e+01] [-2.00437335e-01 9.79701675e-01 -3.08264866e-03 -7.26293274e+00] [-1.57017697e-02 -6.62979836e-05 9.99876717e-01 -1.29940441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.428623853000005 meters 0.018611861305783798 Centerline is valid? [True, True] Translation: X:53.18, Y:-7.26, Z:-1.30 [[ 9.78493446e-01 2.05695018e-01 1.54962850e-02 5.31785491e+01] [-2.05671667e-01 9.78616134e-01 -3.10296395e-03 -7.26134674e+00] [-1.58031787e-02 -1.50916891e-04 9.99875111e-01 -1.29958940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.458623853000006 meters 0.0199023669942621 Centerline is valid? [True, True] Translation: X:53.21, Y:-7.26, Z:-1.30 [[ 9.78020510e-01 2.07935936e-01 1.54443650e-02 5.32085899e+01] [-2.07913020e-01 9.78142429e-01 -3.09268418e-03 -7.26427876e+00] [-1.57498689e-02 -1.86376012e-04 9.99875946e-01 -1.29997168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.48862385300001 meters 0.022235983739175565 Centerline is valid? [True, True] Translation: X:53.24, Y:-7.27, Z:-1.30 [[ 9.77570307e-01 2.10034674e-01 1.55476811e-02 5.32371774e+01] [-2.10011714e-01 9.77693912e-01 -3.11340220e-03 -7.26536490e+00] [-1.58547956e-02 -2.21625623e-04 9.99874280e-01 -1.30161509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.518623853 meters 0.02404005145621755 Centerline is valid? [True, True] Translation: X:53.26, Y:-7.27, Z:-1.30 [[ 9.77210561e-01 2.11680870e-01 1.58344410e-02 5.32648329e+01] [-2.11657278e-01 9.77338808e-01 -3.17040989e-03 -7.26681944e+00] [-1.61467289e-02 -2.53316673e-04 9.99869601e-01 -1.30218686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.548623853 meters 0.029277611178038412 Centerline is valid? [True, True] Translation: X:53.29, Y:-7.27, Z:-1.30 [[ 9.76412151e-01 2.15341203e-01 1.57314187e-02 5.32948085e+01] [-2.15318412e-01 9.76538821e-01 -3.14853494e-03 -7.26822714e+00] [-1.60403503e-02 -3.12996306e-04 9.99871296e-01 -1.29538428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.578623853 meters 0.036941559304452844 Centerline is valid? [True, True] Translation: X:53.33, Y:-7.26, Z:-1.31 [[ 9.76073747e-01 2.16854446e-01 1.59433589e-02 5.33250913e+01] [-2.16831238e-01 9.76203889e-01 -3.19094660e-03 -7.25676597e+00] [-1.62559399e-02 -3.42419037e-04 9.99867805e-01 -1.30774938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.608623853000005 meters 0.029661149245309 Centerline is valid? [True, True] Translation: X:53.35, Y:-7.27, Z:-1.30 [[ 9.75555764e-01 2.19156137e-01 1.61721875e-02 5.33525187e+01] [-2.19132597e-01 9.75689724e-01 -3.23535594e-03 -7.26908683e+00] [-1.64880852e-02 -3.87583300e-04 9.99863987e-01 -1.30171588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.638623853000006 meters 0.031199471392361868 Centerline is valid? [True, True] Translation: X:53.38, Y:-7.27, Z:-1.30 [[ 9.75396532e-01 2.19822250e-01 1.67267347e-02 5.33810548e+01] [-2.19797179e-01 9.75539855e-01 -3.34551920e-03 -7.26964184e+00] [-1.70530159e-02 -4.13281272e-04 9.99854501e-01 -1.30231909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.66862385300001 meters 0.033401173807255546 Centerline is valid? [True, True] Translation: X:53.41, Y:-7.27, Z:-1.30 [[ 9.75340063e-01 2.20083672e-01 1.65812947e-02 5.34097127e+01] [-2.20059090e-01 9.75480910e-01 -3.31541608e-03 -7.26960200e+00] [-1.69044054e-02 -4.15206507e-04 9.99857024e-01 -1.30412282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.698623853 meters 0.03161442296417627 Centerline is valid? [True, True] Translation: X:53.44, Y:-7.28, Z:-1.31 [[ 9.75361893e-01 2.20005316e-01 1.63351857e-02 5.34374188e+01] [-2.19981465e-01 9.75498587e-01 -3.26514245e-03 -7.27601497e+00] [-1.66532993e-02 -4.08742557e-04 9.99861241e-01 -1.30509047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.728623853 meters 0.03149958922258378 Centerline is valid? [True, True] Translation: X:53.46, Y:-7.28, Z:-1.31 [[ 9.75522028e-01 2.19306066e-01 1.61747259e-02 5.34649652e+01] [-2.19282596e-01 9.75656033e-01 -3.23239641e-03 -7.28020237e+00] [-1.64898530e-02 -3.93561984e-04 9.99863956e-01 -1.30599513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.758623853 meters 0.028939513685899282 Centerline is valid? [True, True] Translation: X:53.49, Y:-7.29, Z:-1.31 [[ 9.76047806e-01 2.16975421e-01 1.58854107e-02 5.34931865e+01] [-2.16952492e-01 9.76177005e-01 -3.17353871e-03 -7.28508404e+00] [-1.61955526e-02 -3.48853948e-04 9.99868783e-01 -1.30755958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.788623853000004 meters 0.027656058291152946 Centerline is valid? [True, True] Translation: X:53.52, Y:-7.29, Z:-1.31 [[ 9.76397095e-01 2.15394475e-01 1.59352868e-02 5.35212451e+01] [-2.15371204e-01 9.76527068e-01 -3.18272479e-03 -7.29005331e+00] [-1.62467802e-02 -3.24398658e-04 9.99867960e-01 -1.30886737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.818623853000005 meters 0.030742773064603227 Centerline is valid? [True, True] Translation: X:53.55, Y:-7.30, Z:-1.30 [[ 9.76783568e-01 2.13672267e-01 1.54280037e-02 5.35492340e+01] [-2.13650250e-01 9.76905359e-01 -3.08069771e-03 -7.29658132e+00] [-1.57299591e-02 -2.87021949e-04 9.99876235e-01 -1.30353349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.84862385300001 meters 0.022896426298332273 Centerline is valid? [True, True] Translation: X:53.58, Y:-7.30, Z:-1.31 [[ 9.77694326e-01 2.09421154e-01 1.60183016e-02 5.35764265e+01] [-2.09396864e-01 9.77825510e-01 -3.19762960e-03 -7.30439939e+00] [-1.63327552e-02 -2.27877812e-04 9.99866586e-01 -1.30997313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.878623853 meters 0.021035078572123958 Centerline is valid? [True, True] Translation: X:53.61, Y:-7.31, Z:-1.31 [[ 9.78110476e-01 2.07447513e-01 1.62918901e-02 5.36050796e+01] [-2.07422123e-01 9.78246129e-01 -3.25162658e-03 -7.31091757e+00] [-1.66120203e-02 -1.98848412e-04 9.99861991e-01 -1.31011919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.908623853 meters 0.019580731696723336 Centerline is valid? [True, True] Translation: X:53.63, Y:-7.32, Z:-1.31 [[ 9.78552721e-01 2.05336226e-01 1.64804883e-02 5.36328688e+01] [-2.05309954e-01 9.78691477e-01 -3.28876122e-03 -7.31726982e+00] [-1.68046153e-02 -1.65382057e-04 9.99858779e-01 -1.31066698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.938623853 meters 0.017129524256151676 Centerline is valid? [True, True] Translation: X:53.66, Y:-7.33, Z:-1.31 [[ 9.79482350e-01 2.00873553e-01 1.62524190e-02 5.36592276e+01] [-2.00847399e-01 9.79617174e-01 -3.24258338e-03 -7.32610395e+00] [-1.65724980e-02 -8.82028975e-05 9.99862663e-01 -1.31204101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.968623853000004 meters 0.016141663653805403 Centerline is valid? [True, True] Translation: X:53.69, Y:-7.33, Z:-1.31 [[ 9.79958650e-01 1.98538765e-01 1.62296995e-02 5.36875637e+01] [-1.98512381e-01 9.80093035e-01 -3.23699563e-03 -7.33383202e+00] [-1.65492846e-02 -4.96744325e-05 9.99863050e-01 -1.31215265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.998623853000005 meters 0.015814359649116202 Centerline is valid? [True, True] Translation: X:53.72, Y:-7.34, Z:-1.31 [[ 9.80423266e-01 1.96231524e-01 1.62298348e-02 5.37158646e+01] [-1.96204837e-01 9.80557591e-01 -3.23622063e-03 -7.34068863e+00] [-1.65493362e-02 -1.15060864e-05 9.99863050e-01 -1.31279344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.028623853000006 meters 0.016736766642974236 Centerline is valid? [True, True] Translation: X:53.74, Y:-7.35, Z:-1.31 [[ 9.81394188e-01 1.91316069e-01 1.62360495e-02 5.37433984e+01] [-1.91288703e-01 9.81528480e-01 -3.23655528e-03 -7.35019201e+00] [-1.65553500e-02 7.05636908e-05 9.99862948e-01 -1.31457885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.058623853 meters 0.017801690135419122 Centerline is valid? [True, True] Translation: X:53.77, Y:-7.36, Z:-1.32 [[ 9.81913131e-01 1.88637803e-01 1.61982084e-02 5.37718613e+01] [-1.88610211e-01 9.82046723e-01 -3.22831560e-03 -7.35878036e+00] [-1.65163798e-02 1.14777978e-04 9.99863589e-01 -1.31511313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.088623853 meters 0.019463816074052568 Centerline is valid? [True, True] Translation: X:53.80, Y:-7.37, Z:-1.32 [[ 9.82423471e-01 1.85945385e-01 1.63840868e-02 5.38014151e+01] [-1.85916792e-01 9.82560068e-01 -3.26475424e-03 -7.36829961e+00] [-1.67054155e-02 1.61294322e-04 9.99860442e-01 -1.31592644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.118623853 meters 0.023698531830785668 Centerline is valid? [True, True] Translation: X:53.83, Y:-7.38, Z:-1.32 [[ 9.83374855e-01 1.80835301e-01 1.65072109e-02 5.38292232e+01] [-1.80805556e-01 9.83513361e-01 -3.28928840e-03 -7.38088348e+00] [-1.68298820e-02 2.50008053e-04 9.99858336e-01 -1.31551073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.148623853000004 meters 0.02560987881517927 Centerline is valid? [True, True] Translation: X:53.86, Y:-7.39, Z:-1.32 [[ 9.83768700e-01 1.78655244e-01 1.67764114e-02 5.38596444e+01] [-1.78624207e-01 9.83911692e-01 -3.34274199e-03 -7.39001967e+00] [-1.71037057e-02 2.91811761e-04 9.99853678e-01 -1.31596094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.178623853000005 meters 0.027335102150319115 Centerline is valid? [True, True] Translation: X:53.89, Y:-7.40, Z:-1.32 [[ 9.84026021e-01 1.77244084e-01 1.66530874e-02 5.38907017e+01] [-1.77213313e-01 9.84166874e-01 -3.31742721e-03 -7.39895977e+00] [-1.69774114e-02 3.13285904e-04 9.99855824e-01 -1.31648192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.208623853000006 meters 0.031930300154602305 Centerline is valid? [True, True] Translation: X:53.92, Y:-7.41, Z:-1.31 [[ 9.84500328e-01 1.74679730e-01 1.56874330e-02 5.39210763e+01] [-1.74652059e-01 9.84625247e-01 -3.12753461e-03 -7.40874077e+00] [-1.59925595e-02 3.39216374e-04 9.99872053e-01 -1.31374561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.23862385300001 meters 0.0321139975235896 Centerline is valid? [True, True] Translation: X:53.95, Y:-7.42, Z:-1.32 [[ 9.84678148e-01 1.73644521e-01 1.60164335e-02 5.39507877e+01] [-1.73615498e-01 9.84808330e-01 -3.19566678e-03 -7.41829588e+00] [-1.63280272e-02 3.66002165e-04 9.99866622e-01 -1.32001263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.268623853 meters 0.033384953090758764 Centerline is valid? [True, True] Translation: X:53.98, Y:-7.43, Z:-1.32 [[ 9.84906097e-01 1.72352240e-01 1.59588830e-02 5.39818654e+01] [-1.72323219e-01 9.85035306e-01 -3.18649883e-03 -7.42725035e+00] [-1.62692634e-02 3.88316041e-04 9.99867571e-01 -1.32042406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.298623853 meters 0.036821737271411636 Centerline is valid? [True, True] Translation: X:54.01, Y:-7.44, Z:-1.32 [[ 9.85278202e-01 1.70153733e-01 1.65701845e-02 5.40111579e+01] [-1.70122084e-01 9.85417429e-01 -3.31152721e-03 -7.44072040e+00] [-1.68920173e-02 4.43821257e-04 9.99857221e-01 -1.32016791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.328623853 meters 0.04253342290422993 Centerline is valid? [True, True] Translation: X:54.04, Y:-7.45, Z:-1.31 [[ 9.85402243e-01 1.69489376e-01 1.59928139e-02 5.40423306e+01] [-1.69459771e-01 9.85531916e-01 -3.19833279e-03 -7.44853710e+00] [-1.63035119e-02 4.41505722e-04 9.99866991e-01 -1.31397572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.358623853000005 meters 0.03792939730749556 Centerline is valid? [True, True] Translation: X:54.07, Y:-7.46, Z:-1.32 [[ 9.85407648e-01 1.69441576e-01 1.61654101e-02 5.40743890e+01] [-1.69411282e-01 9.85540131e-01 -3.23530266e-03 -7.45772067e+00] [-1.64798551e-02 4.49489143e-04 9.99864097e-01 -1.32250047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.388623853000006 meters 0.03812911221240166 Centerline is valid? [True, True] Translation: X:54.10, Y:-7.46, Z:-1.32 [[ 9.85332592e-01 1.69893341e-01 1.59979889e-02 5.41043272e+01] [-1.69863679e-01 9.85462358e-01 -3.20498724e-03 -7.46477259e+00] [-1.63099219e-02 4.40501128e-04 9.99866887e-01 -1.32369646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.41862385300001 meters 0.03244511772605615 Centerline is valid? [True, True] Translation: X:54.14, Y:-7.46, Z:-1.32 [[ 9.84905746e-01 1.72343733e-01 1.60720146e-02 5.41360416e+01] [-1.72314065e-01 9.85036788e-01 -3.22327846e-03 -7.46468641e+00] [-1.63870375e-02 4.05191312e-04 9.99865641e-01 -1.32274872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.448623853 meters 0.03426647067873009 Centerline is valid? [True, True] Translation: X:54.17, Y:-7.47, Z:-1.33 [[ 9.84591967e-01 1.74158283e-01 1.57337688e-02 5.41664338e+01] [-1.74130097e-01 9.84717603e-01 -3.15452999e-03 -7.47374360e+00] [-1.60427067e-02 3.66202198e-04 9.99871240e-01 -1.32518610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.478623853 meters 0.028525818235378954 Centerline is valid? [True, True] Translation: X:54.20, Y:-7.47, Z:-1.32 [[ 9.84166006e-01 1.76566503e-01 1.55416604e-02 5.41994749e+01] [-1.76539261e-01 9.84288659e-01 -3.11854508e-03 -7.47302132e+00] [-1.58481107e-02 3.25452812e-04 9.99874358e-01 -1.32463198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.508623853 meters 0.02329729479384591 Centerline is valid? [True, True] Translation: X:54.23, Y:-7.47, Z:-1.33 [[ 9.83141424e-01 1.82198965e-01 1.53778383e-02 5.42318081e+01] [-1.82172923e-01 9.83261655e-01 -3.08948259e-03 -7.47245955e+00] [-1.56833392e-02 2.35972569e-04 9.99876981e-01 -1.32534427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.538623853000004 meters 0.020852861192486177 Centerline is valid? [True, True] Translation: X:54.26, Y:-7.47, Z:-1.33 [[ 9.82505716e-01 1.85582897e-01 1.55404532e-02 5.42625381e+01] [-1.85556720e-01 9.82628594e-01 -3.12243382e-03 -7.47417246e+00] [-1.58499640e-02 1.84173564e-04 9.99874364e-01 -1.32559396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.568623853000005 meters 0.02125200809053761 Centerline is valid? [True, True] Translation: X:54.29, Y:-7.47, Z:-1.32 [[ 9.81833359e-01 1.89089639e-01 1.57595501e-02 5.42934021e+01] [-1.89063141e-01 9.81959822e-01 -3.16819953e-03 -7.47416943e+00] [-1.60743187e-02 1.31093948e-04 9.99870791e-01 -1.32087616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.59862385300001 meters 0.016560517405734377 Centerline is valid? [True, True] Translation: X:54.32, Y:-7.47, Z:-1.33 [[ 9.81216785e-01 1.92201403e-01 1.64997447e-02 5.43235021e+01] [-1.92172793e-01 9.81355498e-01 -3.31720434e-03 -7.47496267e+00] [-1.68296865e-02 8.40945565e-05 9.99858367e-01 -1.32535074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.628623853 meters 0.015495717427207479 Centerline is valid? [True, True] Translation: X:54.35, Y:-7.47, Z:-1.32 [[ 9.80063416e-01 1.97937352e-01 1.72193302e-02 5.43537407e+01] [-1.97907081e-01 9.80214673e-01 -3.46160619e-03 -7.47020083e+00] [-1.75638213e-02 -1.52337913e-05 9.99845744e-01 -1.32497772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.658623853 meters 0.016036507429329355 Centerline is valid? [True, True] Translation: X:54.38, Y:-7.47, Z:-1.33 [[ 9.79565767e-01 2.00363893e-01 1.74705127e-02 5.43820527e+01] [-2.00333133e-01 9.79721545e-01 -3.51131083e-03 -7.47185768e+00] [-1.78197776e-02 -6.03626497e-05 9.99841213e-01 -1.32647658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.688623853 meters 0.017844841050020866 Centerline is valid? [True, True] Translation: X:54.41, Y:-7.47, Z:-1.33 [[ 9.78739133e-01 2.04424559e-01 1.67424194e-02 5.44117022e+01] [-2.04396920e-01 9.78882313e-01 -3.36391960e-03 -7.47203468e+00] [-1.70765260e-02 -1.29699217e-04 9.99854177e-01 -1.32790278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.718623853000004 meters 0.018933894854200002 Centerline is valid? [True, True] Translation: X:54.44, Y:-7.47, Z:-1.33 [[ 9.78414824e-01 2.05981709e-01 1.66122555e-02 5.44397771e+01] [-2.05954736e-01 9.78555829e-01 -3.33705060e-03 -7.47419926e+00] [-1.69433908e-02 -1.56352913e-04 9.99856438e-01 -1.32909077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.748623853000005 meters 0.01971714404858102 Centerline is valid? [True, True] Translation: X:54.47, Y:-7.48, Z:-1.33 [[ 9.78107503e-01 2.07460872e-01 1.63002663e-02 5.44683827e+01] [-2.07435125e-01 9.78243300e-01 -3.27331328e-03 -7.47730460e+00] [-1.66247108e-02 -1.79595505e-04 9.99861784e-01 -1.32991446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.778623853000006 meters 0.02164819682277998 Centerline is valid? [True, True] Translation: X:54.50, Y:-7.48, Z:-1.33 [[ 9.77832126e-01 2.08779525e-01 1.59825979e-02 5.44965401e+01] [-2.08754959e-01 9.77962714e-01 -3.20885526e-03 -7.47849810e+00] [-1.63003281e-02 -1.98724817e-04 9.99867121e-01 -1.33150761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.808623853 meters 0.022947587816783896 Centerline is valid? [True, True] Translation: X:54.53, Y:-7.48, Z:-1.33 [[ 9.77362478e-01 2.10957493e-01 1.61096876e-02 5.45260056e+01] [-2.10932848e-01 9.77495207e-01 -3.23325618e-03 -7.47824435e+00] [-1.64292221e-02 -2.37999021e-04 9.99865003e-01 -1.33142974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.838623853 meters 0.024347305357239446 Centerline is valid? [True, True] Translation: X:54.55, Y:-7.48, Z:-1.33 [[ 9.77125904e-01 2.12034527e-01 1.63195183e-02 5.45543048e+01] [-2.12009398e-01 9.77262141e-01 -3.27465410e-03 -7.47903571e+00] [-1.66427871e-02 -2.60141896e-04 9.99861465e-01 -1.33231420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.868623853 meters 0.024812063556404047 Centerline is valid? [True, True] Translation: X:54.58, Y:-7.48, Z:-1.33 [[ 9.76878209e-01 2.13168758e-01 1.63721103e-02 5.45836108e+01] [-2.13143645e-01 9.77015354e-01 -3.28411169e-03 -7.48177991e+00] [-1.66958732e-02 -2.81434121e-04 9.99860575e-01 -1.33267757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.898623853000004 meters 0.03148018617174025 Centerline is valid? [True, True] Translation: X:54.61, Y:-7.47, Z:-1.34 [[ 9.76551942e-01 2.14642520e-01 1.65798956e-02 5.46128806e+01] [-2.14616988e-01 9.76692629e-01 -3.32515801e-03 -7.47445657e+00] [-1.69071822e-02 -3.11137748e-04 9.99857015e-01 -1.33585592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.928623853000005 meters 0.03104820305637316 Centerline is valid? [True, True] Translation: X:54.64, Y:-7.48, Z:-1.33 [[ 9.76437335e-01 2.15166472e-01 1.65384203e-02 5.46409177e+01] [-2.15141166e-01 9.76577333e-01 -3.31543988e-03 -7.48382754e+00] [-1.68644179e-02 -3.20775743e-04 9.99857734e-01 -1.32745044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.958623853000006 meters 0.03104820305637316 Centerline is valid? [True, True] Translation: X:54.67, Y:-7.49, Z:-1.33 [[ 9.76452298e-01 2.15098553e-01 1.65385357e-02 5.46678998e+01] [-2.15073247e-01 9.76592295e-01 -3.31486400e-03 -7.48909616e+00] [-1.68644290e-02 -3.20190007e-04 9.99857734e-01 -1.32814204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.98862385300001 meters 0.027245641626226117 Centerline is valid? [True, True] Translation: X:54.70, Y:-7.49, Z:-1.33 [[ 9.76471578e-01 2.14965854e-01 1.71154577e-02 5.46955136e+01] [-2.14938756e-01 9.76621509e-01 -3.42910422e-03 -7.49269295e+00] [-1.74524645e-02 -3.30352371e-04 9.99847640e-01 -1.33420381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.018623853 meters 0.026889416653853235 Centerline is valid? [True, True] Translation: X:54.72, Y:-7.50, Z:-1.34 [[ 9.76592702e-01 2.14437329e-01 1.68323293e-02 5.47240452e+01] [-2.14411060e-01 9.76737699e-01 -3.37129905e-03 -7.49665314e+00] [-1.71637030e-02 -3.16651531e-04 9.99852643e-01 -1.33515012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.048623853 meters 0.026938996761261044 Centerline is valid? [True, True] Translation: X:54.75, Y:-7.50, Z:-1.34 [[ 9.77033580e-01 2.12448576e-01 1.64616452e-02 5.47517292e+01] [-2.12423180e-01 9.77172209e-01 -3.29639138e-03 -7.49796246e+00] [-1.67861758e-02 -2.76149949e-04 9.99859064e-01 -1.33822355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.078623853 meters 0.022194181639905004 Centerline is valid? [True, True] Translation: X:54.78, Y:-7.51, Z:-1.34 [[ 9.77421345e-01 2.10629453e-01 1.68150890e-02 5.47789525e+01] [-2.10602705e-01 9.77565942e-01 -3.36605366e-03 -7.50879965e+00] [-1.71468484e-02 -2.51250532e-04 9.99852950e-01 -1.33579619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.108623853000005 meters 0.021750564430718367 Centerline is valid? [True, True] Translation: X:54.81, Y:-7.51, Z:-1.34 [[ 9.77836949e-01 2.08666066e-01 1.71281543e-02 5.48066652e+01] [-2.08638025e-01 9.77986924e-01 -3.42793374e-03 -7.51376699e+00] [-1.74664044e-02 -2.21624021e-04 9.99847426e-01 -1.33719984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.138623853000006 meters 0.018325782477523717 Centerline is valid? [True, True] Translation: X:54.83, Y:-7.53, Z:-1.34 [[ 9.78808945e-01 2.04082088e-01 1.68389442e-02 5.48336592e+01] [-2.04054326e-01 9.78953769e-01 -3.36891775e-03 -7.52549451e+00] [-1.71720837e-02 -1.38532591e-04 9.99852539e-01 -1.33779620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.16862385300001 meters 0.01707374042565895 Centerline is valid? [True, True] Translation: X:54.86, Y:-7.53, Z:-1.34 [[ 9.79302296e-01 2.01730002e-01 1.64929983e-02 5.48612120e+01] [-2.01703049e-01 9.79441166e-01 -3.29892345e-03 -7.53374007e+00] [-1.68194133e-02 -9.60447365e-05 9.99858539e-01 -1.33919504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.198623853 meters 0.01621151423364082 Centerline is valid? [True, True] Translation: X:54.89, Y:-7.54, Z:-1.34 [[ 9.79774714e-01 1.99421059e-01 1.65151796e-02 5.48889673e+01] [-1.99393719e-01 9.79913893e-01 -3.30255652e-03 -7.54171888e+00] [-1.68420533e-02 -5.72617092e-05 9.99858161e-01 -1.33937083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.228623853 meters 0.015640242812076786 Centerline is valid? [True, True] Translation: X:54.92, Y:-7.55, Z:-1.34 [[ 9.80700291e-01 1.94787806e-01 1.68715863e-02 5.49169786e+01] [-1.94758602e-01 9.80845406e-01 -3.37296716e-03 -7.55095236e+00] [-1.72054308e-02 2.19833167e-05 9.99851975e-01 -1.33882024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.258623853 meters 0.01608769312379008 Centerline is valid? [True, True] Translation: X:54.94, Y:-7.56, Z:-1.34 [[ 9.81169845e-01 1.92407819e-01 1.68809210e-02 5.49446543e+01] [-1.92378245e-01 9.81315050e-01 -3.37399297e-03 -7.55901156e+00] [-1.72146845e-02 6.29381989e-05 9.99851814e-01 -1.33971296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.288623853000004 meters 0.016969586175941655 Centerline is valid? [True, True] Translation: X:54.97, Y:-7.57, Z:-1.34 [[ 9.81629548e-01 1.90050343e-01 1.68611149e-02 5.49708507e+01] [-1.90020505e-01 9.81774341e-01 -3.36914105e-03 -7.56736596e+00] [-1.71941164e-02 1.03290832e-04 9.99852165e-01 -1.34037157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.318623853000005 meters 0.021208732857063404 Centerline is valid? [True, True] Translation: X:55.00, Y:-7.58, Z:-1.34 [[ 9.82045323e-01 1.87897243e-01 1.67812404e-02 5.49991845e+01] [-1.87867385e-01 9.82188682e-01 -3.35250684e-03 -7.57531429e+00] [-1.71122712e-02 1.39665911e-04 9.99853565e-01 -1.33586972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.34862385300001 meters 0.02116314513892453 Centerline is valid? [True, True] Translation: X:55.03, Y:-7.59, Z:-1.34 [[ 9.82891446e-01 1.83383756e-01 1.71698319e-02 5.50261785e+01] [-1.83351826e-01 9.83041377e-01 -3.42916175e-03 -7.58781818e+00] [-1.75075078e-02 2.22373705e-04 9.99846707e-01 -1.34126962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.378623853 meters 0.021831985485937812 Centerline is valid? [True, True] Translation: X:55.06, Y:-7.60, Z:-1.34 [[ 9.83304984e-01 1.81153238e-01 1.71701389e-02 5.50554660e+01] [-1.81120983e-01 9.83454847e-01 -3.42831146e-03 -7.59508698e+00] [-1.75071061e-02 2.61203307e-04 9.99846705e-01 -1.34075593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.408623853 meters 0.02965566423611709 Centerline is valid? [True, True] Translation: X:55.08, Y:-7.60, Z:-1.34 [[ 9.83650660e-01 1.79342562e-01 1.63592278e-02 5.50843866e+01] [-1.79313030e-01 9.83786647e-01 -3.26650374e-03 -7.60369257e+00] [-1.66798130e-02 2.79675842e-04 9.99860843e-01 -1.33529127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.438623853 meters 0.026481997678968937 Centerline is valid? [True, True] Translation: X:55.11, Y:-7.61, Z:-1.34 [[ 9.84056009e-01 1.77058021e-01 1.68591030e-02 5.51124327e+01] [-1.77026325e-01 9.84200361e-01 -3.36609306e-03 -7.61426081e+00] [-1.71887291e-02 3.27919050e-04 9.99852209e-01 -1.34359103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.468623853000004 meters 0.03096063816059912 Centerline is valid? [True, True] Translation: X:55.14, Y:-7.63, Z:-1.35 [[ 9.84625588e-01 1.73857021e-01 1.69170790e-02 5.51407033e+01] [-1.73824641e-01 9.84770830e-01 -3.37726554e-03 -7.62795102e+00] [-1.72466072e-02 3.84736884e-04 9.99851192e-01 -1.34516101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.498623853000005 meters 0.030253273900629988 Centerline is valid? [True, True] Translation: X:55.17, Y:-7.63, Z:-1.34 [[ 9.84827175e-01 1.72713335e-01 1.68979223e-02 5.51716866e+01] [-1.72680858e-01 9.84972051e-01 -3.37354978e-03 -7.63443764e+00] [-1.72266382e-02 4.04415782e-04 9.99851529e-01 -1.34481121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.528623853000006 meters 0.03157577042656944 Centerline is valid? [True, True] Translation: X:55.20, Y:-7.65, Z:-1.35 [[ 9.85098519e-01 1.71217144e-01 1.62971468e-02 5.52020589e+01] [-1.71186746e-01 9.85233230e-01 -3.25274888e-03 -7.64522463e+00] [-1.66134170e-02 4.14422579e-04 9.99861902e-01 -1.34626402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.558623853 meters 0.03171551572489955 Centerline is valid? [True, True] Translation: X:55.23, Y:-7.65, Z:-1.35 [[ 9.85086260e-01 1.71284120e-01 1.63343125e-02 5.52330012e+01] [-1.71253524e-01 9.85221587e-01 -3.26422302e-03 -7.65245623e+00] [-1.66520269e-02 4.18232662e-04 9.99861258e-01 -1.34714014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.588623853 meters 0.029383443682741303 Centerline is valid? [True, True] Translation: X:55.27, Y:-7.66, Z:-1.35 [[ 9.84998371e-01 1.71768363e-01 1.65480833e-02 5.52655429e+01] [-1.71737043e-01 9.85137279e-01 -3.30610319e-03 -7.65606023e+00] [-1.68700177e-02 4.14587345e-04 9.99857605e-01 -1.34609361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.618623853 meters 0.03841630352917426 Centerline is valid? [True, True] Translation: X:55.30, Y:-7.66, Z:-1.34 [[ 9.84751041e-01 1.73184632e-01 1.65066550e-02 5.52957395e+01] [-1.73153617e-01 9.84889298e-01 -3.30088742e-03 -7.66426305e+00] [-1.68288909e-02 3.92365305e-04 9.99858307e-01 -1.33919395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.648623853000004 meters 0.029701406386083658 Centerline is valid? [True, True] Translation: X:55.33, Y:-7.67, Z:-1.35 [[ 9.84392920e-01 1.75115033e-01 1.74729739e-02 5.53251412e+01] [-1.75080508e-01 9.84547905e-01 -3.49835036e-03 -7.67011439e+00] [-1.78155936e-02 3.84574174e-04 9.99841216e-01 -1.34725692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.678623853000005 meters 0.03584512366022648 Centerline is valid? [True, True] Translation: X:55.36, Y:-7.67, Z:-1.34 [[ 9.84059531e-01 1.77022279e-01 1.70279703e-02 5.53572862e+01] [-1.76989774e-01 9.84206785e-01 -3.40935620e-03 -7.67151103e+00] [-1.73625759e-02 3.41232863e-04 9.99849201e-01 -1.33875992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.708623853000006 meters 0.031363598911786146 Centerline is valid? [True, True] Translation: X:55.39, Y:-7.69, Z:-1.35 [[ 9.83838234e-01 1.78202452e-01 1.74990245e-02 5.53858912e+01] [-1.78168319e-01 9.83993790e-01 -3.50314645e-03 -7.68665049e+00] [-1.78432007e-02 3.28757630e-04 9.99840743e-01 -1.35089387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.73862385300001 meters 0.024206741899676372 Centerline is valid? [True, True] Translation: X:55.42, Y:-7.68, Z:-1.35 [[ 9.83602478e-01 1.79461842e-01 1.78777121e-02 5.54180665e+01] [-1.79426349e-01 9.83764884e-01 -3.58304612e-03 -7.68384909e+00] [-1.82304854e-02 3.16560428e-04 9.99833761e-01 -1.34763065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.768623853 meters 0.022835892055986105 Centerline is valid? [True, True] Translation: X:55.45, Y:-7.69, Z:-1.35 [[ 9.83208393e-01 1.81532534e-01 1.86331667e-02 5.54471184e+01] [-1.81494351e-01 9.83384897e-01 -3.73432049e-03 -7.68946330e+00] [-1.90014754e-02 2.89800731e-04 9.99819414e-01 -1.34727349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.798623853 meters 0.022167885097190265 Centerline is valid? [True, True] Translation: X:55.48, Y:-7.69, Z:-1.35 [[ 9.83085355e-01 1.82219530e-01 1.84181265e-02 5.54768682e+01] [-1.82182335e-01 9.83257834e-01 -3.69176434e-03 -7.69490646e+00] [-1.87824787e-02 2.73862176e-04 9.99823556e-01 -1.34806749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.828623853 meters 0.0217426094933165 Centerline is valid? [True, True] Translation: X:55.51, Y:-7.70, Z:-1.35 [[ 9.82971272e-01 1.82879419e-01 1.79609873e-02 5.55054336e+01] [-1.82844156e-01 9.83135318e-01 -3.60021682e-03 -7.70140131e+00] [-1.83164865e-02 2.54848147e-04 9.99832207e-01 -1.34971400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.858623853000005 meters 0.022021596733883344 Centerline is valid? [True, True] Translation: X:55.53, Y:-7.71, Z:-1.35 [[ 9.82734177e-01 1.84177554e-01 1.76682127e-02 5.55335012e+01] [-1.84143645e-01 9.82892963e-01 -3.54131842e-03 -7.71073838e+00] [-1.80181933e-02 2.26685548e-04 9.99837633e-01 -1.35245499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.888623853000006 meters 0.020513552948991442 Centerline is valid? [True, True] Translation: X:55.56, Y:-7.72, Z:-1.35 [[ 9.82613754e-01 1.84827269e-01 1.75809867e-02 5.55637894e+01] [-1.84793803e-01 9.82770998e-01 -3.52353562e-03 -7.71569477e+00] [-1.79293293e-02 2.13417177e-04 9.99839234e-01 -1.35268533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.91862385300001 meters 0.02054176138821187 Centerline is valid? [True, True] Translation: X:55.59, Y:-7.72, Z:-1.35 [[ 9.82482024e-01 1.85546927e-01 1.73611742e-02 5.55926539e+01] [-1.85514404e-01 9.82635384e-01 -3.47956960e-03 -7.72274126e+00] [-1.77053275e-02 1.97866700e-04 9.99843229e-01 -1.35480152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.948623853 meters 0.018861980512189715 Centerline is valid? [True, True] Translation: X:55.62, Y:-7.73, Z:-1.35 [[ 9.82121658e-01 1.87438951e-01 1.74266334e-02 5.56219649e+01] [-1.87406482e-01 9.82276240e-01 -3.49256139e-03 -7.72912184e+00] [-1.77724099e-02 1.64256133e-04 9.99842045e-01 -1.35495740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.978623853 meters 0.01838135366499534 Centerline is valid? [True, True] Translation: X:55.65, Y:-7.74, Z:-1.36 [[ 9.82009188e-01 1.88038292e-01 1.73076834e-02 5.56512307e+01] [-1.88006365e-01 9.82161686e-01 -3.46831769e-03 -7.73519652e+00] [-1.76511201e-02 1.51965197e-04 9.99844195e-01 -1.35582659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.008623853 meters 0.017892897582506374 Centerline is valid? [True, True] Translation: X:55.68, Y:-7.74, Z:-1.36 [[ 9.81853865e-01 1.88862933e-01 1.71399959e-02 5.56798610e+01] [-1.88831754e-01 9.82003449e-01 -3.43430715e-03 -7.74141880e+00] [-1.74801484e-02 1.35412255e-04 9.99847201e-01 -1.35720794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.038623853000004 meters 0.017002573400760165 Centerline is valid? [True, True] Translation: X:55.71, Y:-7.75, Z:-1.36 [[ 9.81526262e-01 1.90536561e-01 1.73785914e-02 5.57074274e+01] [-1.90504776e-01 9.81680094e-01 -3.48177695e-03 -7.74766853e+00] [-1.77236231e-02 1.06750838e-04 9.99842919e-01 -1.35748531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.068623853000005 meters 0.016426394004364762 Centerline is valid? [True, True] Translation: X:55.74, Y:-7.75, Z:-1.36 [[ 9.81311985e-01 1.91629160e-01 1.74657739e-02 5.57364165e+01] [-1.91597241e-01 9.81467400e-01 -3.49852813e-03 -7.75291963e+00] [-1.78125077e-02 8.67534932e-05 9.99841341e-01 -1.35801773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.09862385300001 meters 0.016212234206904375 Centerline is valid? [True, True] Translation: X:55.76, Y:-7.76, Z:-1.36 [[ 9.81172017e-01 1.92376622e-01 1.71087229e-02 5.57642196e+01] [-1.92346114e-01 9.81321166e-01 -3.42670342e-03 -7.75881886e+00] [-1.74483695e-02 7.13891561e-05 9.99847763e-01 -1.35975050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.128623853 meters 0.01584556252109699 Centerline is valid? [True, True] Translation: X:55.79, Y:-7.77, Z:-1.36 [[ 9.80993960e-01 1.93323836e-01 1.66356836e-02 5.57929736e+01] [-1.93295138e-01 9.81135002e-01 -3.33130697e-03 -7.76607453e+00] [-1.69658725e-02 5.23952443e-05 9.99856068e-01 -1.36083262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.158623853 meters 0.015809532198080862 Centerline is valid? [True, True] Translation: X:55.82, Y:-7.77, Z:-1.36 [[ 9.80970303e-01 1.93458866e-01 1.64600118e-02 5.58216467e+01] [-1.93430797e-01 9.81108386e-01 -3.29573682e-03 -7.77337242e+00] [-1.67866451e-02 4.91467434e-05 9.99859093e-01 -1.36188328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.188623853 meters 0.015708630281861948 Centerline is valid? [True, True] Translation: X:55.85, Y:-7.78, Z:-1.36 [[ 9.80992529e-01 1.93373596e-01 1.61341721e-02 5.58514591e+01] [-1.93346625e-01 9.81125196e-01 -3.22990705e-03 -7.78060195e+00] [-1.64542215e-02 4.90269601e-05 9.99864619e-01 -1.36200855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.218623853000004 meters 0.015821742130806414 Centerline is valid? [True, True] Translation: X:55.88, Y:-7.79, Z:-1.36 [[ 9.80956916e-01 1.93541672e-01 1.62834299e-02 5.58793415e+01] [-1.93514222e-01 9.81092054e-01 -3.25989376e-03 -7.78945463e+00] [-1.66064689e-02 4.67400725e-05 9.99862102e-01 -1.36374553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.248623853000005 meters 0.016207284782747952 Centerline is valid? [True, True] Translation: X:55.91, Y:-7.80, Z:-1.37 [[ 9.80988568e-01 1.93350480e-01 1.66439326e-02 5.59074641e+01] [-1.93321775e-01 9.81129752e-01 -3.33193607e-03 -7.79736852e+00] [-1.69740889e-02 5.09565985e-05 9.99855928e-01 -1.36564437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.278623853000006 meters 0.01565523882589146 Centerline is valid? [True, True] Translation: X:55.94, Y:-7.80, Z:-1.36 [[ 9.81073269e-01 1.92886004e-01 1.70361497e-02 5.59374767e+01] [-1.92855871e-01 9.81221171e-01 -3.40984935e-03 -7.80419008e+00] [-1.73739429e-02 5.97905682e-05 9.99849060e-01 -1.36302287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.308623853 meters 0.01664063588282855 Centerline is valid? [True, True] Translation: X:55.97, Y:-7.81, Z:-1.37 [[ 9.81166443e-01 1.92411211e-01 1.70392492e-02 5.59663176e+01] [-1.92380998e-01 9.81314384e-01 -3.41037444e-03 -7.81367947e+00] [-1.73770546e-02 6.81171948e-05 9.99849005e-01 -1.36638768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.338623853 meters 0.016308064431459924 Centerline is valid? [True, True] Translation: X:56.00, Y:-7.82, Z:-1.36 [[ 9.81359051e-01 1.91421819e-01 1.70909486e-02 5.59968064e+01] [-1.91391270e-01 9.81507860e-01 -3.42084382e-03 -7.82118990e+00] [-1.74297245e-02 8.60176923e-05 9.99848087e-01 -1.36471441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.368623853 meters 0.016777039883749515 Centerline is valid? [True, True] Translation: X:56.03, Y:-7.83, Z:-1.37 [[ 9.81545368e-01 1.90461958e-01 1.71152957e-02 5.60267934e+01] [-1.90431168e-01 9.81694572e-01 -3.42614300e-03 -7.83095884e+00] [-1.74545428e-02 1.03629053e-04 9.99847652e-01 -1.36555463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.398623853000004 meters 0.017863477930360205 Centerline is valid? [True, True] Translation: X:56.06, Y:-7.84, Z:-1.37 [[ 9.81898099e-01 1.88651379e-01 1.69345715e-02 5.60567390e+01] [-1.88620979e-01 9.82044113e-01 -3.38924510e-03 -7.84489618e+00] [-1.72698820e-02 1.33677872e-04 9.99850856e-01 -1.36721880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.428623853000005 meters 0.019398761433965007 Centerline is valid? [True, True] Translation: X:56.09, Y:-7.85, Z:-1.36 [[ 9.81983067e-01 1.88233017e-01 1.66609610e-02 5.60886934e+01] [-1.88203488e-01 9.82124387e-01 -3.33700781e-03 -7.85362056e+00] [-1.69912712e-02 1.41234189e-04 9.99855628e-01 -1.36393028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.458623853000006 meters 0.018884018844771824 Centerline is valid? [True, True] Translation: X:56.12, Y:-7.86, Z:-1.37 [[ 9.82092828e-01 1.87619824e-01 1.71019930e-02 5.61194188e+01] [-1.87588545e-01 9.82241710e-01 -3.42953316e-03 -7.86432416e+00] [-1.74417393e-02 1.59981924e-04 9.99847868e-01 -1.36838328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.48862385300001 meters 0.018395596882913638 Centerline is valid? [True, True] Translation: X:56.15, Y:-7.87, Z:-1.37 [[ 9.82156304e-01 1.87252086e-01 1.74828910e-02 5.61519374e+01] [-1.87219309e-01 9.82311879e-01 -3.50764403e-03 -7.87246738e+00] [-1.78304652e-02 1.71919920e-04 9.99841010e-01 -1.36713614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.518623853 meters 0.019272427461493696 Centerline is valid? [True, True] Translation: X:56.18, Y:-7.88, Z:-1.37 [[ 9.82112305e-01 1.87420379e-01 1.81389830e-02 5.61823205e+01] [-1.87385051e-01 9.82279782e-01 -3.64328155e-03 -7.88474585e+00] [-1.85003815e-02 1.79137387e-04 9.99828837e-01 -1.36750822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.548623853 meters 0.018892977141371788 Centerline is valid? [True, True] Translation: X:56.21, Y:-7.89, Z:-1.37 [[ 9.81960677e-01 1.88202665e-01 1.82478725e-02 5.62138930e+01] [-1.88166978e-01 9.82130199e-01 -3.66883600e-03 -7.89271664e+00] [-1.86122713e-02 1.69005671e-04 9.99826762e-01 -1.36815527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.578623853 meters 0.017584074884726374 Centerline is valid? [True, True] Translation: X:56.25, Y:-7.90, Z:-1.37 [[ 9.81827359e-01 1.88876099e-01 1.84623139e-02 5.62453266e+01] [-1.88839629e-01 9.82000913e-01 -3.71499366e-03 -7.89886279e+00] [-1.88316826e-02 1.61065896e-04 9.99822655e-01 -1.36683880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.608623853000005 meters 0.017480676343831162 Centerline is valid? [True, True] Translation: X:56.27, Y:-7.91, Z:-1.37 [[ 9.81466998e-01 1.90696708e-01 1.89023116e-02 5.62748571e+01] [-1.90658748e-01 9.81648994e-01 -3.80708993e-03 -7.90979630e+00] [-1.92814347e-02 1.32642061e-04 9.99814087e-01 -1.36841039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.638623853000006 meters 0.016347146827625225 Centerline is valid? [True, True] Translation: X:56.31, Y:-7.92, Z:-1.37 [[ 9.81287151e-01 1.91610492e-01 1.89986031e-02 5.63073450e+01] [-1.91572258e-01 9.81471042e-01 -3.82942130e-03 -7.91594721e+00] [-1.93803361e-02 1.18156612e-04 9.99812177e-01 -1.36785352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.66862385300001 meters 0.01584391261749452 Centerline is valid? [True, True] Translation: X:56.34, Y:-7.92, Z:-1.37 [[ 9.81033774e-01 1.92926479e-01 1.87645638e-02 5.63395398e+01] [-1.92889350e-01 9.81213211e-01 -3.78600948e-03 -7.92300531e+00] [-1.91424594e-02 9.47186489e-05 9.99816762e-01 -1.36910221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.698623853 meters 0.015384709429713376 Centerline is valid? [True, True] Translation: X:56.37, Y:-7.93, Z:-1.37 [[ 9.80543164e-01 1.95491101e-01 1.78419008e-02 5.63709038e+01] [-1.95457894e-01 9.80705474e-01 -3.60336751e-03 -7.93094845e+00] [-1.82020761e-02 4.59170230e-05 9.99834327e-01 -1.37248484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.728623853 meters 0.01517008477881521 Centerline is valid? [True, True] Translation: X:56.40, Y:-7.94, Z:-1.37 [[ 9.80270298e-01 1.96889407e-01 1.74557625e-02 5.64031290e+01] [-1.96857788e-01 9.80425704e-01 -3.52855517e-03 -7.93744275e+00] [-1.78088134e-02 2.26350430e-05 9.99841410e-01 -1.37339444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.758623853 meters 0.01523214750253998 Centerline is valid? [True, True] Translation: X:56.43, Y:-7.94, Z:-1.38 [[ 9.79995371e-01 1.98290142e-01 1.70321114e-02 5.64344340e+01] [-1.98260189e-01 9.80143367e-01 -3.44639958e-03 -7.94392786e+00] [-1.73772981e-02 6.65998320e-07 9.99849003e-01 -1.37560012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.788623853000004 meters 0.015376704043950154 Centerline is valid? [True, True] Translation: X:56.47, Y:-7.95, Z:-1.38 [[ 9.79684244e-01 1.99851001e-01 1.66841044e-02 5.64652782e+01] [-1.99822433e-01 9.79826299e-01 -3.37912196e-03 -7.95037257e+00] [-1.70228452e-02 -2.33857943e-05 9.99855101e-01 -1.37747344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.818623853000005 meters 0.015737871636729392 Centerline is valid? [True, True] Translation: X:56.50, Y:-7.96, Z:-1.38 [[ 9.79152591e-01 2.02377099e-01 1.74273545e-02 5.64961552e+01] [-2.02346268e-01 9.79307666e-01 -3.53308292e-03 -7.95817508e+00] [-1.77817570e-02 -6.69328418e-05 9.99841890e-01 -1.37741676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.84862385300001 meters 0.02995360654954575 Centerline is valid? [True, True] Translation: X:56.53, Y:-7.96, Z:-1.37 [[ 9.78797122e-01 2.04101915e-01 1.72801248e-02 5.65283529e+01] [-2.04071818e-01 9.78949641e-01 -3.50624431e-03 -7.96484625e+00] [-1.76320032e-02 -9.44846463e-05 9.99844540e-01 -1.36873094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.878623853 meters 0.02995360654954575 Centerline is valid? [True, True] Translation: X:56.56, Y:-7.97, Z:-1.37 [[ 9.78758772e-01 2.04285797e-01 1.72794656e-02 5.65601547e+01] [-2.04255671e-01 9.78911285e-01 -3.50948947e-03 -7.97150138e+00] [-1.76320027e-02 -9.44852459e-05 9.99844540e-01 -1.36954877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.908623853 meters 0.016291780020558845 Centerline is valid? [True, True] Translation: X:56.59, Y:-7.98, Z:-1.38 [[ 9.78471207e-01 2.05545715e-01 1.85756849e-02 5.65927898e+01] [-2.05511051e-01 9.78647508e-01 -3.77672810e-03 -7.97806732e+00] [-1.89553380e-02 -1.22088835e-04 9.99820324e-01 -1.37633294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.938623853 meters 0.018296635923899858 Centerline is valid? [True, True] Translation: X:56.62, Y:-7.98, Z:-1.38 [[ 9.77690294e-01 2.09215426e-01 1.87241573e-02 5.66247571e+01] [-2.09180803e-01 9.77869556e-01 -3.81083480e-03 -7.98142111e+00] [-1.91070688e-02 -1.90918073e-04 9.99817425e-01 -1.37679255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.968623853000004 meters 0.02024579640611758 Centerline is valid? [True, True] Translation: X:56.66, Y:-7.98, Z:-1.38 [[ 9.77288383e-01 2.11112442e-01 1.84107133e-02 5.66554911e+01] [-2.11079245e-01 9.77461758e-01 -3.75024449e-03 -7.98490604e+00] [-1.87874915e-02 -2.21049095e-04 9.99823475e-01 -1.37925002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.998623853000005 meters 0.02078388212534504 Centerline is valid? [True, True] Translation: X:56.69, Y:-7.99, Z:-1.38 [[ 9.76906815e-01 2.12936650e-01 1.76368162e-02 5.66870679e+01] [-2.12906437e-01 9.77065977e-01 -3.59513870e-03 -7.99149118e+00] [-1.79978698e-02 -2.42876204e-04 9.99837996e-01 -1.38089665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.028623853000006 meters 0.023771445209807056 Centerline is valid? [True, True] Translation: X:56.72, Y:-7.99, Z:-1.38 [[ 9.76202916e-01 2.16277236e-01 1.58752892e-02 5.67185586e+01] [-2.16253139e-01 9.76331954e-01 -3.23971393e-03 -7.99480160e+00] [-1.62002285e-02 -2.70462940e-04 9.99868731e-01 -1.38488362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.05862385300001 meters 0.02537633898146509 Centerline is valid? [True, True] Translation: X:56.75, Y:-8.00, Z:-1.39 [[ 9.75862504e-01 2.17837042e-01 1.54724305e-02 5.67487199e+01] [-2.17814341e-01 9.75985113e-01 -3.15798532e-03 -7.99837716e+00] [-1.57887880e-02 -2.88357792e-04 9.99875308e-01 -1.38645400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.088623853 meters 0.027709220038631525 Centerline is valid? [True, True] Translation: X:56.78, Y:-8.00, Z:-1.39 [[ 9.75557404e-01 2.19203180e-01 1.54181152e-02 5.67778739e+01] [-2.19180800e-01 9.75679184e-01 -3.14742567e-03 -8.00016869e+00] [-1.57330598e-02 -3.08860408e-04 9.99876180e-01 -1.38786713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.118623853 meters 0.02803722224987735 Centerline is valid? [True, True] Translation: X:56.81, Y:-8.01, Z:-1.39 [[ 9.75137420e-01 2.21017270e-01 1.60741690e-02 5.68072797e+01] [-2.20993198e-01 9.75269830e-01 -3.28093854e-03 -8.00513090e+00] [-1.64017962e-02 -3.52916082e-04 9.99865419e-01 -1.38661413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.148623853000004 meters 0.027550075860409088 Centerline is valid? [True, True] Translation: X:56.84, Y:-8.01, Z:-1.39 [[ 9.75144468e-01 2.20947993e-01 1.65906981e-02 5.68372716e+01] [-2.20922349e-01 9.75285523e-01 -3.38574496e-03 -8.01236192e+00] [-1.69287413e-02 -3.63665541e-04 9.99856632e-01 -1.38605606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.178623853000005 meters 0.026500873806897522 Centerline is valid? [True, True] Translation: X:56.87, Y:-8.02, Z:-1.39 [[ 9.75269477e-01 2.20348092e-01 1.72094484e-02 5.68680917e+01] [-2.20320412e-01 9.75421234e-01 -3.51173990e-03 -8.02086304e+00] [-1.75602666e-02 -3.66700018e-04 9.99845739e-01 -1.38505147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.208623853000006 meters 0.02631925582962851 Centerline is valid? [True, True] Translation: X:56.90, Y:-8.03, Z:-1.38 [[ 9.75467020e-01 2.19418913e-01 1.78727171e-02 5.68981350e+01] [-2.19388888e-01 9.75630672e-01 -3.64787031e-03 -8.02800354e+00] [-1.82375827e-02 -3.62698344e-04 9.99833616e-01 -1.38491708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.23862385300001 meters 0.023864273525332547 Centerline is valid? [True, True] Translation: X:56.93, Y:-8.04, Z:-1.38 [[ 9.76300854e-01 2.15580552e-01 1.90175566e-02 5.69272251e+01] [-2.15545819e-01 9.76486011e-01 -3.88197785e-03 -8.03935721e+00] [-1.94072569e-02 -3.09176527e-04 9.99811614e-01 -1.38478771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.268623853 meters 0.020984654856314247 Centerline is valid? [True, True] Translation: X:56.96, Y:-8.05, Z:-1.38 [[ 9.76836509e-01 2.13150974e-01 1.88970324e-02 5.69574606e+01] [-2.13116227e-01 9.77019240e-01 -3.85729166e-03 -8.05137366e+00] [-1.92849497e-02 -2.59320937e-04 9.99813994e-01 -1.38496741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.298623853 meters 0.018604647025214922 Centerline is valid? [True, True] Translation: X:56.99, Y:-8.06, Z:-1.39 [[ 9.77418747e-01 2.10501298e-01 1.84877611e-02 5.69875489e+01] [-2.10467508e-01 9.77593558e-01 -3.77680167e-03 -8.06289742e+00] [-1.88685378e-02 -1.99556240e-04 9.99821953e-01 -1.38623003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.328623853 meters 0.01565325140911902 Centerline is valid? [True, True] Translation: X:57.02, Y:-8.08, Z:-1.39 [[ 9.78630686e-01 2.04793727e-01 1.84799805e-02 5.70156976e+01] [-2.04758887e-01 9.78805150e-01 -3.77841398e-03 -8.07966459e+00] [-1.88620956e-02 -8.62683724e-05 9.99822091e-01 -1.38823853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.358623853000005 meters 0.015180734474169495 Centerline is valid? [True, True] Translation: X:57.05, Y:-8.09, Z:-1.39 [[ 9.79201481e-01 2.02061758e-01 1.83168353e-02 5.70453686e+01] [-2.02026994e-01 9.79372781e-01 -3.74819006e-03 -8.09246676e+00] [-1.86963758e-02 -3.02619154e-05 9.99825207e-01 -1.38979560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.388623853000006 meters 0.015166737755122216 Centerline is valid? [True, True] Translation: X:57.08, Y:-8.10, Z:-1.39 [[ 9.79708099e-01 1.99607127e-01 1.81393486e-02 5.70763976e+01] [-1.99572559e-01 9.79876010e-01 -3.71474085e-03 -8.10493613e+00] [-1.85158012e-02 1.92454777e-05 9.99828568e-01 -1.38963236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.41862385300001 meters 0.01555569837803925 Centerline is valid? [True, True] Translation: X:57.11, Y:-8.12, Z:-1.39 [[ 9.80070792e-01 1.97805467e-01 1.82822275e-02 5.71065792e+01] [-1.97769969e-01 9.80241294e-01 -3.74769894e-03 -8.11534091e+00] [-1.86623096e-02 5.73347065e-05 9.99825842e-01 -1.39049462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.448623853 meters 0.016967535366436054 Centerline is valid? [True, True] Translation: X:57.14, Y:-8.13, Z:-1.39 [[ 9.80717189e-01 1.94567577e-01 1.83644547e-02 5.71370257e+01] [-1.94531127e-01 9.80889108e-01 -3.76800906e-03 -8.12909713e+00] [-1.87466260e-02 1.22893185e-04 9.99824259e-01 -1.39131957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.478623853 meters 0.018163915773741535 Centerline is valid? [True, True] Translation: X:57.17, Y:-8.14, Z:-1.39 [[ 9.80876217e-01 1.93718690e-01 1.88392009e-02 5.71670863e+01] [-1.93680111e-01 9.81057107e-01 -3.86868160e-03 -8.14006827e+00] [-1.92317678e-02 1.45919270e-04 9.99815042e-01 -1.39223179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.508623853 meters 0.018072155467413253 Centerline is valid? [True, True] Translation: X:57.20, Y:-8.15, Z:-1.39 [[ 9.80979419e-01 1.93149174e-01 1.93073967e-02 5.71994196e+01] [-1.93108473e-01 9.81169389e-01 -3.96840036e-03 -8.14877304e+00] [-1.97103199e-02 1.64497185e-04 9.99805719e-01 -1.39125050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.538623853000004 meters 0.02455354660151988 Centerline is valid? [True, True] Translation: X:57.23, Y:-8.16, Z:-1.38 [[ 9.81037080e-01 1.92874623e-01 1.91214014e-02 5.72314492e+01] [-1.92834579e-01 9.81223395e-01 -3.93381177e-03 -8.15826778e+00] [-1.95210988e-02 1.71947834e-04 9.99809430e-01 -1.38469093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.568623853000005 meters 0.018910663396132933 Centerline is valid? [True, True] Translation: X:57.26, Y:-8.17, Z:-1.39 [[ 9.81082135e-01 1.92604418e-01 1.95290219e-02 5.72616512e+01] [-1.92562510e-01 9.81276467e-01 -4.02191115e-03 -8.16955320e+00] [-1.99380074e-02 1.85267712e-04 9.99801201e-01 -1.39164853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.59862385300001 meters 0.019010031373270748 Centerline is valid? [True, True] Translation: X:57.29, Y:-8.18, Z:-1.39 [[ 9.81040213e-01 1.92833130e-01 1.93774134e-02 5.72939325e+01] [-1.92791876e-01 9.81231548e-01 -3.99263669e-03 -8.17837923e+00] [-1.97836420e-02 1.81129264e-04 9.99804268e-01 -1.39268298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.628623853 meters 0.01906388836413045 Centerline is valid? [True, True] Translation: X:57.33, Y:-8.19, Z:-1.39 [[ 9.81006796e-01 1.93022585e-01 1.91819552e-02 5.73255530e+01] [-1.92982126e-01 9.81194298e-01 -3.95594737e-03 -8.18719880e+00] [-1.95848123e-02 1.79036758e-04 9.99808183e-01 -1.39470660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.658623853 meters 0.018742238047252866 Centerline is valid? [True, True] Translation: X:57.36, Y:-8.20, Z:-1.40 [[ 9.80818456e-01 1.94104345e-01 1.78510614e-02 5.73568434e+01] [-1.94069428e-01 9.80980877e-01 -3.68460682e-03 -8.19565033e+00] [-1.82267480e-02 1.49585117e-04 9.99833868e-01 -1.39840424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.688623853 meters 0.018227613079613837 Centerline is valid? [True, True] Translation: X:57.39, Y:-8.20, Z:-1.40 [[ 9.80634962e-01 1.95054029e-01 1.75782976e-02 5.73889628e+01] [-1.95020270e-01 9.80792490e-01 -3.63126068e-03 -8.20219893e+00] [-1.79489543e-02 1.32816840e-04 9.99838896e-01 -1.39984936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.718623853000004 meters 0.017643060837317353 Centerline is valid? [True, True] Translation: X:57.42, Y:-8.21, Z:-1.40 [[ 9.80431302e-01 1.96101377e-01 1.72832648e-02 5.74209627e+01] [-1.96068837e-01 9.80583620e-01 -3.57419016e-03 -8.20858371e+00] [-1.76485900e-02 1.15538300e-04 9.99844245e-01 -1.40117050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.748623853000005 meters 0.01712620004517436 Centerline is valid? [True, True] Translation: X:57.45, Y:-8.22, Z:-1.40 [[ 9.80190184e-01 1.97316488e-01 1.71291026e-02 5.74512273e+01] [-1.97284693e-01 9.80339836e-01 -3.54335243e-03 -8.21522900e+00] [-1.74915035e-02 9.38495323e-05 9.99847008e-01 -1.40196207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.778623853000006 meters 0.019149002901089274 Centerline is valid? [True, True] Translation: X:57.48, Y:-8.22, Z:-1.39 [[ 9.79610290e-01 2.00168401e-01 1.72130871e-02 5.74838188e+01] [-2.00136676e-01 9.79761506e-01 -3.56399340e-03 -8.21970461e+00] [-1.75781190e-02 4.63545745e-05 9.99845492e-01 -1.39464995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.80862385300001 meters 0.01533332102408327 Centerline is valid? [True, True] Translation: X:57.51, Y:-8.22, Z:-1.40 [[ 9.79250748e-01 2.01873567e-01 1.77492150e-02 5.75147834e+01] [-2.01840106e-01 9.79411590e-01 -3.67547607e-03 -8.22479731e+00] [-1.81257683e-02 1.67092645e-05 9.99835715e-01 -1.40054739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.838623853 meters 0.01528604875482287 Centerline is valid? [True, True] Translation: X:57.55, Y:-8.23, Z:-1.40 [[ 9.78879059e-01 2.03680733e-01 1.76052968e-02 5.75464181e+01] [-2.03648049e-01 9.79037363e-01 -3.64876605e-03 -8.22943890e+00] [-1.79794267e-02 -1.35836528e-05 9.99838357e-01 -1.40155915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.868623853 meters 0.015576218120144272 Centerline is valid? [True, True] Translation: X:57.58, Y:-8.23, Z:-1.40 [[ 9.78142173e-01 2.07181996e-01 1.77061910e-02 5.75790631e+01] [-2.07149481e-01 9.78302415e-01 -3.67124911e-03 -8.23238257e+00] [-1.80826262e-02 -7.68246949e-05 9.99836493e-01 -1.40093848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.898623853000004 meters 0.016324098777908417 Centerline is valid? [True, True] Translation: X:57.61, Y:-8.24, Z:-1.40 [[ 9.77731417e-01 2.09121258e-01 1.75947318e-02 5.76101853e+01] [-2.09089396e-01 9.77889711e-01 -3.65195782e-03 -8.23669274e+00] [-1.79694092e-02 -1.08237952e-04 9.99838531e-01 -1.40230169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.928623853000005 meters 0.017928121828898972 Centerline is valid? [True, True] Translation: X:57.64, Y:-8.24, Z:-1.40 [[ 9.77268686e-01 2.11306705e-01 1.71869411e-02 5.76413780e+01] [-2.11276593e-01 9.77419795e-01 -3.57005419e-03 -8.23952363e+00] [-1.75532328e-02 -1.42296181e-04 9.99845920e-01 -1.40482914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.958623853000006 meters 0.020084980569694696 Centerline is valid? [True, True] Translation: X:57.67, Y:-8.24, Z:-1.41 [[ 9.76446351e-01 2.15129408e-01 1.64882434e-02 5.76732346e+01] [-2.15102196e-01 9.76585530e-01 -3.42746472e-03 -8.24158051e+00] [-1.68395284e-02 -1.99921947e-04 9.99858185e-01 -1.40592753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.98862385300001 meters 0.03109840189610772 Centerline is valid? [True, True] Translation: X:57.71, Y:-8.24, Z:-1.40 [[ 9.76029287e-01 2.17047270e-01 1.60410194e-02 5.77054869e+01] [-2.17021733e-01 9.76161069e-01 -3.33695143e-03 -8.24176930e+00] [-1.63828948e-02 -2.24287500e-04 9.99865766e-01 -1.40124925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.018623853 meters 0.02177794078684898 Centerline is valid? [True, True] Translation: X:57.74, Y:-8.25, Z:-1.41 [[ 9.75722069e-01 2.18402829e-01 1.63293609e-02 5.77365143e+01] [-2.18376513e-01 9.75858669e-01 -3.39944819e-03 -8.25033439e+00] [-1.66775975e-02 -2.49032268e-04 9.99860888e-01 -1.40699071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.048623853 meters 0.023068960882719845 Centerline is valid? [True, True] Translation: X:57.77, Y:-8.25, Z:-1.41 [[ 9.75439479e-01 2.19676298e-01 1.61290796e-02 5.77676514e+01] [-2.19650750e-01 9.75572782e-01 -3.36064445e-03 -8.25305750e+00] [-1.64733450e-02 -2.64659164e-04 9.99864270e-01 -1.40871343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.078623853 meters 0.033394418074733576 Centerline is valid? [True, True] Translation: X:57.80, Y:-8.25, Z:-1.40 [[ 9.75267828e-01 2.20504821e-01 1.51752440e-02 5.77997042e+01] [-2.20482273e-01 9.75385850e-01 -3.16400319e-03 -8.25449772e+00] [-1.54993963e-02 -2.60121790e-04 9.99879843e-01 -1.40381134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.108623853000005 meters 0.024281641280059798 Centerline is valid? [True, True] Translation: X:57.83, Y:-8.26, Z:-1.41 [[ 9.75412883e-01 2.19826179e-01 1.56894750e-02 5.78302181e+01] [-2.19801942e-01 9.75539023e-01 -3.27418254e-03 -8.26182525e+00] [-1.60254461e-02 -2.54897237e-04 9.99871552e-01 -1.41277614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.138623853000006 meters 0.022110240750057245 Centerline is valid? [True, True] Translation: X:57.86, Y:-8.27, Z:-1.41 [[ 9.75672677e-01 2.18668174e-01 1.57180331e-02 5.78613867e+01] [-2.18643662e-01 9.75799249e-01 -3.28238745e-03 -8.27205318e+00] [-1.60553985e-02 -2.34112563e-04 9.99871076e-01 -1.41259771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.16862385300001 meters 0.021384169361614785 Centerline is valid? [True, True] Translation: X:57.89, Y:-8.28, Z:-1.41 [[ 9.76008386e-01 2.17186545e-01 1.54154187e-02 5.78911798e+01] [-2.17162741e-01 9.76130096e-01 -3.22185517e-03 -8.27994240e+00] [-1.57471977e-02 -2.03096915e-04 9.99875985e-01 -1.41477325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.198623853 meters 0.017654784656206457 Centerline is valid? [True, True] Translation: X:57.92, Y:-8.29, Z:-1.41 [[ 9.76975026e-01 2.12785876e-01 1.55553859e-02 5.79211604e+01] [-2.12761042e-01 9.77098845e-01 -3.25345856e-03 -8.29394508e+00] [-1.58914396e-02 -1.31032359e-04 9.99873715e-01 -1.41391817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.228623853 meters 0.01761792820978832 Centerline is valid? [True, True] Translation: X:57.95, Y:-8.30, Z:-1.42 [[ 9.77496864e-01 2.10349567e-01 1.59040949e-02 5.79517683e+01] [-2.10323238e-01 9.77626233e-01 -3.32925509e-03 -8.30173616e+00] [-1.62485678e-02 -9.06643324e-05 9.99867979e-01 -1.41805983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.258623853 meters 0.01576169925726729 Centerline is valid? [True, True] Translation: X:57.98, Y:-8.31, Z:-1.42 [[ 9.77992136e-01 2.08021284e-01 1.60787541e-02 5.79823062e+01] [-2.07994012e-01 9.78124298e-01 -3.36868315e-03 -8.31380788e+00] [-1.64277779e-02 -4.97389595e-05 9.99865054e-01 -1.41576502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.288623853000004 meters 0.015614348618853037 Centerline is valid? [True, True] Translation: X:58.01, Y:-8.33, Z:-1.42 [[ 9.78948055e-01 2.03492153e-01 1.58634447e-02 5.80134034e+01] [-2.03464973e-01 9.79076577e-01 -3.32594539e-03 -8.32794953e+00] [-1.62083309e-02 2.82724273e-05 9.99868636e-01 -1.41578669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.318623853000005 meters 0.016358719777853303 Centerline is valid? [True, True] Translation: X:58.04, Y:-8.34, Z:-1.42 [[ 9.79393396e-01 2.01320721e-01 1.60792933e-02 5.80437038e+01] [-2.01292448e-01 9.79525376e-01 -3.37462165e-03 -8.33846674e+00] [-1.64294571e-02 6.84418547e-05 9.99865025e-01 -1.41686992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.34862385300001 meters 0.01691708982871807 Centerline is valid? [True, True] Translation: X:58.07, Y:-8.35, Z:-1.42 [[ 9.79776310e-01 1.99454198e-01 1.60126529e-02 5.80744812e+01] [-1.99425859e-01 9.79907145e-01 -3.36368860e-03 -8.34773387e+00] [-1.63618148e-02 1.02325355e-04 9.99866131e-01 -1.41684506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.378623853 meters 0.01846924739113629 Centerline is valid? [True, True] Translation: X:58.10, Y:-8.36, Z:-1.42 [[ 9.80224491e-01 1.97289537e-01 1.53878561e-02 5.81037151e+01] [-1.97263057e-01 9.80345256e-01 -3.23514822e-03 -8.35800708e+00] [-1.57236726e-02 1.35715991e-04 9.99876366e-01 -1.41841585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.408623853 meters 0.01889013657268892 Centerline is valid? [True, True] Translation: X:58.14, Y:-8.37, Z:-1.42 [[ 9.80276017e-01 1.97042970e-01 1.52642904e-02 5.81353281e+01] [-1.97016848e-01 9.80394843e-01 -3.21145503e-03 -8.36544537e+00] [-1.55978262e-02 1.40789960e-04 9.99878337e-01 -1.41974313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.438623853 meters 0.027427746108218222 Centerline is valid? [True, True] Translation: X:58.17, Y:-8.37, Z:-1.41 [[ 9.80257441e-01 1.97189048e-01 1.45543057e-02 5.81665360e+01] [-1.97165278e-01 9.80365473e-01 -3.06462888e-03 -8.37204556e+00] [-1.48728500e-02 1.34521548e-04 9.99889384e-01 -1.41396951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.468623853000004 meters 0.018830772168155232 Centerline is valid? [True, True] Translation: X:58.20, Y:-8.38, Z:-1.42 [[ 9.80230269e-01 1.97275895e-01 1.51934202e-02 5.81984682e+01] [-1.97249956e-01 9.80348000e-01 -3.20215685e-03 -8.37842807e+00] [-1.55265475e-02 1.41949600e-04 9.99879446e-01 -1.42074291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.498623853000005 meters 0.01840029163290894 Centerline is valid? [True, True] Translation: X:58.23, Y:-8.38, Z:-1.42 [[ 9.80122554e-01 1.97723381e-01 1.62862980e-02 5.82299738e+01] [-1.97693573e-01 9.80257845e-01 -3.43633812e-03 -8.38440988e+00] [-1.66442157e-02 1.48336064e-04 9.99861464e-01 -1.41970487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.528623853000006 meters 0.01966159008565124 Centerline is valid? [True, True] Translation: X:58.26, Y:-8.39, Z:-1.42 [[ 9.79995612e-01 1.98338177e-01 1.64489728e-02 5.82609555e+01] [-1.98307810e-01 9.80133637e-01 -3.47353286e-03 -8.39100474e+00] [-1.68111258e-02 1.42087187e-04 9.99858673e-01 -1.41721025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.55862385300001 meters 0.01793253240799474 Centerline is valid? [True, True] Translation: X:58.29, Y:-8.40, Z:-1.42 [[ 9.79836763e-01 1.99087069e-01 1.68599281e-02 5.82909764e+01] [-1.99055206e-01 9.79981796e-01 -3.56434420e-03 -8.39772854e+00] [-1.72320375e-02 1.36419006e-04 9.99851508e-01 -1.42077806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.588623853 meters 0.016892756705431045 Centerline is valid? [True, True] Translation: X:58.32, Y:-8.40, Z:-1.42 [[ 9.79504319e-01 2.00649398e-01 1.76382532e-02 5.83229339e+01] [-2.00614754e-01 9.79663108e-01 -3.73024809e-03 -8.40099080e+00] [-1.80280180e-02 1.15300291e-04 9.99837475e-01 -1.41960187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.618623853 meters 0.023189563997448717 Centerline is valid? [True, True] Translation: X:58.36, Y:-8.41, Z:-1.42 [[ 9.79264349e-01 2.01879437e-01 1.69123680e-02 5.83555079e+01] [-2.01847725e-01 9.79410376e-01 -3.57930324e-03 -8.40554913e+00] [-1.72867364e-02 9.13610617e-05 9.99850569e-01 -1.41500958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.648623853000004 meters 0.016134700605837243 Centerline is valid? [True, True] Translation: X:58.39, Y:-8.41, Z:-1.42 [[ 9.79025922e-01 2.03043011e-01 1.67863155e-02 5.83877935e+01] [-2.03011884e-01 9.79169817e-01 -3.55591197e-03 -8.41052163e+00] [-1.71586566e-02 7.35084551e-05 9.99852777e-01 -1.42291532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.678623853000005 meters 0.015973869898684694 Centerline is valid? [True, True] Translation: X:58.42, Y:-8.42, Z:-1.42 [[ 9.78825378e-01 2.04038465e-01 1.64068380e-02 5.84192193e+01] [-2.04008807e-01 9.78962870e-01 -3.47928052e-03 -8.41538251e+00] [-1.67715923e-02 5.84686222e-05 9.99859345e-01 -1.42450162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.708623853000006 meters 0.01580922386021264 Centerline is valid? [True, True] Translation: X:58.45, Y:-8.42, Z:-1.43 [[ 9.78514941e-01 2.05576359e-01 1.57120921e-02 5.84519007e+01] [-2.05549339e-01 9.78641078e-01 -3.33312586e-03 -8.41842083e+00] [-1.60617107e-02 3.19033018e-05 9.99871002e-01 -1.42676715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.73862385300001 meters 0.015742548114983358 Centerline is valid? [True, True] Translation: X:58.48, Y:-8.42, Z:-1.43 [[ 9.78343313e-01 2.06408842e-01 1.54839200e-02 5.84840039e+01] [-2.06382659e-01 9.78465835e-01 -3.28766273e-03 -8.42378594e+00] [-1.58290893e-02 2.08502683e-05 9.99874712e-01 -1.42795087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.768623853 meters 0.015742548114983358 Centerline is valid? [True, True] Translation: X:58.52, Y:-8.43, Z:-1.43 [[ 9.78304617e-01 2.06592214e-01 1.54833037e-02 5.85157361e+01] [-2.06566008e-01 9.78427134e-01 -3.29056183e-03 -8.43072955e+00] [-1.58290889e-02 2.08476004e-05 9.99874712e-01 -1.42876871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.798623853 meters 0.01572835093572294 Centerline is valid? [True, True] Translation: X:58.55, Y:-8.44, Z:-1.43 [[ 9.78124775e-01 2.07449826e-01 1.53783615e-02 5.85474942e+01] [-2.07424031e-01 9.78245659e-01 -3.27136027e-03 -8.43602144e+00] [-1.57224585e-02 9.95679049e-06 9.99876394e-01 -1.42967805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.828623853 meters 0.022452895619085544 Centerline is valid? [True, True] Translation: X:58.58, Y:-8.44, Z:-1.42 [[ 9.77814553e-01 2.08918147e-01 1.52285054e-02 5.85803274e+01] [-2.08892989e-01 9.77933130e-01 -3.24212751e-03 -8.43863202e+00] [-1.55697992e-02 -1.09285441e-05 9.99878783e-01 -1.42400356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.858623853000005 meters 0.015614779679042004 Centerline is valid? [True, True] Translation: X:58.61, Y:-8.44, Z:-1.43 [[ 9.77672321e-01 2.09535080e-01 1.58708113e-02 5.86119242e+01] [-2.09507780e-01 9.77801130e-01 -3.38234835e-03 -8.44368403e+00] [-1.62272179e-02 -1.82300885e-05 9.99868330e-01 -1.43011974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.888623853000006 meters 0.015273474802916381 Centerline is valid? [True, True] Translation: X:58.64, Y:-8.45, Z:-1.43 [[ 9.77623917e-01 2.09730487e-01 1.62665133e-02 5.86439684e+01] [-2.09701793e-01 9.77759235e-01 -3.46924609e-03 -8.44979247e+00] [-1.66323403e-02 -1.94990426e-05 9.99861673e-01 -1.42943810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.91862385300001 meters 0.015275345094724578 Centerline is valid? [True, True] Translation: X:58.68, Y:-8.46, Z:-1.43 [[ 9.77728126e-01 2.09197956e-01 1.68501173e-02 5.86752840e+01] [-2.09167024e-01 9.77873312e-01 -3.59738879e-03 -8.45549106e+00] [-1.72298464e-02 -7.22067725e-06 9.99851555e-01 -1.42982381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.948623853 meters 0.01516211885908295 Centerline is valid? [True, True] Translation: X:58.71, Y:-8.46, Z:-1.43 [[ 9.77859668e-01 2.08582148e-01 1.68510543e-02 5.87077159e+01] [-2.08551068e-01 9.78004850e-01 -3.60062775e-03 -8.46263084e+00] [-1.72314396e-02 6.60327344e-06 9.99851528e-01 -1.43026879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.978623853 meters 0.015479304633510401 Centerline is valid? [True, True] Translation: X:58.74, Y:-8.47, Z:-1.43 [[ 9.78055601e-01 2.07684328e-01 1.65668562e-02 5.87390076e+01] [-2.07654102e-01 9.78195900e-01 -3.54326587e-03 -8.47044834e+00] [-1.69415116e-02 2.53353884e-05 9.99856482e-01 -1.43199033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.008623853 meters 0.016293757628223066 Centerline is valid? [True, True] Translation: X:58.77, Y:-8.48, Z:-1.43 [[ 9.78640741e-01 2.04954601e-01 1.59972446e-02 5.87697608e+01] [-2.04926004e-01 9.78771478e-01 -3.42439055e-03 -8.48047465e+00] [-1.63594914e-02 7.29966853e-05 9.99866172e-01 -1.43340544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.038623853000004 meters 0.016916128627462813 Centerline is valid? [True, True] Translation: X:58.80, Y:-8.49, Z:-1.43 [[ 9.78970447e-01 2.03365436e-01 1.61047554e-02 5.88010742e+01] [-2.03336192e-01 9.79102900e-01 -3.45024219e-03 -8.48922458e+00] [-1.64698727e-02 1.03005510e-04 9.99864357e-01 -1.43368196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.068623853000005 meters 0.018546103871473336 Centerline is valid? [True, True] Translation: X:58.83, Y:-8.50, Z:-1.44 [[ 9.79383265e-01 2.01376840e-01 1.59933764e-02 5.88303333e+01] [-2.01347675e-01 9.79513833e-01 -3.42997470e-03 -8.49905682e+00] [-1.63564509e-02 1.39030660e-04 9.99866215e-01 -1.43530175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.09862385300001 meters 0.01931194548628116 Centerline is valid? [True, True] Translation: X:58.86, Y:-8.51, Z:-1.44 [[ 9.79754896e-01 1.99556347e-01 1.60501681e-02 5.88613434e+01] [-1.99526719e-01 9.79886338e-01 -3.44283308e-03 -8.50810715e+00] [-1.64143797e-02 1.70695170e-04 9.99865260e-01 -1.43514006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.128623853 meters 0.023143689661696595 Centerline is valid? [True, True] Translation: X:58.89, Y:-8.52, Z:-1.43 [[ 9.80547128e-01 1.95584860e-01 1.65496945e-02 5.88905427e+01] [-1.95552729e-01 9.80686750e-01 -3.55374486e-03 -8.52224495e+00] [-1.69251248e-02 2.48276389e-04 9.99856729e-01 -1.43476895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.158623853 meters 0.025178572210368524 Centerline is valid? [True, True] Translation: X:58.92, Y:-8.53, Z:-1.44 [[ 9.80884361e-01 1.93845124e-01 1.70275851e-02 5.89199286e+01] [-1.93810830e-01 9.81032102e-01 -3.65742105e-03 -8.53275273e+00] [-1.74135808e-02 2.87376715e-04 9.99848331e-01 -1.43510789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.188623853 meters 0.02703019515187729 Centerline is valid? [True, True] Translation: X:58.95, Y:-8.54, Z:-1.44 [[ 9.81196161e-01 1.92247131e-01 1.71794471e-02 5.89502434e+01] [-1.92211931e-01 9.81346492e-01 -3.69271093e-03 -8.54349402e+00] [-1.75689033e-02 3.21179083e-04 9.99845603e-01 -1.43560420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.218623853000004 meters 0.0283802795871421 Centerline is valid? [True, True] Translation: X:58.98, Y:-8.56, Z:-1.43 [[ 9.81663480e-01 1.89750690e-01 1.82067927e-02 5.89805557e+01] [-1.89710663e-01 9.81832227e-01 -3.91682442e-03 -8.55520041e+00] [-1.86192360e-02 3.90980764e-04 9.99826571e-01 -1.43414505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.248623853000005 meters 0.029785972915282146 Centerline is valid? [True, True] Translation: X:59.01, Y:-8.56, Z:-1.43 [[ 9.81805426e-01 1.88998633e-01 1.83745062e-02 5.90105637e+01] [-1.88957671e-01 9.81977264e-01 -3.95622406e-03 -8.56469260e+00] [-1.87910683e-02 4.12238340e-04 9.99823347e-01 -1.43443309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.278623853000006 meters 0.03348969364930331 Centerline is valid? [True, True] Translation: X:59.04, Y:-8.58, Z:-1.44 [[ 9.81876538e-01 1.88640999e-01 1.82493450e-02 5.90400568e+01] [-1.88600477e-01 9.82046026e-01 -3.93220618e-03 -8.57762881e+00] [-1.86634720e-02 4.19105819e-04 9.99825734e-01 -1.43665219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.30862385300001 meters 0.03145810518146685 Centerline is valid? [True, True] Translation: X:59.07, Y:-8.59, Z:-1.44 [[ 9.81915607e-01 1.88540332e-01 1.71547205e-02 5.90714945e+01] [-1.88504468e-01 9.82065367e-01 -3.69874355e-03 -8.58506087e+00] [-1.75444192e-02 3.98112551e-04 9.99846006e-01 -1.43836843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.338623853 meters 0.031236261573574595 Centerline is valid? [True, True] Translation: X:59.10, Y:-8.59, Z:-1.44 [[ 9.81821776e-01 1.89048125e-01 1.69353667e-02 5.91013653e+01] [-1.89013198e-01 9.81967747e-01 -3.65434660e-03 -8.59327576e+00] [-1.73208313e-02 3.86909246e-04 9.99849908e-01 -1.43934270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.368623853 meters 0.03021618435183465 Centerline is valid? [True, True] Translation: X:59.13, Y:-8.60, Z:-1.44 [[ 9.81679284e-01 1.89789137e-01 1.69075910e-02 5.91332857e+01] [-1.89754376e-01 9.81824802e-01 -3.65173034e-03 -8.60032875e+00] [-1.72933509e-02 3.76538658e-04 9.99850388e-01 -1.43972707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.398623853000004 meters 0.02941775063458679 Centerline is valid? [True, True] Translation: X:59.16, Y:-8.61, Z:-1.44 [[ 9.81468080e-01 1.90869979e-01 1.70017471e-02 5.91643925e+01] [-1.90834988e-01 9.81615262e-01 -3.67228117e-03 -8.60781463e+00] [-1.73901026e-02 3.59698548e-04 9.99848716e-01 -1.44054552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.428623853000005 meters 0.027299259880000492 Centerline is valid? [True, True] Translation: X:59.19, Y:-8.62, Z:-1.44 [[ 9.80952755e-01 1.93541353e-01 1.65359419e-02 5.91947454e+01] [-1.93508585e-01 9.81092070e-01 -3.57444752e-03 -8.61502085e+00] [-1.69150849e-02 3.06517420e-04 9.99856883e-01 -1.44224076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.458623853000006 meters 0.025749333757115325 Centerline is valid? [True, True] Translation: X:59.23, Y:-8.62, Z:-1.44 [[ 9.80613826e-01 1.95283231e-01 1.61549833e-02 5.92268819e+01] [-1.95252138e-01 9.80746851e-01 -3.49534638e-03 -8.62056058e+00] [-1.65265316e-02 2.73289950e-04 9.99863390e-01 -1.44351192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.48862385300001 meters 0.023041340301395978 Centerline is valid? [True, True] Translation: X:59.26, Y:-8.62, Z:-1.45 [[ 9.79956111e-01 1.98611411e-01 1.54767184e-02 5.92583639e+01] [-1.98583289e-01 9.80078295e-01 -3.34859472e-03 -8.62377127e+00] [-1.58334649e-02 2.08058218e-04 9.99874621e-01 -1.44531741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.518623853 meters 0.020646474284309525 Centerline is valid? [True, True] Translation: X:59.29, Y:-8.63, Z:-1.45 [[ 9.79537266e-01 2.00692268e-01 1.51445608e-02 5.92905639e+01] [-2.00665556e-01 9.79654318e-01 -3.27883985e-03 -8.62786925e+00] [-1.54944722e-02 1.72754101e-04 9.99879939e-01 -1.44601618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.548623853 meters 0.01951987761626353 Centerline is valid? [True, True] Translation: X:59.32, Y:-8.63, Z:-1.45 [[ 9.79211553e-01 2.02280700e-01 1.50748848e-02 5.93224320e+01] [-2.02254382e-01 9.79327573e-01 -3.26633310e-03 -8.63400367e+00] [-1.54239665e-02 1.49469599e-04 9.99881032e-01 -1.44654294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.578623853 meters 0.01923480650745489 Centerline is valid? [True, True] Translation: X:59.35, Y:-8.64, Z:-1.45 [[ 9.78859422e-01 2.03981856e-01 1.50211401e-02 5.93524202e+01] [-2.03955883e-01 9.78974661e-01 -3.25740095e-03 -8.64117658e+00] [-1.53697662e-02 1.24887706e-04 9.99881870e-01 -1.44873784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.608623853000005 meters 0.01992806259609269 Centerline is valid? [True, True] Translation: X:59.38, Y:-8.65, Z:-1.45 [[ 9.78575011e-01 2.05365990e-01 1.46886933e-02 5.93842350e+01] [-2.05341277e-01 9.78685240e-01 -3.18754195e-03 -8.64711973e+00] [-1.50302200e-02 1.03053875e-04 9.99887035e-01 -1.44657217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.638623853000006 meters 0.017164546119677816 Centerline is valid? [True, True] Translation: X:59.42, Y:-8.65, Z:-1.45 [[ 9.78040201e-01 2.07898804e-01 1.46782938e-02 5.94162560e+01] [-2.07874375e-01 9.78150338e-01 -3.18768021e-03 -8.65073452e+00] [-1.50202930e-02 6.64382367e-05 9.99887187e-01 -1.45073928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.66862385300001 meters 0.021664677146041273 Centerline is valid? [True, True] Translation: X:59.45, Y:-8.66, Z:-1.45 [[ 9.77805398e-01 2.08997667e-01 1.47166238e-02 5.94486359e+01] [-2.08973202e-01 9.77916138e-01 -3.19818284e-03 -8.65690843e+00] [-1.50600367e-02 5.18204467e-05 9.99886590e-01 -1.44550449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.698623853 meters 0.016215521682662493 Centerline is valid? [True, True] Translation: X:59.48, Y:-8.66, Z:-1.45 [[ 9.77538133e-01 2.10204140e-01 1.52780379e-02 5.94788708e+01] [-2.10177867e-01 9.77657516e-01 -3.32354443e-03 -8.66291592e+00] [-1.56353113e-02 3.77860101e-05 9.99877760e-01 -1.45143627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.728623853 meters 0.01561565033093548 Centerline is valid? [True, True] Translation: X:59.51, Y:-8.67, Z:-1.45 [[ 9.77076786e-01 2.12298314e-01 1.58233823e-02 5.95096868e+01] [-2.12270366e-01 9.77204905e-01 -3.44467881e-03 -8.66790774e+00] [-1.61939863e-02 6.88054506e-06 9.99868869e-01 -1.45066756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.758623853 meters 0.015344944345328976 Centerline is valid? [True, True] Translation: X:59.54, Y:-8.67, Z:-1.45 [[ 9.76935759e-01 2.12932091e-01 1.60139872e-02 5.95422974e+01] [-2.12903518e-01 9.77067001e-01 -3.48822645e-03 -8.67479776e+00] [-1.63894938e-02 -1.66104221e-06 9.99865683e-01 -1.44957463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.788623853000004 meters 0.015475944168461162 Centerline is valid? [True, True] Translation: X:59.57, Y:-8.68, Z:-1.45 [[ 9.76749533e-01 2.13752961e-01 1.64323265e-02 5.95735893e+01] [-2.13722925e-01 9.76887748e-01 -3.58321782e-03 -8.68110703e+00] [-1.68184618e-02 -1.20585550e-05 9.99858560e-01 -1.45131045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.818623853000005 meters 0.01543147979071856 Centerline is valid? [True, True] Translation: X:59.61, Y:-8.69, Z:-1.45 [[ 9.76561695e-01 2.14663427e-01 1.57120435e-02 5.96061801e+01] [-2.14636067e-01 9.76688084e-01 -3.42724608e-03 -8.68765282e+00] [-1.60814701e-02 -2.54539925e-05 9.99870684e-01 -1.45143749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.84862385300001 meters 0.015610867232574575 Centerline is valid? [True, True] Translation: X:59.64, Y:-8.69, Z:-1.45 [[ 9.76502359e-01 2.14949114e-01 1.54926331e-02 5.96373515e+01] [-2.14922501e-01 9.76625249e-01 -3.38243595e-03 -8.69434713e+00] [-1.58575482e-02 -2.67587538e-05 9.99874261e-01 -1.45360152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.878623853 meters 0.015435794307293473 Centerline is valid? [True, True] Translation: X:59.67, Y:-8.70, Z:-1.45 [[ 9.76433511e-01 2.15270538e-01 1.53686184e-02 5.96689778e+01] [-2.15244349e-01 9.76554450e-01 -3.35790727e-03 -8.70230472e+00] [-1.57311512e-02 -2.92350950e-05 9.99876257e-01 -1.45283755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.908623853 meters 0.016303350663139687 Centerline is valid? [True, True] Translation: X:59.70, Y:-8.71, Z:-1.46 [[ 9.76264864e-01 2.16072255e-01 1.48221258e-02 5.96995849e+01] [-2.16047944e-01 9.76377375e-01 -3.24142849e-03 -8.70950986e+00] [-1.51723710e-02 -3.77970581e-05 9.99884892e-01 -1.45736630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.938623853 meters 0.016166353794004083 Centerline is valid? [True, True] Translation: X:59.73, Y:-8.72, Z:-1.46 [[ 9.76213291e-01 2.16303766e-01 1.48422403e-02 5.97307692e+01] [-2.16279369e-01 9.76326113e-01 -3.24882868e-03 -8.71657470e+00] [-1.51936007e-02 -3.85206383e-05 9.99884570e-01 -1.45802636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.968623853000004 meters 0.015603521409921502 Centerline is valid? [True, True] Translation: X:59.76, Y:-8.72, Z:-1.46 [[ 9.76181482e-01 2.16425592e-01 1.51551015e-02 5.97626501e+01] [-2.16400135e-01 9.76299115e-01 -3.31963900e-03 -8.72490256e+00] [-1.55143670e-02 -3.89958865e-05 9.99879644e-01 -1.45576480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.998623853000005 meters 0.019071777435969814 Centerline is valid? [True, True] Translation: X:59.79, Y:-8.74, Z:-1.45 [[ 9.76466689e-01 2.15125429e-01 1.52923073e-02 5.97932936e+01] [-2.15099301e-01 9.76586427e-01 -3.35280782e-03 -8.73534270e+00] [-1.56555340e-02 -1.54594605e-05 9.99877444e-01 -1.45178897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.028623853000006 meters 0.015313868070169464 Centerline is valid? [True, True] Translation: X:59.82, Y:-8.75, Z:-1.46 [[ 9.76712810e-01 2.13989242e-01 1.55142118e-02 5.98245618e+01] [-2.13962164e-01 9.76836017e-01 -3.40413558e-03 -8.74509920e+00] [-1.58832893e-02 5.40849217e-06 9.99873853e-01 -1.45561356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.05862385300001 meters 0.015785360276117252 Centerline is valid? [True, True] Translation: X:59.86, Y:-8.76, Z:-1.46 [[ 9.76938166e-01 2.12953074e-01 1.55822712e-02 5.98554029e+01] [-2.12925574e-01 9.77062428e-01 -3.42229994e-03 -8.75523920e+00] [-1.59536410e-02 2.55113862e-05 9.99872732e-01 -1.45863606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.088623853 meters 0.016052125222039818 Centerline is valid? [True, True] Translation: X:59.89, Y:-8.77, Z:-1.46 [[ 9.77349610e-01 2.11038292e-01 1.58296691e-02 5.98863308e+01] [-2.11009614e-01 9.77477793e-01 -3.47956266e-03 -8.76778738e+00] [-1.62074709e-02 6.05368556e-05 9.99868648e-01 -1.45801642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.118623853 meters 0.019847219651977308 Centerline is valid? [True, True] Translation: X:59.92, Y:-8.78, Z:-1.45 [[ 9.77661458e-01 2.09648398e-01 1.50207126e-02 5.99174622e+01] [-2.09622369e-01 9.77776837e-01 -3.30457833e-03 -8.77720325e+00] [-1.53797044e-02 8.20815127e-05 9.99881722e-01 -1.45418933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.148623853000004 meters 0.016992581927203747 Centerline is valid? [True, True] Translation: X:59.95, Y:-8.79, Z:-1.46 [[ 9.77894265e-01 2.08573010e-01 1.48359665e-02 5.99484133e+01] [-2.08547454e-01 9.78006794e-01 -3.26650460e-03 -8.78699359e+00] [-1.51909807e-02 1.00293073e-04 9.99884605e-01 -1.45948210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.178623853000005 meters 0.018713627411013577 Centerline is valid? [True, True] Translation: X:59.98, Y:-8.80, Z:-1.46 [[ 9.78416361e-01 2.06158206e-01 1.41498564e-02 5.99773444e+01] [-2.06134670e-01 9.78518664e-01 -3.11793031e-03 -8.79966184e+00] [-1.44886855e-02 1.33858036e-04 9.99895025e-01 -1.46197224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.208623853000006 meters 0.019555263824397543 Centerline is valid? [True, True] Translation: X:60.01, Y:-8.81, Z:-1.46 [[ 9.78572581e-01 2.05437447e-01 1.38260072e-02 6.00067764e+01] [-2.05414863e-01 9.78670238e-01 -3.04952125e-03 -8.80879509e+00] [-1.41575877e-02 1.44110491e-04 9.99899766e-01 -1.46328581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.23862385300001 meters 0.01975895041239065 Centerline is valid? [True, True] Translation: X:60.04, Y:-8.82, Z:-1.46 [[ 9.78594463e-01 2.05326387e-01 1.39266553e-02 6.00388970e+01] [-2.05303458e-01 9.78693544e-01 -3.07197623e-03 -8.81747598e+00] [-1.42606854e-02 1.47028443e-04 9.99898300e-01 -1.46361116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.268623853 meters 0.025399527516756868 Centerline is valid? [True, True] Translation: X:60.07, Y:-8.82, Z:-1.46 [[ 9.78545567e-01 2.05561935e-01 1.38875809e-02 6.00713633e+01] [-2.05539119e-01 9.78644097e-01 -3.06611751e-03 -8.82493035e+00] [-1.42212761e-02 1.45894560e-04 9.99898862e-01 -1.45800437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.298623853 meters 0.01920747988865349 Centerline is valid? [True, True] Translation: X:60.10, Y:-8.83, Z:-1.46 [[ 9.78317381e-01 2.06587257e-01 1.47243621e-02 6.01015056e+01] [-2.06561668e-01 9.78428171e-01 -3.25457020e-03 -8.83298086e+00] [-1.50790834e-02 1.42513801e-04 9.99886294e-01 -1.46424551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.328623853 meters 0.03047765233807869 Centerline is valid? [True, True] Translation: X:60.13, Y:-8.84, Z:-1.46 [[ 9.78276733e-01 2.06806438e-01 1.43433451e-02 6.01328415e+01] [-2.06782141e-01 9.78381867e-01 -3.17302520e-03 -8.84135542e+00] [-1.46894708e-02 1.38149121e-04 9.99892094e-01 -1.45896801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.358623853000005 meters 0.018875883933603784 Centerline is valid? [True, True] Translation: X:60.17, Y:-8.85, Z:-1.47 [[ 9.78230348e-01 2.07001245e-01 1.46925406e-02 6.01653929e+01] [-2.06975756e-01 9.78340669e-01 -3.25137506e-03 -8.84825425e+00] [-1.50473487e-02 1.39594048e-04 9.99886772e-01 -1.46589607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.388623853000006 meters 0.018762577640851534 Centerline is valid? [True, True] Translation: X:60.20, Y:-8.86, Z:-1.47 [[ 9.78160503e-01 2.07306602e-01 1.50333853e-02 6.01972644e+01] [-2.07279904e-01 9.78276011e-01 -3.32995400e-03 -8.85635332e+00] [-1.53971216e-02 1.41110822e-04 9.99881447e-01 -1.46632678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.41862385300001 meters 0.019319443783107966 Centerline is valid? [True, True] Translation: X:60.23, Y:-8.87, Z:-1.47 [[ 9.78160277e-01 2.07278532e-01 1.54299242e-02 6.02278511e+01] [-2.07250350e-01 9.78281957e-01 -3.42119190e-03 -8.86556437e+00] [-1.58039561e-02 1.48616813e-04 9.99875099e-01 -1.46737796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.448623853 meters 0.019844250302460464 Centerline is valid? [True, True] Translation: X:60.26, Y:-8.88, Z:-1.47 [[ 9.78319787e-01 2.06488785e-01 1.58989200e-02 6.02598541e+01] [-2.06458709e-01 9.78448953e-01 -3.52826714e-03 -8.87501670e+00] [-1.62848292e-02 1.69303062e-04 9.99867379e-01 -1.46770394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.478623853 meters 0.02025734789289375 Centerline is valid? [True, True] Translation: X:60.29, Y:-8.88, Z:-1.47 [[ 9.78446661e-01 2.05882696e-01 1.59513936e-02 6.02908825e+01] [-2.05852285e-01 9.78576661e-01 -3.54327687e-03 -8.88339129e+00] [-1.63391609e-02 1.83276587e-04 9.99866490e-01 -1.46807809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.508623853 meters 0.021113550666710123 Centerline is valid? [True, True] Translation: X:60.32, Y:-8.89, Z:-1.47 [[ 9.78572780e-01 2.05288122e-01 1.58776993e-02 6.03207437e+01] [-2.05257858e-01 9.78701563e-01 -3.53033506e-03 -8.89313677e+00] [-1.62642650e-02 1.95667252e-04 9.99867709e-01 -1.46925722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.538623853000004 meters 0.022616422488836926 Centerline is valid? [True, True] Translation: X:60.35, Y:-8.91, Z:-1.47 [[ 9.78922368e-01 2.03695445e-01 1.48041555e-02 6.03509191e+01] [-2.03668946e-01 9.79034281e-01 -3.29213463e-03 -8.90562709e+00] [-1.51643685e-02 2.07597492e-04 9.99884993e-01 -1.47239847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.568623853000005 meters 0.023467171837944552 Centerline is valid? [True, True] Translation: X:60.38, Y:-8.92, Z:-1.47 [[ 9.79034124e-01 2.03174479e-01 1.45710197e-02 6.03808126e+01] [-2.03148711e-01 9.79142525e-01 -3.24287657e-03 -8.91503761e+00] [-1.49259748e-02 2.14802943e-04 9.99888578e-01 -1.47384753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.59862385300001 meters 0.028059853600441328 Centerline is valid? [True, True] Translation: X:60.41, Y:-8.93, Z:-1.48 [[ 9.79119473e-01 2.02758003e-01 1.46372897e-02 6.04093414e+01] [-2.02731908e-01 9.79228851e-01 -3.26063374e-03 -8.92909813e+00] [-1.49943760e-02 2.25104317e-04 9.99887553e-01 -1.47884548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62862385300001 meters 0.02569667156829657 Centerline is valid? [True, True] Translation: X:60.44, Y:-8.93, Z:-1.48 [[ 9.79167019e-01 2.02520955e-01 1.47381202e-02 6.04416324e+01] [-2.02494465e-01 9.79277902e-01 -3.28360086e-03 -8.93408616e+00] [-1.50977134e-02 2.30805910e-04 9.99885996e-01 -1.47672485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.658623853 meters 0.0246351099646371 Centerline is valid? [True, True] Translation: X:60.47, Y:-8.94, Z:-1.47 [[ 9.79140973e-01 2.02586714e-01 1.55427964e-02 6.04732034e+01] [-2.02557208e-01 9.79264297e-01 -3.46621677e-03 -8.94141988e+00] [-1.59227151e-02 2.45609417e-04 9.99873195e-01 -1.47480697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.688623853 meters 0.0246351099646371 Centerline is valid? [True, True] Translation: X:60.50, Y:-8.95, Z:-1.48 [[ 9.79103669e-01 2.02766966e-01 1.55422846e-02 6.05048534e+01] [-2.02737446e-01 9.79226990e-01 -3.46850982e-03 -8.94869017e+00] [-1.59227238e-02 2.45027609e-04 9.99873195e-01 -1.47562478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.718623853000004 meters 0.024867641863409836 Centerline is valid? [True, True] Translation: X:60.54, Y:-8.96, Z:-1.48 [[ 9.79003359e-01 2.03224427e-01 1.58825398e-02 6.05353768e+01] [-2.03193603e-01 9.79132152e-01 -3.54793863e-03 -8.95693991e+00] [-1.62721332e-02 2.46213332e-04 9.99867570e-01 -1.47632129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.748623853000005 meters 0.02431121892014059 Centerline is valid? [True, True] Translation: X:60.57, Y:-8.96, Z:-1.48 [[ 9.78973430e-01 2.03355433e-01 1.60496179e-02 6.05674219e+01] [-2.03323938e-01 9.79104951e-01 -3.58749148e-03 -8.96481692e+00] [-1.64437962e-02 2.48787323e-04 9.99864761e-01 -1.47667065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.778623853000006 meters 0.024923559141802894 Centerline is valid? [True, True] Translation: X:60.60, Y:-8.98, Z:-1.48 [[ 9.79020501e-01 2.03117865e-01 1.61861697e-02 6.05975326e+01] [-2.03085745e-01 9.79154261e-01 -3.62129432e-03 -8.97598598e+00] [-1.65843066e-02 2.58141048e-04 9.99862438e-01 -1.47661445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.80862385300001 meters 0.024202973658815168 Centerline is valid? [True, True] Translation: X:60.63, Y:-8.98, Z:-1.48 [[ 9.79010336e-01 2.03151302e-01 1.63801591e-02 6.06297563e+01] [-2.03118364e-01 9.79147322e-01 -3.66755714e-03 -8.98340712e+00] [-1.67836579e-02 2.63465219e-04 9.99859110e-01 -1.47662534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.838623853 meters 0.025284993710732857 Centerline is valid? [True, True] Translation: X:60.66, Y:-8.99, Z:-1.48 [[ 9.79018785e-01 2.03097252e-01 1.65446006e-02 6.06598517e+01] [-2.03063576e-01 9.79158533e-01 -3.70828996e-03 -8.99308536e+00] [-1.69529304e-02 2.70879771e-04 9.99856252e-01 -1.47816905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.868623853 meters 0.024019379955687262 Centerline is valid? [True, True] Translation: X:60.69, Y:-9.00, Z:-1.48 [[ 9.79035417e-01 2.03039674e-01 1.62647525e-02 6.06923766e+01] [-2.03007097e-01 9.79170475e-01 -3.64688731e-03 -8.99962549e+00] [-1.66664283e-02 2.68571639e-04 9.99861069e-01 -1.47799429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.898623853000004 meters 0.024235111062765317 Centerline is valid? [True, True] Translation: X:60.72, Y:-9.01, Z:-1.48 [[ 9.79047358e-01 2.02999290e-01 1.60486487e-02 6.07238959e+01] [-2.02967516e-01 9.79178848e-01 -3.60158504e-03 -9.00925973e+00] [-1.64456165e-02 2.68767960e-04 9.99864726e-01 -1.47937454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.928623853000005 meters 0.03340055574611557 Centerline is valid? [True, True] Translation: X:60.76, Y:-9.02, Z:-1.47 [[ 9.79014255e-01 2.03224259e-01 1.51983349e-02 6.07556702e+01] [-2.03195746e-01 9.79132185e-01 -3.41356553e-03 -9.01746155e+00] [-1.55748982e-02 2.53692314e-04 9.99878672e-01 -1.47360782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.958623853000006 meters 0.024444288193539675 Centerline is valid? [True, True] Translation: X:60.79, Y:-9.03, Z:-1.48 [[ 9.78948339e-01 2.03538146e-01 1.52437468e-02 6.07856280e+01] [-2.03509451e-01 9.79066984e-01 -3.42697759e-03 -9.02680450e+00] [-1.56221699e-02 2.52587482e-04 9.99877935e-01 -1.48237830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.98862385300001 meters 0.023791342235543318 Centerline is valid? [True, True] Translation: X:60.82, Y:-9.03, Z:-1.48 [[ 9.78888448e-01 2.03825602e-01 1.52489520e-02 6.08178551e+01] [-2.03796880e-01 9.79007181e-01 -3.43085292e-03 -9.03491944e+00] [-1.56281292e-02 2.50733449e-04 9.99877842e-01 -1.48272776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.01862385300001 meters 0.02407554925411925 Centerline is valid? [True, True] Translation: X:60.85, Y:-9.04, Z:-1.48 [[ 9.78809813e-01 2.04205446e-01 1.52146417e-02 6.08485435e+01] [-2.04176848e-01 9.78928023e-01 -3.42633832e-03 -9.04466704e+00] [-1.55937161e-02 2.47255971e-04 9.99878380e-01 -1.48438566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04862385300001 meters 0.02484893985727256 Centerline is valid? [True, True] Translation: X:60.88, Y:-9.05, Z:-1.49 [[ 9.78718693e-01 2.04646902e-01 1.51447854e-02 6.08789009e+01] [-2.04618575e-01 9.78835832e-01 -3.41347372e-03 -9.05344060e+00] [-1.55228154e-02 2.41926129e-04 9.99879485e-01 -1.48654555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.07862385300001 meters 0.024569923046705546 Centerline is valid? [True, True] Translation: X:60.91, Y:-9.06, Z:-1.49 [[ 9.78602171e-01 2.05202386e-01 1.51581869e-02 6.09096763e+01] [-2.05174029e-01 9.78719533e-01 -3.41953019e-03 -9.06315689e+00] [-1.55373094e-02 2.36293399e-04 9.99879261e-01 -1.48807250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.108623853 meters 0.023779464889786977 Centerline is valid? [True, True] Translation: X:60.94, Y:-9.07, Z:-1.49 [[ 9.78592902e-01 2.05259609e-01 1.49808514e-02 6.09416587e+01] [-2.05231884e-01 9.78707534e-01 -3.38171574e-03 -9.07172623e+00] [-1.53560018e-02 2.34774665e-04 9.99882062e-01 -1.48806407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.138623853 meters 0.02415909136821537 Centerline is valid? [True, True] Translation: X:60.97, Y:-9.08, Z:-1.49 [[ 9.78657465e-01 2.04977394e-01 1.46230828e-02 6.09725585e+01] [-2.04950900e-01 9.78766679e-01 -3.30401896e-03 -9.08193139e+00] [-1.49898354e-02 2.36488847e-04 9.99887618e-01 -1.48946483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.168623853 meters 0.025983595403259764 Centerline is valid? [True, True] Translation: X:61.00, Y:-9.10, Z:-1.49 [[ 9.78846212e-01 2.04086569e-01 1.44487085e-02 6.10008846e+01] [-2.04060567e-01 9.78952813e-01 -3.26723005e-03 -9.09653795e+00] [-1.48114016e-02 2.49704122e-04 9.99890274e-01 -1.49130299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.198623853 meters 0.026174194059369413 Centerline is valid? [True, True] Translation: X:61.03, Y:-9.11, Z:-1.49 [[ 9.78919234e-01 2.03730748e-01 1.45229223e-02 6.10315962e+01] [-2.03704406e-01 9.79026923e-01 -3.28627761e-03 -9.10655548e+00] [-1.48878477e-02 2.58617098e-04 9.99889136e-01 -1.49158738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.228623853 meters 0.026532772186509842 Centerline is valid? [True, True] Translation: X:61.06, Y:-9.12, Z:-1.49 [[ 9.78958635e-01 2.03546522e-01 1.44500603e-02 6.10634849e+01] [-2.03520391e-01 9.79065240e-01 -3.27200123e-03 -9.11694791e+00] [-1.48135562e-02 2.62271932e-04 9.99890239e-01 -1.49206263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.258623853 meters 0.02887039016199717 Centerline is valid? [True, True] Translation: X:61.09, Y:-9.13, Z:-1.49 [[ 9.78864790e-01 2.03966393e-01 1.48806162e-02 6.10933363e+01] [-2.03938679e-01 9.78977854e-01 -3.37279626e-03 -9.12947783e+00] [-1.52557308e-02 2.66778298e-04 9.99883589e-01 -1.48633216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.288623853 meters 0.026075792017291294 Centerline is valid? [True, True] Translation: X:61.12, Y:-9.14, Z:-1.49 [[ 9.78721525e-01 2.04607034e-01 1.54963592e-02 6.11226763e+01] [-2.04577012e-01 9.78844159e-01 -3.51533863e-03 -9.14041176e+00] [-1.58877837e-02 2.70338724e-04 9.99873745e-01 -1.49205115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.318623853 meters 0.023506740342954108 Centerline is valid? [True, True] Translation: X:61.15, Y:-9.15, Z:-1.49 [[ 9.78441118e-01 2.05927286e-01 1.57140284e-02 6.11544489e+01] [-2.05896545e-01 9.78567263e-01 -3.56715259e-03 -9.14705481e+00] [-1.61118078e-02 2.54784604e-04 9.99870164e-01 -1.49106370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.348623853 meters 0.021706107167116673 Centerline is valid? [True, True] Translation: X:61.18, Y:-9.16, Z:-1.49 [[ 9.77860086e-01 2.08680944e-01 1.55536333e-02 6.11844216e+01] [-2.08651122e-01 9.77983752e-01 -3.53414687e-03 -9.15539639e+00] [-1.59487098e-02 2.10618123e-04 9.99872789e-01 -1.49175595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.37862385300001 meters 0.02103383379902788 Centerline is valid? [True, True] Translation: X:61.21, Y:-9.16, Z:-1.49 [[ 9.77514610e-01 2.10277428e-01 1.57667352e-02 6.12143045e+01] [-2.10246973e-01 9.77641738e-01 -3.58366309e-03 -9.16323599e+00] [-1.61677819e-02 1.88174675e-04 9.99869275e-01 -1.49304128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40862385300001 meters 0.02006997753714525 Centerline is valid? [True, True] Translation: X:61.24, Y:-9.17, Z:-1.49 [[ 9.77139230e-01 2.12020559e-01 1.56910274e-02 6.12448968e+01] [-2.11990578e-01 9.77265193e-01 -3.56902581e-03 -9.17048650e+00] [-1.60910017e-02 1.61085166e-04 9.99870518e-01 -1.49428357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.43862385300001 meters 0.017788102573807408 Centerline is valid? [True, True] Translation: X:61.28, Y:-9.18, Z:-1.49 [[ 9.76343823e-01 2.15657935e-01 1.56330992e-02 6.12755199e+01] [-2.15628602e-01 9.76468967e-01 -3.55830950e-03 -9.17714936e+00] [-1.60326139e-02 1.03190171e-04 9.99871464e-01 -1.49484889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46862385300001 meters 0.01683239714097776 Centerline is valid? [True, True] Translation: X:61.31, Y:-9.18, Z:-1.50 [[ 9.75954636e-01 2.17397295e-01 1.58418436e-02 6.13070910e+01] [-2.17367363e-01 9.76083198e-01 -3.60824578e-03 -9.18475841e+00] [-1.62473803e-02 7.79844180e-05 9.99868000e-01 -1.49505360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.498623853 meters 0.016077967772404507 Centerline is valid? [True, True] Translation: X:61.34, Y:-9.19, Z:-1.50 [[ 9.75606777e-01 2.18928189e-01 1.61822092e-02 6.13381856e+01] [-2.18897122e-01 9.75740972e-01 -3.68852991e-03 -9.19272826e+00] [-1.65971677e-02 5.63157642e-05 9.99862256e-01 -1.49502381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.528623853 meters 0.015375977199652679 Centerline is valid? [True, True] Translation: X:61.37, Y:-9.20, Z:-1.50 [[ 9.74904601e-01 2.22026016e-01 1.62931848e-02 6.13678242e+01] [-2.21994905e-01 9.75040742e-01 -3.71670301e-03 -9.20108763e+00] [-1.67117237e-02 6.42685104e-06 9.99860349e-01 -1.49515628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.558623853 meters 0.015431478461713312 Centerline is valid? [True, True] Translation: X:61.40, Y:-9.21, Z:-1.50 [[ 9.74515999e-01 2.23724685e-01 1.63043753e-02 6.13993095e+01] [-2.23693722e-01 9.74652382e-01 -3.72210166e-03 -9.20809375e+00] [-1.67238242e-02 -1.99387671e-05 9.99860147e-01 -1.49620671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.588623853 meters 0.015486825237380564 Centerline is valid? [True, True] Translation: X:61.43, Y:-9.22, Z:-1.50 [[ 9.74059924e-01 2.25679339e-01 1.66163029e-02 6.14317061e+01] [-2.25647438e-01 9.74201639e-01 -3.79477689e-03 -9.21506706e+00] [-1.70440322e-02 -5.30860853e-05 9.99854739e-01 -1.49580352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.618623853 meters 0.016423517939760192 Centerline is valid? [True, True] Translation: X:61.46, Y:-9.22, Z:-1.49 [[ 9.73027105e-01 2.30097639e-01 1.65326727e-02 6.14631785e+01] [-2.30066641e-01 9.73167540e-01 -3.77889918e-03 -9.22178750e+00] [-1.69585762e-02 -1.26645136e-04 9.99856185e-01 -1.49488669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.648623853 meters 0.018611033578728283 Centerline is valid? [True, True] Translation: X:61.49, Y:-9.23, Z:-1.50 [[ 9.72503431e-01 2.32323553e-01 1.62124775e-02 6.14946584e+01] [-2.32294004e-01 9.72638546e-01 -3.70868626e-03 -9.22535035e+00] [-1.66304958e-02 -1.59351208e-04 9.99861691e-01 -1.49816017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.678623853 meters 0.02006078782229487 Centerline is valid? [True, True] Translation: X:61.53, Y:-9.23, Z:-1.50 [[ 9.72007947e-01 2.34386914e-01 1.62272987e-02 6.15267063e+01] [-2.34357553e-01 9.72143373e-01 -3.71482735e-03 -9.23074641e+00] [-1.66459678e-02 -1.92148297e-04 9.99861428e-01 -1.49934487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.708623853 meters 0.02208135647625238 Centerline is valid? [True, True] Translation: X:61.56, Y:-9.24, Z:-1.50 [[ 9.71477688e-01 2.36573664e-01 1.62481711e-02 6.15571386e+01] [-2.36544469e-01 9.71613529e-01 -3.72342922e-03 -9.23545639e+00] [-1.66678081e-02 -2.26186584e-04 9.99861057e-01 -1.50027745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.738623853 meters 0.023750147141383654 Centerline is valid? [True, True] Translation: X:61.59, Y:-9.24, Z:-1.50 [[ 9.70438637e-01 2.40816542e-01 1.60076744e-02 6.15880256e+01] [-2.40788794e-01 9.70570608e-01 -3.66751382e-03 -9.24239870e+00] [-1.64197763e-02 -2.95371515e-04 9.99865143e-01 -1.50013392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76862385300001 meters 0.025072475881724968 Centerline is valid? [True, True] Translation: X:61.62, Y:-9.25, Z:-1.50 [[ 9.69895354e-01 2.43039354e-01 1.53256128e-02 6.16193207e+01] [-2.43014163e-01 9.70016377e-01 -3.51341642e-03 -9.24859227e+00] [-1.57199938e-02 -3.16694705e-04 9.99876383e-01 -1.50153100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.79862385300001 meters 0.030526947810987717 Centerline is valid? [True, True] Translation: X:61.65, Y:-9.25, Z:-1.50 [[ 9.68832885e-01 2.47263797e-01 1.49484358e-02 6.16506284e+01] [-2.47240274e-01 9.68948129e-01 -3.43082000e-03 -9.24831213e+00] [-1.53325765e-02 -3.71964121e-04 9.99882380e-01 -1.50369297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82862385300001 meters 0.029775163889688264 Centerline is valid? [True, True] Translation: X:61.68, Y:-9.26, Z:-1.50 [[ 9.68346075e-01 2.49162462e-01 1.49648566e-02 6.16821487e+01] [-2.49139127e-01 9.68461618e-01 -3.43371443e-03 -9.25597999e+00] [-1.53484419e-02 -4.03307411e-04 9.99882124e-01 -1.50271758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.858623853 meters 0.03221734533342726 Centerline is valid? [True, True] Translation: X:61.71, Y:-9.26, Z:-1.50 [[ 9.67830422e-01 2.51143476e-01 1.52062235e-02 6.17130756e+01] [-2.51119582e-01 9.67949772e-01 -3.49195831e-03 -9.25894495e+00] [-1.55958431e-02 -4.38957005e-04 9.99878281e-01 -1.50378907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.888623853 meters 0.03478070259791857 Centerline is valid? [True, True] Translation: X:61.74, Y:-9.26, Z:-1.50 [[ 9.67352371e-01 2.52961942e-01 1.54805211e-02 6.17438624e+01] [-2.52937359e-01 9.67476114e-01 -3.55820820e-03 -9.26205547e+00] [-1.58771257e-02 -4.73561000e-04 9.99873838e-01 -1.50445981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.918623853 meters 0.036811301071888784 Centerline is valid? [True, True] Translation: X:61.77, Y:-9.27, Z:-1.50 [[ 9.66549390e-01 2.55952031e-01 1.64570487e-02 6.17746764e+01] [-2.55924648e-01 9.66689325e-01 -3.78461629e-03 -9.26511323e+00] [-1.68775335e-02 -5.53745836e-04 9.99857411e-01 -1.50334233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.948623853 meters 0.038067447246774744 Centerline is valid? [True, True] Translation: X:61.81, Y:-9.27, Z:-1.50 [[ 9.66172709e-01 2.57332294e-01 1.70407221e-02 6.18068718e+01] [-2.57303155e-01 9.66322789e-01 -3.91845813e-03 -9.26979400e+00] [-1.74751839e-02 -5.98724269e-04 9.99847118e-01 -1.50259220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.978623853 meters 0.04094714470585202 Centerline is valid? [True, True] Translation: X:61.84, Y:-9.27, Z:-1.50 [[ 9.65868211e-01 2.58462956e-01 1.71901072e-02 6.18385137e+01] [-2.58433420e-01 9.66020970e-01 -3.95638742e-03 -9.27004253e+00] [-1.76285836e-02 -6.21149365e-04 9.99844412e-01 -1.50409348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.008623853 meters 0.040504709074026805 Centerline is valid? [True, True] Translation: X:61.87, Y:-9.28, Z:-1.50 [[ 9.65765602e-01 2.58860077e-01 1.69782803e-02 6.18702493e+01] [-2.58831310e-01 9.65914632e-01 -3.90849994e-03 -9.27671825e+00] [-1.74113240e-02 -6.19815734e-04 9.99848219e-01 -1.50486530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.038623853 meters 0.040356882030520215 Centerline is valid? [True, True] Translation: X:61.90, Y:-9.28, Z:-1.51 [[ 9.65761647e-01 2.58895110e-01 1.66662081e-02 6.19028243e+01] [-2.58867353e-01 9.65905251e-01 -3.83919581e-03 -9.28275653e+00] [-1.70919269e-02 -6.06589107e-04 9.99853738e-01 -1.50636131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.068623853 meters 0.03945940728655665 Centerline is valid? [True, True] Translation: X:61.93, Y:-9.29, Z:-1.51 [[ 9.65849370e-01 2.58589690e-01 1.63207647e-02 6.19342004e+01] [-2.58562974e-01 9.65987075e-01 -3.76287105e-03 -9.28970442e+00] [-1.67386874e-02 -5.85578823e-04 9.99859727e-01 -1.50765923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.098623853 meters 0.03824612213732251 Centerline is valid? [True, True] Translation: X:61.96, Y:-9.30, Z:-1.51 [[ 9.66320701e-01 2.56824885e-01 1.62874524e-02 6.19640713e+01] [-2.56797959e-01 9.66457798e-01 -3.75924014e-03 -9.29506791e+00] [-1.67066018e-02 -5.49952957e-04 9.99860284e-01 -1.50926117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12862385300001 meters 0.03648778349227309 Centerline is valid? [True, True] Translation: X:62.00, Y:-9.30, Z:-1.51 [[ 9.66648028e-01 2.55584401e-01 1.63769086e-02 6.19955423e+01] [-2.55557009e-01 9.66786601e-01 -3.77943265e-03 -9.30350306e+00] [-1.67989398e-02 -5.31852659e-04 9.99858746e-01 -1.50934598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.15862385300001 meters 0.036211288920571065 Centerline is valid? [True, True] Translation: X:62.03, Y:-9.31, Z:-1.51 [[ 9.67001158e-01 2.54248007e-01 1.63312719e-02 6.20259523e+01] [-2.54220561e-01 9.67138922e-01 -3.76986770e-03 -9.30898231e+00] [-1.67530901e-02 -5.06278679e-04 9.99859529e-01 -1.51064422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18862385300001 meters 0.03392199728847504 Centerline is valid? [True, True] Translation: X:62.06, Y:-9.31, Z:-1.51 [[ 9.67814525e-01 2.51156343e-01 1.59855053e-02 6.20563622e+01] [-2.51129566e-01 9.67946434e-01 -3.69363855e-03 -9.31305332e+00] [-1.64007936e-02 -4.39675969e-04 9.99865401e-01 -1.51245474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.21862385300001 meters 0.029084717768632713 Centerline is valid? [True, True] Translation: X:62.09, Y:-9.32, Z:-1.51 [[ 9.68183395e-01 2.49729117e-01 1.60088256e-02 6.20868141e+01] [-2.49702082e-01 9.68315648e-01 -3.69811180e-03 -9.32428087e+00] [-1.64251226e-02 -4.16986659e-04 9.99865012e-01 -1.51153745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.248623853 meters 0.030873324526255966 Centerline is valid? [True, True] Translation: X:62.12, Y:-9.33, Z:-1.51 [[ 9.68531368e-01 2.48362379e-01 1.62209267e-02 6.21184575e+01] [-2.48334381e-01 9.68667111e-01 -3.75014464e-03 -9.32639381e+00] [-1.66440731e-02 -3.96081076e-04 9.99861399e-01 -1.51348522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.278623853 meters 0.02569854600527316 Centerline is valid? [True, True] Translation: X:62.15, Y:-9.34, Z:-1.51 [[ 9.69356364e-01 2.45069102e-01 1.70110198e-02 6.21486509e+01] [-2.45037733e-01 9.69505550e-01 -3.93682024e-03 -9.33600826e+00] [-1.74570711e-02 -3.52159966e-04 9.99847552e-01 -1.51160408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.308623853 meters 0.024524474355510556 Centerline is valid? [True, True] Translation: X:62.18, Y:-9.34, Z:-1.51 [[ 9.69723006e-01 2.43607921e-01 1.71017949e-02 6.21794212e+01] [-2.43575999e-01 9.69873741e-01 -3.95725279e-03 -9.34259655e+00] [-1.75506000e-02 -3.28147713e-04 9.99845923e-01 -1.51232218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.338623853 meters 0.023380385351653193 Centerline is valid? [True, True] Translation: X:62.21, Y:-9.35, Z:-1.51 [[ 9.70035608e-01 2.42358188e-01 1.71297396e-02 6.22110970e+01] [-2.42325919e-01 9.70186795e-01 -3.96639220e-03 -9.34949307e+00] [-1.75803348e-02 -3.03438213e-04 9.99845408e-01 -1.51262896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.368623853 meters 0.03185294579344566 Centerline is valid? [True, True] Translation: X:62.24, Y:-9.35, Z:-1.51 [[ 9.70397773e-01 2.40941618e-01 1.65921517e-02 6.22420606e+01] [-2.40911087e-01 9.70539575e-01 -3.84474796e-03 -9.35485867e+00] [-1.70296996e-02 -2.66298434e-04 9.99854949e-01 -1.50651590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.398623853 meters 0.019618899678410937 Centerline is valid? [True, True] Translation: X:62.27, Y:-9.36, Z:-1.51 [[ 9.71210784e-01 2.37590370e-01 1.73329168e-02 6.22734543e+01] [-2.37556454e-01 9.71365416e-01 -4.02004350e-03 -9.36328664e+00] [-1.77917196e-02 -2.13236659e-04 9.99841692e-01 -1.51434262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.428623853 meters 0.018440351446588076 Centerline is valid? [True, True] Translation: X:62.30, Y:-9.37, Z:-1.51 [[ 9.71633329e-01 2.35831767e-01 1.76649767e-02 6.23040029e+01] [-2.35796240e-01 9.71793879e-01 -4.09749669e-03 -9.37070642e+00] [-1.81330361e-02 -1.84070728e-04 9.99835566e-01 -1.51497727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.458623853 meters 0.01735502452019829 Centerline is valid? [True, True] Translation: X:62.34, Y:-9.38, Z:-1.52 [[ 9.71991136e-01 2.34342113e-01 1.78046616e-02 6.23357658e+01] [-2.34305712e-01 9.72154180e-01 -4.13320704e-03 -9.37825916e+00] [-1.82774607e-02 -1.54293304e-04 9.99832941e-01 -1.51543951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.488623853 meters 0.01602659691032658 Centerline is valid? [True, True] Translation: X:62.37, Y:-9.39, Z:-1.52 [[ 9.72726720e-01 2.31311346e-01 1.72565929e-02 6.23671989e+01] [-2.31276657e-01 9.72879773e-01 -4.00693606e-03 -9.38503144e+00] [-1.77154399e-02 -9.33933404e-05 9.99843065e-01 -1.51750030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.51862385300001 meters 0.01603882887619 Centerline is valid? [True, True] Translation: X:62.40, Y:-9.39, Z:-1.52 [[ 9.73023524e-01 2.30079677e-01 1.69871418e-02 6.23976719e+01] [-2.30045815e-01 9.73171792e-01 -3.94783969e-03 -9.39128918e+00] [-1.74397249e-02 -6.64799708e-05 9.99847914e-01 -1.52060163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54862385300001 meters 0.01548102719171185 Centerline is valid? [True, True] Translation: X:62.43, Y:-9.40, Z:-1.52 [[ 9.73271831e-01 2.29042445e-01 1.67780019e-02 6.24299546e+01] [-2.29009242e-01 9.73416435e-01 -3.90006499e-03 -9.39982914e+00] [-1.72252633e-02 -4.64941190e-05 9.99851633e-01 -1.52042601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.57862385300001 meters 0.01548102719171185 Centerline is valid? [True, True] Translation: X:62.46, Y:-9.41, Z:-1.52 [[ 9.73228593e-01 2.29226155e-01 1.67772617e-02 6.24615367e+01] [-2.29192925e-01 9.73373190e-01 -3.90324618e-03 -9.40736318e+00] [-1.72252629e-02 -4.64788928e-05 9.99851633e-01 -1.52124385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.608623853 meters 0.015545326090281492 Centerline is valid? [True, True] Translation: X:62.49, Y:-9.41, Z:-1.52 [[ 9.73648227e-01 2.27494813e-01 1.59762588e-02 6.24925926e+01] [-2.27464397e-01 9.73779292e-01 -3.71995196e-03 -9.41283662e+00] [-1.64036198e-02 -1.21054605e-05 9.99865452e-01 -1.52381882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.638623853 meters 0.015666649138238942 Centerline is valid? [True, True] Translation: X:62.52, Y:-9.42, Z:-1.53 [[ 9.73711776e-01 2.27263641e-01 1.53822642e-02 6.25247010e+01] [-2.27235375e-01 9.73833270e-01 -3.58422443e-03 -9.41899988e+00] [-1.57943245e-02 -5.39303791e-06 9.99875262e-01 -1.52588572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.668623853 meters 0.015917255728627202 Centerline is valid? [True, True] Translation: X:62.56, Y:-9.42, Z:-1.53 [[ 9.73733803e-01 2.27230331e-01 1.44518833e-02 6.25555487e+01] [-2.27205334e-01 9.73841043e-01 -3.37038032e-03 -9.42295028e+00] [-1.48396898e-02 -1.69173791e-06 9.99889886e-01 -1.52853869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.698623853 meters 0.016032554180800775 Centerline is valid? [True, True] Translation: X:62.59, Y:-9.43, Z:-1.53 [[ 9.73718451e-01 2.27338373e-01 1.37710912e-02 6.25881148e+01] [-2.27315663e-01 9.73815827e-01 -3.21323540e-03 -9.42837553e+00] [-1.41409983e-02 -1.59813937e-06 9.99900011e-01 -1.53055747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.728623853 meters 0.016280605454156574 Centerline is valid? [True, True] Translation: X:62.62, Y:-9.43, Z:-1.53 [[ 9.73669081e-01 2.27570365e-01 1.34256811e-02 6.26195588e+01] [-2.27548766e-01 9.73761639e-01 -3.13527479e-03 -9.43301824e+00] [-1.37869089e-02 -2.27705404e-06 9.99904956e-01 -1.53257685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.758623853 meters 0.015920952389228846 Centerline is valid? [True, True] Translation: X:62.65, Y:-9.44, Z:-1.53 [[ 9.73589886e-01 2.27924339e-01 1.31616397e-02 6.26520887e+01] [-2.27903586e-01 9.73678846e-01 -3.07563483e-03 -9.43793500e+00] [-1.35162222e-02 -5.17792588e-06 9.99908652e-01 -1.53186777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.788623853 meters 0.015993385558362185 Centerline is valid? [True, True] Translation: X:62.68, Y:-9.44, Z:-1.53 [[ 9.73478008e-01 2.28394488e-01 1.32863210e-02 6.26841343e+01] [-2.28373344e-01 9.73568671e-01 -3.10773234e-03 -9.44087411e+00] [-1.36449349e-02 -8.93248039e-06 9.99906904e-01 -1.53296038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.818623853 meters 0.016205832823044226 Centerline is valid? [True, True] Translation: X:62.72, Y:-9.45, Z:-1.54 [[ 9.73384102e-01 2.28784748e-01 1.34509928e-02 6.27156127e+01] [-2.28763076e-01 9.73477036e-01 -3.14898278e-03 -9.44537668e+00] [-1.38146719e-02 -1.19207302e-05 9.99904573e-01 -1.53525978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.848623853 meters 0.016180106226686374 Centerline is valid? [True, True] Translation: X:62.75, Y:-9.45, Z:-1.54 [[ 9.73270874e-01 2.29256142e-01 1.36171383e-02 6.27484409e+01] [-2.29233939e-01 9.73366129e-01 -3.19056390e-03 -9.44725894e+00] [-1.39859176e-02 -1.62273449e-05 9.99902192e-01 -1.53649813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.87862385300001 meters 0.015852702150978233 Centerline is valid? [True, True] Translation: X:62.78, Y:-9.45, Z:-1.53 [[ 9.73157593e-01 2.29724433e-01 1.38196800e-02 6.27812288e+01] [-2.29701579e-01 9.73255714e-01 -3.24033044e-03 -9.45284075e+00] [-1.41944656e-02 -2.10501409e-05 9.99899253e-01 -1.53448126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90862385300001 meters 0.015932001019797443 Centerline is valid? [True, True] Translation: X:62.81, Y:-9.46, Z:-1.54 [[ 9.73060277e-01 2.30130982e-01 1.39078605e-02 6.28125587e+01] [-2.30107835e-01 9.73159663e-01 -3.26402564e-03 -9.45769388e+00] [-1.42857223e-02 -2.42139773e-05 9.99897954e-01 -1.53630452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.93862385300001 meters 0.01583213265361419 Centerline is valid? [True, True] Translation: X:62.85, Y:-9.46, Z:-1.54 [[ 9.73054334e-01 2.30136713e-01 1.42251835e-02 6.28450844e+01] [-2.30112456e-01 9.73158308e-01 -3.34136492e-03 -9.46082086e+00] [-1.46123262e-02 -2.20622798e-05 9.99893234e-01 -1.53674677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96862385300001 meters 0.01543514913116218 Centerline is valid? [True, True] Translation: X:62.88, Y:-9.47, Z:-1.54 [[ 9.73121592e-01 2.29813856e-01 1.48309990e-02 6.28764410e+01] [-2.29787405e-01 9.73234602e-01 -3.48668853e-03 -9.46694467e+00] [-1.52353308e-02 -1.50048909e-05 9.99883935e-01 -1.53635164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.998623853 meters 0.019202471373399917 Centerline is valid? [True, True] Translation: X:62.91, Y:-9.47, Z:-1.53 [[ 9.73192432e-01 2.29504637e-01 1.49703514e-02 6.29081013e+01] [-2.29477611e-01 9.73307568e-01 -3.52201328e-03 -9.47294965e+00] [-1.53790747e-02 -7.76380712e-06 9.99881735e-01 -1.53150844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.028623853 meters 0.015454005699708652 Centerline is valid? [True, True] Translation: X:62.94, Y:-9.48, Z:-1.54 [[ 9.73309316e-01 2.28973095e-01 1.55014886e-02 6.29402769e+01] [-2.28944003e-01 9.73432751e-01 -3.64995292e-03 -9.48006148e+00] [-1.59253978e-02 3.56032526e-06 9.99873183e-01 -1.53692294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.058623853 meters 0.015657763798889834 Centerline is valid? [True, True] Translation: X:62.97, Y:-9.49, Z:-1.54 [[ 9.73675447e-01 2.27407994e-01 1.55475899e-02 6.29714364e+01] [-2.27378468e-01 9.73799570e-01 -3.66458253e-03 -9.48647810e+00] [-1.59735917e-02 3.29268734e-05 9.99872414e-01 -1.53796106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.088623853 meters 0.015930120025675537 Centerline is valid? [True, True] Translation: X:63.00, Y:-9.49, Z:-1.54 [[ 9.73856862e-01 2.26651134e-01 1.52340482e-02 6.30030112e+01] [-2.26622676e-01 9.73976007e-01 -3.59182474e-03 -9.49416844e+00] [-1.56516886e-02 4.55423942e-05 9.99877504e-01 -1.53925514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.118623853 meters 0.016471139326587513 Centerline is valid? [True, True] Translation: X:63.03, Y:-9.50, Z:-1.54 [[ 9.74273031e-01 2.24870418e-01 1.50118900e-02 6.30344715e+01] [-2.24842525e-01 9.74388675e-01 -3.54251557e-03 -9.50180884e+00] [-1.54240226e-02 7.60661136e-05 9.99881040e-01 -1.53988399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.148623853 meters 0.01721892499079205 Centerline is valid? [True, True] Translation: X:63.06, Y:-9.51, Z:-1.54 [[ 9.74509116e-01 2.23858107e-01 1.48165540e-02 6.30647396e+01] [-2.23830777e-01 9.74621742e-01 -3.49917172e-03 -9.51025094e+00] [-1.52238536e-02 9.35739467e-05 9.99884106e-01 -1.54180097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.178623853 meters 0.018440852807130675 Centerline is valid? [True, True] Translation: X:63.09, Y:-9.52, Z:-1.54 [[ 9.74774701e-01 2.22706536e-01 1.46996829e-02 6.30948481e+01] [-2.22679457e-01 9.74885525e-01 -3.47468313e-03 -9.51973999e+00] [-1.51043427e-02 1.13715813e-04 9.99885916e-01 -1.54384602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.208623853 meters 0.020468136127614976 Centerline is valid? [True, True] Translation: X:63.12, Y:-9.53, Z:-1.54 [[ 9.75297057e-01 2.20405365e-01 1.47351721e-02 6.31240636e+01] [-2.20377880e-01 9.75408352e-01 -3.48391357e-03 -9.53019006e+00] [-1.51406831e-02 1.50544673e-04 9.99885362e-01 -1.54449328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.238623853 meters 0.020050013858523754 Centerline is valid? [True, True] Translation: X:63.16, Y:-9.54, Z:-1.54 [[ 9.75477875e-01 2.19593713e-01 1.48834149e-02 6.31559802e+01] [-2.19565544e-01 9.75591397e-01 -3.52117048e-03 -9.53698646e+00] [-1.52933584e-02 1.66938826e-04 9.99883036e-01 -1.54327810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26862385300001 meters 0.022120467444485852 Centerline is valid? [True, True] Translation: X:63.19, Y:-9.55, Z:-1.55 [[ 9.75702637e-01 2.18574252e-01 1.51545778e-02 6.31852227e+01] [-2.18544879e-01 9.75820301e-01 -3.58822444e-03 -9.54778601e+00] [-1.55724381e-02 1.89084680e-04 9.99878724e-01 -1.54544354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.29862385300001 meters 0.023568258770167706 Centerline is valid? [True, True] Translation: X:63.22, Y:-9.56, Z:-1.54 [[ 9.76299730e-01 2.15859444e-01 1.56056820e-02 6.32159618e+01] [-2.15827908e-01 9.76424417e-01 -3.69763466e-03 -9.55869203e+00] [-1.60359383e-02 2.41858026e-04 9.99871387e-01 -1.54487094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32862385300001 meters 0.0247581192045596 Centerline is valid? [True, True] Translation: X:63.25, Y:-9.57, Z:-1.55 [[ 9.76568674e-01 2.14631473e-01 1.57148082e-02 6.32470484e+01] [-2.14599289e-01 9.76695070e-01 -3.72628961e-03 -9.56861104e+00] [-1.61483547e-02 2.66591035e-04 9.99869571e-01 -1.54557936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.358623853 meters 0.02768379968786507 Centerline is valid? [True, True] Translation: X:63.28, Y:-9.58, Z:-1.55 [[ 9.76773704e-01 2.13684926e-01 1.58708383e-02 6.32757866e+01] [-2.13651927e-01 9.76902590e-01 -3.76624492e-03 -9.58053018e+00] [-1.63090528e-02 2.87933799e-04 9.99866957e-01 -1.54731401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.388623853 meters 0.030138486004086026 Centerline is valid? [True, True] Translation: X:63.31, Y:-9.59, Z:-1.54 [[ 9.77141908e-01 2.11971429e-01 1.61804054e-02 6.33066473e+01] [-2.11936851e-01 9.77275809e-01 -3.84232003e-03 -9.59066474e+00] [-1.66271808e-02 3.25267762e-04 9.99861706e-01 -1.54141844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.418623853 meters 0.028744739220155673 Centerline is valid? [True, True] Translation: X:63.34, Y:-9.60, Z:-1.55 [[ 9.77224893e-01 2.11531610e-01 1.69081586e-02 6.33378400e+01] [-2.11493735e-01 9.77371094e-01 -4.01807339e-03 -9.60059909e+00] [-1.73754950e-02 3.50591726e-04 9.99848973e-01 -1.54624325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.448623853 meters 0.03172317508070872 Centerline is valid? [True, True] Translation: X:63.37, Y:-9.61, Z:-1.54 [[ 9.77213351e-01 2.11659184e-01 1.59517059e-02 6.33700210e+01] [-2.11625440e-01 9.77343481e-01 -3.79383445e-03 -9.60690041e+00] [-1.63932957e-02 3.31598888e-04 9.99865566e-01 -1.54003106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.478623853 meters 0.027926582593710836 Centerline is valid? [True, True] Translation: X:63.40, Y:-9.62, Z:-1.55 [[ 9.77157766e-01 2.11919863e-01 1.58956379e-02 6.34001058e+01] [-2.11886346e-01 9.77286992e-01 -3.78322887e-03 -9.61593099e+00] [-1.63363415e-02 3.28742848e-04 9.99866499e-01 -1.54870695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.508623853 meters 0.029568739326116058 Centerline is valid? [True, True] Translation: X:63.43, Y:-9.63, Z:-1.55 [[ 9.77019307e-01 2.12586820e-01 1.54957179e-02 6.34299258e+01] [-2.12555003e-01 9.77142132e-01 -3.69113315e-03 -9.62654012e+00] [-1.59262050e-02 3.12616001e-04 9.99873121e-01 -1.55118892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.538623853 meters 0.02718979509740644 Centerline is valid? [True, True] Translation: X:63.46, Y:-9.63, Z:-1.55 [[ 9.76841646e-01 2.13382510e-01 1.57576239e-02 6.34617657e+01] [-2.13349671e-01 9.76968684e-01 -3.75607281e-03 -9.63229708e+00] [-1.61961854e-02 3.07204467e-04 9.99868786e-01 -1.55078094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.568623853 meters 0.027902311644637714 Centerline is valid? [True, True] Translation: X:63.49, Y:-9.64, Z:-1.55 [[ 9.76402893e-01 2.15386880e-01 1.56806552e-02 6.34921458e+01] [-2.15354572e-01 9.76528759e-01 -3.74058629e-03 -9.64006561e+00] [-1.61182840e-02 2.75418480e-04 9.99870054e-01 -1.54594910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.598623853 meters 0.024106681524460927 Centerline is valid? [True, True] Translation: X:63.52, Y:-9.65, Z:-1.55 [[ 9.76093329e-01 2.16745963e-01 1.62172907e-02 6.35235815e+01] [-2.16711549e-01 9.76228005e-01 -3.87126721e-03 -9.64585889e+00] [-1.66708549e-02 2.64243901e-04 9.99860997e-01 -1.55111570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62862385300001 meters 0.022420860163304353 Centerline is valid? [True, True] Translation: X:63.56, Y:-9.65, Z:-1.55 [[ 9.75680051e-01 2.18634197e-01 1.57329724e-02 6.35556484e+01] [-2.18602012e-01 9.75806864e-01 -3.75821330e-03 -9.64951066e+00] [-1.61740164e-02 2.27554325e-04 9.99869166e-01 -1.54779146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.65862385300001 meters 0.0200386202145887 Centerline is valid? [True, True] Translation: X:63.59, Y:-9.66, Z:-1.55 [[ 9.74902379e-01 2.22093844e-01 1.54814708e-02 6.35860041e+01] [-2.22063069e-01 9.75025279e-01 -3.70110773e-03 -9.65723771e+00] [-1.59168187e-02 1.70355806e-04 9.99873305e-01 -1.55396730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68862385300001 meters 0.02892011836808588 Centerline is valid? [True, True] Translation: X:63.62, Y:-9.66, Z:-1.55 [[ 9.74366120e-01 2.24488968e-01 1.46753786e-02 6.36160804e+01] [-2.24461548e-01 9.74476622e-01 -3.51082749e-03 -9.66402380e+00] [-1.50889554e-02 1.26773164e-04 9.99886147e-01 -1.54930930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.71862385300001 meters 0.017705249521494305 Centerline is valid? [True, True] Translation: X:63.65, Y:-9.67, Z:-1.56 [[ 9.73853502e-01 2.26695086e-01 1.47883403e-02 6.36483014e+01] [-2.26667450e-01 9.73965774e-01 -3.54097709e-03 -9.66900157e+00] [-1.52060595e-02 9.63575391e-05 9.99884377e-01 -1.55674772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.748623853 meters 0.01610110142274841 Centerline is valid? [True, True] Translation: X:63.68, Y:-9.67, Z:-1.56 [[ 9.72544500e-01 2.32280198e-01 1.42515325e-02 6.36813575e+01] [-2.32255124e-01 9.72648914e-01 -3.41287640e-03 -9.66941588e+00] [-1.46544813e-02 9.18271409e-06 9.99892617e-01 -1.55870941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.778623853 meters 0.016249867614476853 Centerline is valid? [True, True] Translation: X:63.71, Y:-9.67, Z:-1.56 [[ 9.71788996e-01 2.35457637e-01 1.36325969e-02 6.37131496e+01] [-2.35434976e-01 9.71884612e-01 -3.26685382e-03 -9.67323237e+00] [-1.40185168e-02 -3.48975157e-05 9.99901735e-01 -1.55994537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.808623853 meters 0.017160371937917127 Centerline is valid? [True, True] Translation: X:63.74, Y:-9.68, Z:-1.56 [[ 9.71069778e-01 2.38432579e-01 1.31677969e-02 6.37445039e+01] [-2.38411678e-01 9.71159050e-01 -3.15781952e-03 -9.67709316e+00] [-1.35409521e-02 -7.28934470e-05 9.99908314e-01 -1.56175537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.838623853 meters 0.020197860768958846 Centerline is valid? [True, True] Translation: X:63.78, Y:-9.68, Z:-1.56 [[ 9.69624360e-01 2.44255377e-01 1.29580794e-02 6.37769409e+01] [-2.44235628e-01 9.69710930e-01 -3.10960532e-03 -9.67666522e+00] [-1.33251290e-02 -1.49675591e-04 9.99911205e-01 -1.56219412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.868623853 meters 0.021511299830025178 Centerline is valid? [True, True] Translation: X:63.81, Y:-9.68, Z:-1.56 [[ 9.68854477e-01 2.47275193e-01 1.32657877e-02 6.38086950e+01] [-2.47254749e-01 9.68945273e-01 -3.18550196e-03 -9.68065078e+00] [-1.36415179e-02 -1.93741175e-04 9.99906931e-01 -1.56145953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.898623853 meters 0.027452573608767118 Centerline is valid? [True, True] Translation: X:63.84, Y:-9.68, Z:-1.57 [[ 9.68074868e-01 2.50288500e-01 1.36644663e-02 6.38409595e+01] [-2.50267071e-01 9.68171270e-01 -3.28394957e-03 -9.67827827e+00] [-1.40514785e-02 -2.40656910e-04 9.99901244e-01 -1.56511219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.928623853 meters 0.027833531882762896 Centerline is valid? [True, True] Translation: X:63.87, Y:-9.68, Z:-1.56 [[ 9.66810950e-01 2.55105244e-01 1.40677577e-02 6.38714617e+01] [-2.55082983e-01 9.66913240e-01 -3.38486036e-03 -9.68343714e+00] [-1.44657968e-02 -3.15925539e-04 9.99895315e-01 -1.56140061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.958623853 meters 0.02909513846046473 Centerline is valid? [True, True] Translation: X:63.90, Y:-9.69, Z:-1.56 [[ 9.66269088e-01 2.57143657e-01 1.41840883e-02 6.39036813e+01] [-2.57121268e-01 9.66373125e-01 -3.41134364e-03 -9.68858421e+00] [-1.45843271e-02 -3.50754846e-04 9.99893582e-01 -1.56192037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.988623853 meters 0.03404238036125586 Centerline is valid? [True, True] Translation: X:63.94, Y:-9.69, Z:-1.56 [[ 9.65760800e-01 2.59046419e-01 1.41784734e-02 6.39353321e+01] [-2.59024202e-01 9.65864800e-01 -3.41342161e-03 -9.68774404e+00] [-1.45787230e-02 -3.76018980e-04 9.99893654e-01 -1.56471447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.01862385300001 meters 0.04109115226688291 Centerline is valid? [True, True] Translation: X:63.97, Y:-9.68, Z:-1.57 [[ 9.65150706e-01 2.61310276e-01 1.41793446e-02 6.39662819e+01] [-2.61288265e-01 9.65254771e-01 -3.41601384e-03 -9.68310563e+00] [-1.45793195e-02 -4.07928180e-04 9.99893633e-01 -1.56839335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04862385300001 meters 0.032743094278365345 Centerline is valid? [True, True] Translation: X:64.00, Y:-9.70, Z:-1.56 [[ 9.65005879e-01 2.61851359e-01 1.40541797e-02 6.39952558e+01] [-2.61829827e-01 9.65108125e-01 -3.38344047e-03 -9.70095820e+00] [-1.44497615e-02 -4.14763500e-04 9.99895511e-01 -1.56449590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.07862385300001 meters 0.03652782925349842 Centerline is valid? [True, True] Translation: X:64.03, Y:-9.70, Z:-1.57 [[ 9.64865990e-01 2.62358987e-01 1.41909397e-02 6.40268846e+01] [-2.62337050e-01 9.64970249e-01 -3.41907155e-03 -9.70233646e+00] [-1.45908588e-02 -4.23863398e-04 9.99893458e-01 -1.56705913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.108623853 meters 0.03701170337194786 Centerline is valid? [True, True] Translation: X:64.06, Y:-9.71, Z:-1.57 [[ 9.64698526e-01 2.63025671e-01 1.32004189e-02 6.40574875e+01] [-2.63006701e-01 9.64788752e-01 -3.18416694e-03 -9.70657265e+00] [-1.35731333e-02 -4.00037474e-04 9.99907801e-01 -1.56895232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.138623853 meters 0.03450596227595511 Centerline is valid? [True, True] Translation: X:64.09, Y:-9.72, Z:-1.57 [[ 9.64567897e-01 2.63530122e-01 1.26746324e-02 6.40881416e+01] [-2.63512703e-01 9.64651088e-01 -3.05526197e-03 -9.71510823e+00] [-1.30317515e-02 -3.92919024e-04 9.99915006e-01 -1.56854585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.168623853 meters 0.04103120494739523 Centerline is valid? [True, True] Translation: X:64.12, Y:-9.72, Z:-1.56 [[ 9.64411242e-01 2.64121052e-01 1.22892660e-02 6.41183324e+01] [-2.64104674e-01 9.64489462e-01 -2.96639691e-03 -9.71806494e+00] [-1.26363554e-02 -3.84826067e-04 9.99920084e-01 -1.56358688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.198623853 meters 0.047332508599238085 Centerline is valid? [True, True] Translation: X:64.15, Y:-9.71, Z:-1.58 [[ 9.64296837e-01 2.64549979e-01 1.20382148e-02 6.41495011e+01] [-2.64534284e-01 9.64371901e-01 -2.90686395e-03 -9.70569177e+00] [-1.23783269e-02 -3.81440818e-04 9.99923313e-01 -1.57879436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.228623853 meters 0.037485626466086594 Centerline is valid? [True, True] Translation: X:64.18, Y:-9.72, Z:-1.57 [[ 9.64366044e-01 2.64307478e-01 1.18190500e-02 6.41757356e+01] [-2.64292345e-01 9.64438395e-01 -2.85276749e-03 -9.72406190e+00] [-1.21527534e-02 -3.72572343e-04 9.99926083e-01 -1.57439780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.258623853 meters 0.03804329358705951 Centerline is valid? [True, True] Translation: X:64.20, Y:-9.73, Z:-1.58 [[ 9.64522792e-01 2.63728003e-01 1.19718144e-02 6.42038108e+01] [-2.63712432e-01 9.64597016e-01 -2.88964105e-03 -9.72830614e+00] [-1.23100557e-02 -3.69991636e-04 9.99924160e-01 -1.57535938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.288623853 meters 0.0328801037271137 Centerline is valid? [True, True] Translation: X:64.23, Y:-9.74, Z:-1.57 [[ 9.65189785e-01 2.61259958e-01 1.23253286e-02 6.42328918e+01] [-2.61243269e-01 9.65268415e-01 -2.97359550e-03 -9.73968460e+00] [-1.26741318e-02 -3.49825134e-04 9.99919619e-01 -1.57343473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.318623853 meters 0.03158089504505607 Centerline is valid? [True, True] Translation: X:64.26, Y:-9.75, Z:-1.57 [[ 9.65634075e-01 2.59587845e-01 1.28445792e-02 6.42626033e+01] [-2.59569580e-01 9.65719438e-01 -3.09833444e-03 -9.74729957e+00] [-1.32085498e-02 -3.42204722e-04 9.99912705e-01 -1.57307051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.348623853 meters 0.03011948365033372 Centerline is valid? [True, True] Translation: X:64.29, Y:-9.75, Z:-1.57 [[ 9.66598902e-01 2.55934900e-01 1.35605538e-02 6.42925490e+01] [-2.55914156e-01 9.66693971e-01 -3.27293784e-03 -9.75194336e+00] [-1.39465646e-02 -3.06719557e-04 9.99902695e-01 -1.57373264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.37862385300001 meters 0.025343922079459052 Centerline is valid? [True, True] Translation: X:64.32, Y:-9.76, Z:-1.57 [[ 9.67048928e-01 2.54244906e-01 1.32626463e-02 6.43226826e+01] [-2.54224914e-01 9.67139830e-01 -3.20030639e-03 -9.76304292e+00] [-1.36404951e-02 -2.76842263e-04 9.99906926e-01 -1.57216873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40862385300001 meters 0.024491492213628854 Centerline is valid? [True, True] Translation: X:64.35, Y:-9.77, Z:-1.57 [[ 9.67443199e-01 2.52745169e-01 1.31733427e-02 6.43527956e+01] [-2.52725310e-01 9.67532850e-01 -3.17843133e-03 -9.76908688e+00] [-1.35489749e-02 -2.54285346e-04 9.99908176e-01 -1.57443874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.43862385300001 meters 0.024381703301242435 Centerline is valid? [True, True] Translation: X:64.38, Y:-9.78, Z:-1.58 [[ 9.67811130e-01 2.51331811e-01 1.31885341e-02 6.43833274e+01] [-2.51311735e-01 9.67900959e-01 -3.18508365e-03 -9.77546076e+00] [-1.35657077e-02 -2.31873983e-04 9.99907955e-01 -1.57623768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46862385300001 meters 0.021181798086514873 Centerline is valid? [True, True] Translation: X:64.41, Y:-9.79, Z:-1.58 [[ 9.68667727e-01 2.48036507e-01 1.26778009e-02 6.44138877e+01] [-2.48017670e-01 9.68750669e-01 -3.06205625e-03 -9.78605396e+00] [-1.30411298e-02 -1.78203573e-04 9.99914945e-01 -1.57660836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.498623853 meters 0.021181798086514873 Centerline is valid? [True, True] Translation: X:64.44, Y:-9.79, Z:-1.58 [[ 9.68625777e-01 2.48200304e-01 1.26772842e-02 6.44446252e+01] [-2.48181452e-01 9.68708717e-01 -3.06419338e-03 -9.79362516e+00] [-1.30411294e-02 -1.78210099e-04 9.99914945e-01 -1.57740527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.528623853 meters 0.02028187707582168 Centerline is valid? [True, True] Translation: X:64.48, Y:-9.80, Z:-1.58 [[ 9.69069358e-01 2.46485662e-01 1.22228657e-02 6.44751784e+01] [-2.46467974e-01 9.69146427e-01 -2.95655464e-03 -9.80040696e+00] [-1.25744950e-02 -1.47438451e-04 9.99920927e-01 -1.57950183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.558623853 meters 0.01830911695503347 Centerline is valid? [True, True] Translation: X:64.51, Y:-9.81, Z:-1.58 [[ 9.69929423e-01 2.43058633e-01 1.26259521e-02 6.45058219e+01] [-2.43039439e-01 9.70011593e-01 -3.05629612e-03 -9.80767823e+00] [-1.29901791e-02 -1.04212795e-04 9.99915619e-01 -1.58099321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.588623853 meters 0.017714657220534568 Centerline is valid? [True, True] Translation: X:64.54, Y:-9.82, Z:-1.58 [[ 9.70351955e-01 2.41354473e-01 1.28492270e-02 6.45352847e+01] [-2.41334393e-01 9.70437021e-01 -3.11427218e-03 -9.81577294e+00] [-1.32210091e-02 -7.90202943e-05 9.99912596e-01 -1.58197820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.618623853 meters 0.016687878365526928 Centerline is valid? [True, True] Translation: X:64.57, Y:-9.83, Z:-1.58 [[ 9.70744450e-01 2.39771934e-01 1.28309322e-02 6.45658174e+01] [-2.39751796e-01 9.70829241e-01 -3.10807472e-03 -9.82559754e+00] [-1.32018733e-02 -5.90927665e-05 9.99912850e-01 -1.58096638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.648623853 meters 0.015997531922684077 Centerline is valid? [True, True] Translation: X:64.60, Y:-9.84, Z:-1.58 [[ 9.71340259e-01 2.37296878e-01 1.37220098e-02 6.45966474e+01] [-2.37273559e-01 9.71437178e-01 -3.32668019e-03 -9.83521793e+00] [-1.41194813e-02 -2.45317047e-05 9.99900315e-01 -1.57996230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.678623853 meters 0.015778259346574744 Centerline is valid? [True, True] Translation: X:64.63, Y:-9.84, Z:-1.58 [[ 9.71598544e-01 2.36223347e-01 1.39570535e-02 6.46287950e+01] [-2.36199080e-01 9.71698786e-01 -3.38592067e-03 -9.84405457e+00] [-1.43618854e-02 -6.88759785e-06 9.99896863e-01 -1.57963985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.708623853 meters 0.01572666335518836 Centerline is valid? [True, True] Translation: X:64.66, Y:-9.85, Z:-1.58 [[ 9.71800421e-01 2.35384041e-01 1.40817577e-02 6.46605959e+01] [-2.35359208e-01 9.71902440e-01 -3.41908947e-03 -9.85245903e+00] [-1.44908938e-02 8.40124197e-06 9.99895001e-01 -1.58007462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.738623853 meters 0.024156277298805248 Centerline is valid? [True, True] Translation: X:64.69, Y:-9.86, Z:-1.57 [[ 9.72175626e-01 2.33851739e-01 1.37082487e-02 6.46930157e+01] [-2.33828016e-01 9.72272268e-01 -3.33103780e-03 -9.85949157e+00] [-1.41071190e-02 3.29811797e-05 9.99900489e-01 -1.57438317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76862385300001 meters 0.016345460160794124 Centerline is valid? [True, True] Translation: X:64.72, Y:-9.87, Z:-1.58 [[ 9.72303328e-01 2.33306523e-01 1.39393398e-02 6.47242315e+01] [-2.33281892e-01 9.72403242e-01 -3.39032085e-03 -9.86740795e+00] [-1.43456432e-02 4.46246675e-05 9.99897095e-01 -1.58288143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.79862385300001 meters 0.016312693009220006 Centerline is valid? [True, True] Translation: X:64.76, Y:-9.87, Z:-1.58 [[ 9.72357688e-01 2.33094397e-01 1.36940928e-02 6.47564592e+01] [-2.33070570e-01 9.72454112e-01 -3.33311293e-03 -9.87487787e+00] [-1.40938068e-02 4.92879714e-05 9.99900676e-01 -1.58295805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82862385300001 meters 0.016321061339167234 Centerline is valid? [True, True] Translation: X:64.79, Y:-9.88, Z:-1.58 [[ 9.72181970e-01 2.33860175e-01 1.31010043e-02 6.47880393e+01] [-2.33838401e-01 9.72270239e-01 -3.19140677e-03 -9.88146133e+00] [-1.34840596e-02 3.91102180e-05 9.99909085e-01 -1.58479461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.858623853 meters 0.02278205476178684 Centerline is valid? [True, True] Translation: X:64.82, Y:-9.89, Z:-1.58 [[ 9.72011526e-01 2.34581538e-01 1.28489419e-02 6.48197700e+01] [-2.34560623e-01 9.72096446e-01 -3.13257546e-03 -9.88693146e+00] [-1.32252551e-02 3.10436277e-05 9.99912542e-01 -1.57918485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.888623853 meters 0.01586639124376315 Centerline is valid? [True, True] Translation: X:64.85, Y:-9.89, Z:-1.59 [[ 9.71595000e-01 2.36265264e-01 1.34863166e-02 6.48505230e+01] [-2.36242346e-01 9.71688595e-01 -3.29073878e-03 -9.89000627e+00] [-1.38819873e-02 1.12262717e-05 9.99903641e-01 -1.58578189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.918623853 meters 0.024052232023432096 Centerline is valid? [True, True] Translation: X:64.88, Y:-9.90, Z:-1.58 [[ 9.71358503e-01 2.37245120e-01 1.33196181e-02 6.48817900e+01] [-2.37222807e-01 9.71449820e-01 -3.25375428e-03 -9.89513905e+00] [-1.37112780e-02 8.44683641e-07 9.99905996e-01 -1.58028868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.948623853 meters 0.015708895251640077 Centerline is valid? [True, True] Translation: X:64.91, Y:-9.90, Z:-1.59 [[ 9.71140297e-01 2.38106911e-01 1.38428112e-02 6.49126681e+01] [-2.38082892e-01 9.71238951e-01 -3.38193230e-03 -9.90099042e+00] [-1.42499389e-02 -1.14057885e-05 9.99898464e-01 -1.58615299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.978623853 meters 0.015795041598364427 Centerline is valid? [True, True] Translation: X:64.94, Y:-9.91, Z:-1.59 [[ 9.70937807e-01 2.38901942e-01 1.43400294e-02 6.49416265e+01] [-2.38876242e-01 9.71043697e-01 -3.50416697e-03 -9.90606804e+00] [-1.47619475e-02 -2.31641445e-05 9.99891036e-01 -1.58645516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.008623853 meters 0.015813586684091458 Centerline is valid? [True, True] Translation: X:64.97, Y:-9.91, Z:-1.59 [[ 9.70556573e-01 2.40434184e-01 1.45375858e-02 6.49735466e+01] [-2.40407952e-01 9.70665442e-01 -3.55188280e-03 -9.90958965e+00] [-1.49651262e-02 -4.76480358e-05 9.99888015e-01 -1.58595900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.038623853 meters 0.016073596201158186 Centerline is valid? [True, True] Translation: X:65.00, Y:-9.91, Z:-1.59 [[ 9.70373763e-01 2.41176292e-01 1.44483891e-02 6.50022764e+01] [-2.41150456e-01 9.70481320e-01 -3.53057236e-03 -9.91488681e+00] [-1.48733821e-02 -5.82608444e-05 9.99889383e-01 -1.58675806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.068623853 meters 0.016233267028098634 Centerline is valid? [True, True] Translation: X:65.03, Y:-9.92, Z:-1.59 [[ 9.70202166e-01 2.41851987e-01 1.46755719e-02 6.50312280e+01] [-2.41825401e-01 9.70313151e-01 -3.58666230e-03 -9.91983170e+00] [-1.51073418e-02 -6.91385303e-05 9.99885875e-01 -1.58708200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.098623853 meters 0.017260997798387606 Centerline is valid? [True, True] Translation: X:65.06, Y:-9.92, Z:-1.59 [[ 9.69727144e-01 2.43795173e-01 1.38989237e-02 6.50612286e+01] [-2.43771530e-01 9.69826739e-01 -3.39653697e-03 -9.92080593e+00] [-1.43076072e-02 -9.44478059e-05 9.99897636e-01 -1.58894845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12862385300001 meters 0.018006915662665494 Centerline is valid? [True, True] Translation: X:65.09, Y:-9.92, Z:-1.59 [[ 9.69419809e-01 2.45057572e-01 1.31156255e-02 6.50910755e+01] [-2.45036639e-01 9.69508522e-01 -3.20482795e-03 -9.92448650e+00] [-1.35010780e-02 -1.06985076e-04 9.99908851e-01 -1.59065907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.15862385300001 meters 0.020834108984766085 Centerline is valid? [True, True] Translation: X:65.12, Y:-9.92, Z:-1.59 [[ 9.68633370e-01 2.48150029e-01 1.30750776e-02 6.51209060e+01] [-2.48129505e-01 9.68721601e-01 -3.19501644e-03 -9.92112177e+00] [-1.34589535e-02 -1.49512989e-04 9.99909413e-01 -1.59334315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18862385300001 meters 0.020535456048760906 Centerline is valid? [True, True] Translation: X:65.15, Y:-9.93, Z:-1.59 [[ 9.68375026e-01 2.49142197e-01 1.33407164e-02 6.51496811e+01] [-2.49120938e-01 9.68466901e-01 -3.25893463e-03 -9.92568067e+00] [-1.37319804e-02 -1.67580869e-04 9.99905698e-01 -1.59188129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.21862385300001 meters 0.02198649428025402 Centerline is valid? [True, True] Translation: X:65.18, Y:-9.93, Z:-1.59 [[ 9.68174143e-01 2.49925971e-01 1.32603608e-02 6.51777965e+01] [-2.49905048e-01 9.68264931e-01 -3.23877742e-03 -9.92588212e+00] [-1.36489969e-02 -1.78130538e-04 9.99906832e-01 -1.59419778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.248623853 meters 0.021110825565511977 Centerline is valid? [True, True] Translation: X:65.21, Y:-9.93, Z:-1.59 [[ 9.68358629e-01 2.49217845e-01 1.31160453e-02 6.52054150e+01] [-2.49197323e-01 9.68447437e-01 -3.20256554e-03 -9.93291221e+00] [-1.35003369e-02 -1.67251395e-04 9.99908852e-01 -1.59495501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.278623853 meters 0.020094599482341317 Centerline is valid? [True, True] Translation: X:65.23, Y:-9.94, Z:-1.59 [[ 9.68641842e-01 2.48107862e-01 1.32465116e-02 6.52332769e+01] [-2.48086835e-01 9.68732401e-01 -3.23375506e-03 -9.94041832e+00] [-1.36346451e-02 -1.53934677e-04 9.99907032e-01 -1.59474571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.308623853 meters 0.01856500418035594 Centerline is valid? [True, True] Translation: X:65.26, Y:-9.95, Z:-1.59 [[ 9.69092643e-01 2.46329053e-01 1.34702539e-02 6.52612791e+01] [-2.46307147e-01 9.69186247e-01 -3.28769550e-03 -9.94903642e+00] [-1.38650397e-02 -1.31738269e-04 9.99903867e-01 -1.59457122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.338623853 meters 0.025944881957922633 Centerline is valid? [True, True] Translation: X:65.29, Y:-9.96, Z:-1.59 [[ 9.70208212e-01 2.41900532e-01 1.34222679e-02 6.52883082e+01] [-2.41878365e-01 9.70301050e-01 -3.27543612e-03 -9.95738406e+00] [-1.38159703e-02 -6.87011855e-05 9.99904553e-01 -1.58883404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.368623853 meters 0.016075748191069418 Centerline is valid? [True, True] Translation: X:65.32, Y:-9.97, Z:-1.60 [[ 9.70722878e-01 2.39811524e-01 1.36940582e-02 6.53151773e+01] [-2.39788259e-01 9.70819464e-01 -3.34056042e-03 -9.96666543e+00] [-1.40955631e-02 -4.09159403e-05 9.99900652e-01 -1.59713676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.398623853 meters 0.022512072154138266 Centerline is valid? [True, True] Translation: X:65.34, Y:-9.98, Z:-1.59 [[ 9.71346803e-01 2.37328131e-01 1.26785513e-02 6.53430358e+01] [-2.37307985e-01 9.71429544e-01 -3.09227154e-03 -9.97651687e+00] [-1.30502023e-02 -5.05338473e-06 9.99914842e-01 -1.59258570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.428623853 meters 0.0168739871316067 Centerline is valid? [True, True] Translation: X:65.37, Y:-9.99, Z:-1.60 [[ 9.72398490e-01 2.33006838e-01 1.22061830e-02 6.53704507e+01] [-2.32987830e-01 9.72475095e-01 -2.97661390e-03 -9.98865128e+00] [-1.25637803e-02 5.05627768e-05 9.99921071e-01 -1.60104319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.458623853 meters 0.017383570071135113 Centerline is valid? [True, True] Translation: X:65.40, Y:-10.00, Z:-1.60 [[ 9.72884273e-01 2.30964610e-01 1.23101924e-02 6.53986163e+01] [-2.30945113e-01 9.72962149e-01 -3.00197151e-03 -9.99689927e+00] [-1.26707005e-02 7.75920864e-05 9.99919720e-01 -1.60109407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.488623853 meters 0.018749732632334055 Centerline is valid? [True, True] Translation: X:65.43, Y:-10.01, Z:-1.60 [[ 9.73698666e-01 2.27483042e-01 1.27426118e-02 6.54285799e+01] [-2.27461866e-01 9.73782034e-01 -3.10646776e-03 -1.00065153e+01] [-1.31151951e-02 1.26305260e-04 9.99913984e-01 -1.60052666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.51862385300001 meters 0.020968114065228242 Centerline is valid? [True, True] Translation: X:65.46, Y:-10.02, Z:-1.60 [[ 9.74076780e-01 2.25863687e-01 1.26499376e-02 6.54567705e+01] [-2.25842674e-01 9.74158906e-01 -3.08436003e-03 -1.00173099e+01] [-1.30196943e-02 1.47507758e-04 9.99915229e-01 -1.60337203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54862385300001 meters 0.021769402911354388 Centerline is valid? [True, True] Translation: X:65.49, Y:-10.03, Z:-1.60 [[ 9.74435927e-01 2.24329728e-01 1.22799685e-02 6.54868109e+01] [-2.24309804e-01 9.74513287e-01 -2.99415651e-03 -1.00262716e+01] [-1.26386708e-02 1.63096329e-04 9.99920116e-01 -1.60396246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.57862385300001 meters 0.029937561220546863 Centerline is valid? [True, True] Translation: X:65.52, Y:-10.03, Z:-1.60 [[ 9.74799756e-01 2.22764155e-01 1.18981954e-02 6.55173740e+01] [-2.22745331e-01 9.74872350e-01 -2.90134322e-03 -1.00345564e+01] [-1.22455370e-02 1.77961198e-04 9.99925005e-01 -1.59800349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.608623853 meters 0.02460524603091764 Centerline is valid? [True, True] Translation: X:65.55, Y:-10.05, Z:-1.61 [[ 9.74985777e-01 2.21904960e-01 1.26855906e-02 6.55467053e+01] [-2.21883506e-01 9.75068279e-01 -3.09204933e-03 -1.00467370e+01] [-1.30554581e-02 1.99980795e-04 9.99914754e-01 -1.60563012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.638623853 meters 0.02410776552831181 Centerline is valid? [True, True] Translation: X:65.58, Y:-10.05, Z:-1.61 [[ 9.75025850e-01 2.21707083e-01 1.30599416e-02 6.55772753e+01] [-2.21684274e-01 9.75113288e-01 -3.18723658e-03 -1.00538701e+01] [-1.34415555e-02 2.12454391e-04 9.99909636e-01 -1.60511604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.668623853 meters 0.025749053292091994 Centerline is valid? [True, True] Translation: X:65.61, Y:-10.06, Z:-1.61 [[ 9.74945225e-01 2.22045627e-01 1.33247050e-02 6.56065853e+01] [-2.22021922e-01 9.75036253e-01 -3.25136825e-03 -1.00637944e+01] [-1.37140225e-02 2.11529337e-04 9.99905936e-01 -1.60705353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.698623853 meters 0.023339697992030808 Centerline is valid? [True, True] Translation: X:65.64, Y:-10.07, Z:-1.61 [[ 9.74606248e-01 2.23516391e-01 1.35308676e-02 6.56372657e+01] [-2.23492054e-01 9.74700151e-01 -3.30415063e-03 -1.00676891e+01] [-1.39270705e-02 1.96204449e-04 9.99902994e-01 -1.60638135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.728623853 meters 0.023426428685460507 Centerline is valid? [True, True] Translation: X:65.67, Y:-10.07, Z:-1.61 [[ 9.74340405e-01 2.24692915e-01 1.31859514e-02 6.56654892e+01] [-2.24669913e-01 9.74429609e-01 -3.21974220e-03 -1.00744351e+01] [-1.35722347e-02 1.74638366e-04 9.99907878e-01 -1.60874245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.758623853 meters 0.02114899248110134 Centerline is valid? [True, True] Translation: X:65.69, Y:-10.08, Z:-1.61 [[ 9.73780739e-01 2.27100723e-01 1.32790617e-02 6.56949235e+01] [-2.27077608e-01 9.73871265e-01 -3.24326801e-03 -1.00776337e+01] [-1.36686451e-02 1.42854352e-04 9.99906570e-01 -1.60982162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.788623853 meters 0.018905476565091093 Centerline is valid? [True, True] Translation: X:65.73, Y:-10.08, Z:-1.61 [[ 9.73459881e-01 2.28468168e-01 1.33475534e-02 6.57252320e+01] [-2.28444954e-01 9.73551376e-01 -3.25913378e-03 -1.00816464e+01] [-1.37391373e-02 1.23454746e-04 9.99905606e-01 -1.60824672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.818623853 meters 0.01859679622642573 Centerline is valid? [True, True] Translation: X:65.75, Y:-10.09, Z:-1.61 [[ 9.73152869e-01 2.29746622e-01 1.37834470e-02 6.57527971e+01] [-2.29721990e-01 9.73250470e-01 -3.36596734e-03 -1.00880123e+01] [-1.41880659e-02 1.09239905e-04 9.99899338e-01 -1.60953090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.848623853 meters 0.017433322606363415 Centerline is valid? [True, True] Translation: X:65.78, Y:-10.09, Z:-1.61 [[ 9.72805322e-01 2.31193500e-01 1.41198981e-02 6.57812776e+01] [-2.31167809e-01 9.72907785e-01 -3.44769082e-03 -1.00923056e+01] [-1.45344425e-02 8.98660817e-05 9.99894365e-01 -1.60913188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.87862385300001 meters 0.0157850963716032 Centerline is valid? [True, True] Translation: X:65.81, Y:-10.09, Z:-1.61 [[ 9.72065215e-01 2.34280411e-01 1.42093593e-02 6.58110981e+01] [-2.34254737e-01 9.72169063e-01 -3.46859822e-03 -1.00933748e+01] [-1.46265241e-02 4.30939450e-05 9.99893026e-01 -1.60870028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90862385300001 meters 0.015356342960723551 Centerline is valid? [True, True] Translation: X:65.84, Y:-10.10, Z:-1.61 [[ 9.71609682e-01 2.36168875e-01 1.41027624e-02 6.58403255e+01] [-2.36143788e-01 9.71712026e-01 -3.44223875e-03 -1.00973630e+01] [-1.45167734e-02 1.42327781e-05 9.99894626e-01 -1.60881639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.93862385300001 meters 0.015692215236764406 Centerline is valid? [True, True] Translation: X:65.87, Y:-10.10, Z:-1.61 [[ 9.70815123e-01 2.39443934e-01 1.35867245e-02 6.58692806e+01] [-2.39420971e-01 9.70910192e-01 -3.31623619e-03 -1.00989893e+01] [-1.39855419e-02 -3.34945256e-05 9.99902197e-01 -1.61018053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96862385300001 meters 0.016093121359435775 Centerline is valid? [True, True] Translation: X:65.90, Y:-10.10, Z:-1.61 [[ 9.70373775e-01 2.41231532e-01 1.34938842e-02 6.58970339e+01] [-2.41209062e-01 9.70467591e-01 -3.29302177e-03 -1.01022417e+01] [-1.38897579e-02 -5.93851781e-05 9.99903531e-01 -1.61121705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.998623853 meters 0.016580921113896665 Centerline is valid? [True, True] Translation: X:65.93, Y:-10.11, Z:-1.61 [[ 9.69985791e-01 2.42774874e-01 1.37086187e-02 6.59260749e+01] [-2.42751852e-01 9.70082653e-01 -3.34438091e-03 -1.01062360e+01] [-1.41104248e-02 -8.37906132e-05 9.99900439e-01 -1.61117332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.028623853 meters 0.01826362112766471 Centerline is valid? [True, True] Translation: X:65.95, Y:-10.11, Z:-1.61 [[ 9.69268494e-01 2.45574853e-01 1.45457114e-02 6.59544631e+01] [-2.45549258e-01 9.69377622e-01 -3.54790032e-03 -1.01075708e+01] [-1.49715623e-02 -1.32820659e-04 9.99887911e-01 -1.61173343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.058623853 meters 0.019048659413700986 Centerline is valid? [True, True] Translation: X:65.98, Y:-10.11, Z:-1.61 [[ 9.68985736e-01 2.46659095e-01 1.50311002e-02 6.59818712e+01] [-2.46631909e-01 9.69102299e-01 -3.66535911e-03 -1.01112591e+01] [-1.54707679e-02 -1.55468248e-04 9.99880308e-01 -1.61151917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.088623853 meters 0.019809410601040005 Centerline is valid? [True, True] Translation: X:66.01, Y:-10.11, Z:-1.61 [[ 9.68557458e-01 2.48307399e-01 1.54882742e-02 6.60107594e+01] [-2.48278766e-01 9.68681269e-01 -3.77546525e-03 -1.01131294e+01] [-1.59406770e-02 -1.88654586e-04 9.99872922e-01 -1.61111095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.118623853 meters 0.02072672808007726 Centerline is valid? [True, True] Translation: X:66.04, Y:-10.12, Z:-1.61 [[ 9.68376046e-01 2.49017030e-01 1.54386973e-02 6.60388206e+01] [-2.48988681e-01 9.68499086e-01 -3.76271392e-03 -1.01167655e+01] [-1.58893441e-02 -2.00338850e-04 9.99873736e-01 -1.61201222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.148623853 meters 0.02904624136903477 Centerline is valid? [True, True] Translation: X:66.07, Y:-10.12, Z:-1.61 [[ 9.68358606e-01 2.49101805e-01 1.51625046e-02 6.60674181e+01] [-2.49074488e-01 9.68477285e-01 -3.69435475e-03 -1.01223830e+01] [-1.56048117e-02 -1.99132841e-04 9.99878218e-01 -1.60694399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.178623853 meters 0.020855756174436024 Centerline is valid? [True, True] Translation: X:66.09, Y:-10.13, Z:-1.61 [[ 9.68383984e-01 2.49007260e-01 1.50945076e-02 6.60944218e+01] [-2.48980187e-01 9.68501598e-01 -3.67714794e-03 -1.01285513e+01] [-1.55346913e-02 -1.97342159e-04 9.99879310e-01 -1.61447780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.208623853 meters 0.020926408906158885 Centerline is valid? [True, True] Translation: X:66.12, Y:-10.13, Z:-1.62 [[ 9.68423555e-01 2.48843045e-01 1.52629102e-02 6.61217091e+01] [-2.48815359e-01 9.68543804e-01 -3.71719697e-03 -1.01343408e+01] [-1.57077957e-02 -1.97825370e-04 9.99876605e-01 -1.61518163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.238623853 meters 0.020299378731549435 Centerline is valid? [True, True] Translation: X:66.15, Y:-10.14, Z:-1.62 [[ 9.68682872e-01 2.47837381e-01 1.51699078e-02 6.61492271e+01] [-2.47809922e-01 9.68801631e-01 -3.69361597e-03 -1.01389982e+01] [-1.56120475e-02 -1.81311128e-04 9.99878108e-01 -1.61601724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26862385300001 meters 0.024332835804224042 Centerline is valid? [True, True] Translation: X:66.18, Y:-10.14, Z:-1.61 [[ 9.68900050e-01 2.46990529e-01 1.51119939e-02 6.61772367e+01] [-2.46963193e-01 9.69017879e-01 -3.67847349e-03 -1.01449362e+01] [-1.55523404e-02 -1.68033120e-04 9.99879041e-01 -1.61180678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.29862385300001 meters 0.018408431057469206 Centerline is valid? [True, True] Translation: X:66.21, Y:-10.15, Z:-1.62 [[ 9.69293760e-01 2.45361932e-01 1.63440723e-02 6.62053589e+01] [-2.45329739e-01 9.69431534e-01 -3.97747867e-03 -1.01525068e+01] [-1.68203810e-02 -1.54341748e-04 9.99858515e-01 -1.61592872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32862385300001 meters 0.0177573607352017 Centerline is valid? [True, True] Translation: X:66.23, Y:-10.16, Z:-1.62 [[ 9.69567446e-01 2.44267978e-01 1.64961119e-02 6.62326318e+01] [-2.44235038e-01 9.69707758e-01 -4.01375893e-03 -1.01588841e+01] [-1.69768405e-02 -1.37318517e-04 9.99855874e-01 -1.61653811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.35862385300001 meters 0.0298829604149696 Centerline is valid? [True, True] Translation: X:66.26, Y:-10.17, Z:-1.61 [[ 9.69864331e-01 2.43133410e-01 1.57899870e-02 6.62602286e+01] [-2.43103091e-01 9.69992852e-01 -3.84118581e-03 -1.01658527e+01] [-1.62500951e-02 -1.13165553e-04 9.99867952e-01 -1.61049531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.388623853 meters 0.0298829604149696 Centerline is valid? [True, True] Translation: X:66.29, Y:-10.17, Z:-1.61 [[ 9.69881775e-01 2.43063800e-01 1.57902635e-02 6.62869727e+01] [-2.43033491e-01 9.70010297e-01 -3.84004895e-03 -1.01722206e+01] [-1.62500951e-02 -1.13169366e-04 9.99867952e-01 -1.61118681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.418623853 meters 0.015901151624321114 Centerline is valid? [True, True] Translation: X:66.31, Y:-10.18, Z:-1.62 [[ 9.70485023e-01 2.40635348e-01 1.59200923e-02 6.63138101e+01] [-2.40604233e-01 9.70615590e-01 -3.87028626e-03 -1.01803541e+01] [-1.63836175e-02 -7.43867616e-05 9.99865777e-01 -1.61979457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.448623853 meters 0.015224637899939712 Centerline is valid? [True, True] Translation: X:66.34, Y:-10.19, Z:-1.62 [[ 9.70832618e-01 2.39217394e-01 1.60955434e-02 6.63410685e+01] [-2.39185413e-01 9.70966032e-01 -3.91181616e-03 -1.01885367e+01] [-1.65640004e-02 -5.21004793e-05 9.99862806e-01 -1.61981016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.478623853 meters 0.015155146658708887 Centerline is valid? [True, True] Translation: X:66.37, Y:-10.20, Z:-1.62 [[ 9.71434871e-01 2.36813461e-01 1.52864474e-02 6.63677912e+01] [-2.36784326e-01 9.71555137e-01 -3.71459788e-03 -1.01953104e+01] [-1.57312933e-02 -1.11012396e-05 9.99876255e-01 -1.62284070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.508623853 meters 0.01517541570172029 Centerline is valid? [True, True] Translation: X:66.40, Y:-10.20, Z:-1.62 [[ 9.71806853e-01 2.35285388e-01 1.52390008e-02 6.63960344e+01] [-2.35256265e-01 9.71926327e-01 -3.70187649e-03 -1.02031048e+01] [-1.56821835e-02 1.24385375e-05 9.99877027e-01 -1.62379537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.538623853 meters 0.015468140535227359 Centerline is valid? [True, True] Translation: X:66.42, Y:-10.21, Z:-1.62 [[ 9.72206725e-01 2.33618691e-01 1.53749983e-02 6.64227730e+01] [-2.33588848e-01 9.72328291e-01 -3.73421726e-03 -1.02114056e+01] [-1.58219288e-02 3.90029989e-05 9.99874825e-01 -1.62493810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.568623853 meters 0.015614514879340163 Centerline is valid? [True, True] Translation: X:66.45, Y:-10.22, Z:-1.62 [[ 9.72584036e-01 2.32029491e-01 1.55758531e-02 6.64507941e+01] [-2.31998678e-01 9.72708749e-01 -3.78185930e-03 -1.02193821e+01] [-1.60282715e-02 6.45986498e-05 9.99871537e-01 -1.62406034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.598623853 meters 0.017167228530899185 Centerline is valid? [True, True] Translation: X:66.48, Y:-10.23, Z:-1.63 [[ 9.73190606e-01 2.29506942e-01 1.50534681e-02 6.64772434e+01] [-2.29477871e-01 9.73307019e-01 -3.65427984e-03 -1.02294410e+01] [-1.54903287e-02 1.01873014e-04 9.99880012e-01 -1.62724952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62862385300001 meters 0.01756819670699369 Centerline is valid? [True, True] Translation: X:66.50, Y:-10.24, Z:-1.63 [[ 9.73456692e-01 2.28359007e-01 1.53046553e-02 6.65048651e+01] [-2.28328829e-01 9.73576987e-01 -3.71442673e-03 -1.02375980e+01] [-1.57484830e-02 1.21339526e-04 9.99875978e-01 -1.62709981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.65862385300001 meters 0.017928100158036468 Centerline is valid? [True, True] Translation: X:66.53, Y:-10.25, Z:-1.63 [[ 9.73748161e-01 2.27062722e-01 1.60324639e-02 6.65323611e+01] [-2.27029443e-01 9.73880125e-01 -3.89021271e-03 -1.02455876e+01] [-1.64970203e-02 1.48246123e-04 9.99863904e-01 -1.62643688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68862385300001 meters 0.019274080269170865 Centerline is valid? [True, True] Translation: X:66.56, Y:-10.25, Z:-1.63 [[ 9.74144218e-01 2.25352607e-01 1.61010963e-02 6.65596269e+01] [-2.25318824e-01 9.74277256e-01 -3.90593083e-03 -1.02548482e+01] [-1.65671436e-02 1.77059862e-04 9.99862740e-01 -1.62750292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.71862385300001 meters 0.01900300251887228 Centerline is valid? [True, True] Translation: X:66.59, Y:-10.26, Z:-1.63 [[ 9.74312855e-01 2.24617191e-01 1.61733733e-02 6.65881727e+01] [-2.24583013e-01 9.74447064e-01 -3.92285368e-03 -1.02609408e+01] [-1.66412365e-02 1.89821847e-04 9.99861507e-01 -1.62748295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.748623853 meters 0.020351897133851906 Centerline is valid? [True, True] Translation: X:66.62, Y:-10.27, Z:-1.63 [[ 9.74423732e-01 2.24177647e-01 1.55811508e-02 6.66157407e+01] [-2.24145879e-01 9.74548278e-01 -3.77863166e-03 -1.02695239e+01] [-1.60316685e-02 1.89537609e-04 9.99871467e-01 -1.63035298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.778623853 meters 0.019607921197820077 Centerline is valid? [True, True] Translation: X:66.64, Y:-10.28, Z:-1.63 [[ 9.74528453e-01 2.23741204e-01 1.53025186e-02 6.66444580e+01] [-2.23710520e-01 9.74648571e-01 -3.71036464e-03 -1.02757822e+01] [-1.57447393e-02 1.92521527e-04 9.99876025e-01 -1.63039643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.808623853 meters 0.02076930818559217 Centerline is valid? [True, True] Translation: X:66.67, Y:-10.29, Z:-1.63 [[ 9.74522911e-01 2.23764550e-01 1.53141412e-02 6.66723372e+01] [-2.23733830e-01 9.74643211e-01 -3.71265960e-03 -1.02851620e+01] [-1.57565854e-02 1.91780362e-04 9.99875839e-01 -1.63240595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.838623853 meters 0.02052878643253152 Centerline is valid? [True, True] Translation: X:66.70, Y:-10.29, Z:-1.63 [[ 9.74533065e-01 2.23670339e-01 1.60276070e-02 6.67015334e+01] [-2.23636679e-01 9.74664834e-01 -3.88550370e-03 -1.02927510e+01] [-1.64906169e-02 2.02191026e-04 9.99864000e-01 -1.63145329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.868623853 meters 0.02005392861748945 Centerline is valid? [True, True] Translation: X:66.73, Y:-10.30, Z:-1.63 [[ 9.74419200e-01 2.24118792e-01 1.66730408e-02 6.67308173e+01] [-2.24082442e-01 9.74561812e-01 -4.04143686e-03 -1.02999920e+01] [-1.71546708e-02 2.01917979e-04 9.99852827e-01 -1.63094560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.898623853 meters 0.019435982664405417 Centerline is valid? [True, True] Translation: X:66.76, Y:-10.31, Z:-1.63 [[ 9.74337607e-01 2.24460249e-01 1.68470969e-02 6.67596514e+01] [-2.24423188e-01 9.74483226e-01 -4.08351278e-03 -1.03062722e+01] [-1.73337996e-02 1.97840878e-04 9.99849739e-01 -1.63077783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.928623853 meters 0.01871501787167843 Centerline is valid? [True, True] Translation: X:66.79, Y:-10.31, Z:-1.63 [[ 9.74221454e-01 2.24928116e-01 1.73176350e-02 6.67886767e+01] [-2.24889038e-01 9.74375341e-01 -4.19711200e-03 -1.03127580e+01] [-1.78179250e-02 1.94370291e-04 9.99841229e-01 -1.63068100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.958623853 meters 0.01751050280521493 Centerline is valid? [True, True] Translation: X:66.82, Y:-10.32, Z:-1.63 [[ 9.73792364e-01 2.26742933e-01 1.77784953e-02 6.68177657e+01] [-2.26702058e-01 9.73954627e-01 -4.30833356e-03 -1.03178054e+01] [-1.82923319e-02 1.65000842e-04 9.99832668e-01 -1.63078506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.988623853 meters 0.017552207815854034 Centerline is valid? [True, True] Translation: X:66.85, Y:-10.33, Z:-1.63 [[ 9.73532698e-01 2.27833778e-01 1.80514497e-02 6.68458164e+01] [-2.27791833e-01 9.73700030e-01 -4.37409021e-03 -1.03250519e+01] [-1.85732626e-02 1.46347040e-04 9.99827491e-01 -1.63226403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.01862385300001 meters 0.016054746020902906 Centerline is valid? [True, True] Translation: X:66.87, Y:-10.33, Z:-1.63 [[ 9.73231262e-01 2.29086635e-01 1.84451624e-02 6.68743352e+01] [-2.29043077e-01 9.73406029e-01 -4.46884437e-03 -1.03292903e+01] [-1.89783848e-02 1.24482297e-04 9.99819886e-01 -1.63083065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04862385300001 meters 0.015103323661635268 Centerline is valid? [True, True] Translation: X:66.90, Y:-10.33, Z:-1.63 [[ 9.72621552e-01 2.31644792e-01 1.86549547e-02 6.69024026e+01] [-2.31600725e-01 9.72800434e-01 -4.51878854e-03 -1.03326664e+01] [-1.91943019e-02 7.45700885e-05 9.99815770e-01 -1.63123511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.07862385300001 meters 0.014619551301727271 Centerline is valid? [True, True] Translation: X:66.93, Y:-10.34, Z:-1.63 [[ 9.72279960e-01 2.33097603e-01 1.83626742e-02 6.69305121e+01] [-2.33055188e-01 9.72453344e-01 -4.44673506e-03 -1.03371228e+01] [-1.88933672e-02 4.39548844e-05 9.99821503e-01 -1.63272045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10862385300001 meters 0.014439393871745056 Centerline is valid? [True, True] Translation: X:66.96, Y:-10.34, Z:-1.63 [[ 9.71975832e-01 2.34394403e-01 1.79512256e-02 6.69593282e+01] [-2.34354105e-01 9.72141586e-01 -4.34621847e-03 -1.03422047e+01] [-1.84698622e-02 1.74758832e-05 9.99829417e-01 -1.63423955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.138623853 meters 0.014470796471242676 Centerline is valid? [True, True] Translation: X:66.99, Y:-10.35, Z:-1.64 [[ 9.71686575e-01 2.35613609e-01 1.76473107e-02 6.69866575e+01] [-2.35574880e-01 9.71846813e-01 -4.27185275e-03 -1.03470748e+01] [-1.81569893e-02 -6.36115300e-06 9.99835148e-01 -1.63567005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.168623853 meters 0.01872674523062847 Centerline is valid? [True, True] Translation: X:67.01, Y:-10.35, Z:-1.63 [[ 9.71211671e-01 2.37567768e-01 1.75910630e-02 6.70148719e+01] [-2.37529625e-01 9.71370966e-01 -4.25717384e-03 -1.03504069e+01] [-1.80988151e-02 -4.37816693e-05 9.99836202e-01 -1.63302124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.198623853 meters 0.01906975096811272 Centerline is valid? [True, True] Translation: X:67.04, Y:-10.36, Z:-1.63 [[ 9.71021709e-01 2.38331900e-01 1.77410882e-02 6.70426595e+01] [-2.38293252e-01 9.71183763e-01 -4.29230411e-03 -1.03557425e+01] [-1.82528498e-02 -5.96611396e-05 9.99833401e-01 -1.63382628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.228623853 meters 0.015559141269393723 Centerline is valid? [True, True] Translation: X:67.07, Y:-10.36, Z:-1.64 [[ 9.70573621e-01 2.40112039e-01 1.82498193e-02 6.70708825e+01] [-2.40071487e-01 9.70745177e-01 -4.41383252e-03 -1.03596834e+01] [-1.87757384e-02 -9.73118474e-05 9.99823716e-01 -1.63784938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.258623853 meters 0.01612639722089983 Centerline is valid? [True, True] Translation: X:67.10, Y:-10.36, Z:-1.64 [[ 9.70251756e-01 2.41389453e-01 1.85111011e-02 6.70990176e+01] [-2.41347982e-01 9.70428316e-01 -4.47609610e-03 -1.03640375e+01] [-1.90441791e-02 -1.24676792e-04 9.99818635e-01 -1.63819722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.288623853 meters 0.01699477876931149 Centerline is valid? [True, True] Translation: X:67.13, Y:-10.37, Z:-1.64 [[ 9.69932823e-01 2.42679555e-01 1.83562546e-02 6.71274633e+01] [-2.42639022e-01 9.70106495e-01 -4.43776123e-03 -1.03680270e+01] [-1.88844758e-02 -1.49613396e-04 9.99821661e-01 -1.63914439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.318623853 meters 0.01941360234782158 Centerline is valid? [True, True] Translation: X:67.16, Y:-10.37, Z:-1.64 [[ 9.69271318e-01 2.45335867e-01 1.79839877e-02 6.71556228e+01] [-2.45297433e-01 9.69438122e-01 -4.34698588e-03 -1.03682081e+01] [-1.85008348e-02 -1.98017263e-04 9.99828825e-01 -1.64079314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.348623853 meters 0.02067589923409564 Centerline is valid? [True, True] Translation: X:67.18, Y:-10.37, Z:-1.64 [[ 9.69001553e-01 2.46424641e-01 1.76319638e-02 6.71832727e+01] [-2.46387893e-01 9.69161932e-01 -4.26102190e-03 -1.03714356e+01] [-1.81382488e-02 -2.15365563e-04 9.99835465e-01 -1.64216414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.37862385300001 meters 0.019411040054401366 Centerline is valid? [True, True] Translation: X:67.21, Y:-10.38, Z:-1.64 [[ 9.68865757e-01 2.46922965e-01 1.81161398e-02 6.72106906e+01] [-2.46884290e-01 9.69035085e-01 -4.37629513e-03 -1.03787437e+01] [-1.86357828e-02 -2.32547815e-04 9.99826312e-01 -1.64124597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40862385300001 meters 0.021961211977722068 Centerline is valid? [True, True] Translation: X:67.24, Y:-10.38, Z:-1.64 [[ 9.68677282e-01 2.47709570e-01 1.74440004e-02 6.72386244e+01] [-2.47673859e-01 9.68834306e-01 -4.21286045e-03 -1.03794797e+01] [-1.79439119e-02 -2.39520682e-04 9.99838966e-01 -1.64481252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.43862385300001 meters 0.021634264471485493 Centerline is valid? [True, True] Translation: X:67.27, Y:-10.39, Z:-1.65 [[ 9.68789078e-01 2.47304192e-01 1.69811597e-02 6.72655927e+01] [-2.47270305e-01 9.68937865e-01 -4.10008128e-03 -1.03855699e+01] [-1.74676559e-02 -2.26822574e-04 9.99847403e-01 -1.64694455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46862385300001 meters 0.019187291167891286 Centerline is valid? [True, True] Translation: X:67.29, Y:-10.40, Z:-1.65 [[ 9.69036770e-01 2.46311599e-01 1.72723623e-02 6.72927072e+01] [-2.46276408e-01 9.69190668e-01 -4.16897980e-03 -1.03954848e+01] [-1.77670804e-02 -2.13880622e-04 9.99842130e-01 -1.64562411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.498623853 meters 0.02804356135181531 Centerline is valid? [True, True] Translation: X:67.32, Y:-10.40, Z:-1.64 [[ 9.69790315e-01 2.43341904e-01 1.70722463e-02 6.73204773e+01] [-2.43307079e-01 9.69940561e-01 -4.11981397e-03 -1.04039031e+01] [-1.75615876e-02 -1.58442696e-04 9.99845771e-01 -1.64017570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.528623853 meters 0.0171869472574879 Centerline is valid? [True, True] Translation: X:67.35, Y:-10.41, Z:-1.65 [[ 9.70282758e-01 2.41370622e-01 1.70760568e-02 6.73472817e+01] [-2.41335490e-01 9.70433000e-01 -4.11993012e-03 -1.04097303e+01] [-1.75655991e-02 -1.23561356e-04 9.99845705e-01 -1.64903787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.558623853 meters 0.017262027140991534 Centerline is valid? [True, True] Translation: X:67.37, Y:-10.42, Z:-1.64 [[ 9.70865975e-01 2.38978445e-01 1.75658956e-02 6.73745480e+01] [-2.38940900e-01 9.71024869e-01 -4.23682418e-03 -1.04196762e+01] [-1.80694311e-02 -8.38224663e-05 9.99836731e-01 -1.64493103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.588623853 meters 0.014458571238101755 Centerline is valid? [True, True] Translation: X:67.40, Y:-10.43, Z:-1.65 [[ 9.72010618e-01 2.34248300e-01 1.79747774e-02 6.74000645e+01] [-2.34208193e-01 9.72176802e-01 -4.33458666e-03 -1.04334837e+01] [-1.84900312e-02 3.42411751e-06 9.99829045e-01 -1.64905703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.618623853 meters 0.01453059593263903 Centerline is valid? [True, True] Translation: X:67.43, Y:-10.44, Z:-1.65 [[ 9.72580816e-01 2.31829712e-01 1.84807964e-02 6.74274140e+01] [-2.31786902e-01 9.72756384e-01 -4.45532853e-03 -1.04440764e+01] [-1.90101902e-02 4.95605071e-05 9.99819289e-01 -1.64808989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.648623853 meters 0.0163940050231716 Centerline is valid? [True, True] Translation: X:67.45, Y:-10.46, Z:-1.65 [[ 9.73500102e-01 2.27952230e-01 1.83120900e-02 6.74532255e+01] [-2.27909527e-01 9.73672309e-01 -4.41382725e-03 -1.04567844e+01] [-1.88361167e-02 1.23361526e-04 9.99822577e-01 -1.64914533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.678623853 meters 0.017007246007029023 Centerline is valid? [True, True] Translation: X:67.48, Y:-10.47, Z:-1.65 [[ 9.73898532e-01 2.26240112e-01 1.83592366e-02 6.74802620e+01] [-2.26196906e-01 9.74071552e-01 -4.42404409e-03 -1.04655557e+01] [-1.88841063e-02 1.55767527e-04 9.99821667e-01 -1.64930401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.708623853 meters 0.027390386367708904 Centerline is valid? [True, True] Translation: X:67.51, Y:-10.47, Z:-1.64 [[ 9.74233472e-01 2.24812117e-01 1.81287987e-02 6.75074194e+01] [-2.24769766e-01 9.74402114e-01 -4.36720146e-03 -1.04743027e+01] [-1.86465396e-02 1.79868004e-04 9.99826122e-01 -1.64448301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.738623853 meters 0.019200238469185976 Centerline is valid? [True, True] Translation: X:67.54, Y:-10.48, Z:-1.65 [[ 9.74655264e-01 2.22950419e-01 1.84452478e-02 6.75357838e+01] [-2.22906255e-01 9.74829761e-01 -4.44280959e-03 -1.04835462e+01] [-1.89715028e-02 2.18646628e-04 9.99820001e-01 -1.65048786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76862385300001 meters 0.019043479541183222 Centerline is valid? [True, True] Translation: X:67.56, Y:-10.49, Z:-1.65 [[ 9.74830672e-01 2.22191680e-01 1.83308230e-02 6.75642322e+01] [-2.22147937e-01 9.75002976e-01 -4.41479813e-03 -1.04902038e+01] [-1.88535384e-02 2.31526120e-04 9.99822229e-01 -1.65061979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.79862385300001 meters 0.01892582336113745 Centerline is valid? [True, True] Translation: X:67.59, Y:-10.50, Z:-1.65 [[ 9.74878137e-01 2.21965368e-01 1.85470611e-02 6.75934726e+01] [-2.21920558e-01 9.75054521e-01 -4.46623411e-03 -1.04980475e+01] [-1.90757451e-02 2.38059848e-04 9.99818013e-01 -1.65081372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82862385300001 meters 0.01976842109794435 Centerline is valid? [True, True] Translation: X:67.62, Y:-10.51, Z:-1.65 [[ 9.74844110e-01 2.22117245e-01 1.85172841e-02 6.76225929e+01] [-2.22072608e-01 9.75019935e-01 -4.45898647e-03 -1.05073996e+01] [-1.90451389e-02 2.34635135e-04 9.99818597e-01 -1.65187050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.85862385300001 meters 0.018725657679985862 Centerline is valid? [True, True] Translation: X:67.65, Y:-10.51, Z:-1.65 [[ 9.74746771e-01 2.22514199e-01 1.88722826e-02 6.76521009e+01] [-2.22467902e-01 9.74929422e-01 -4.54479475e-03 -1.05131934e+01] [-1.94104250e-02 2.31546887e-04 9.99811573e-01 -1.65172303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.888623853 meters 0.018741401302991904 Centerline is valid? [True, True] Translation: X:67.68, Y:-10.52, Z:-1.65 [[ 9.74597491e-01 2.23175279e-01 1.87756502e-02 6.76809023e+01] [-2.23129576e-01 9.74778307e-01 -4.52159678e-03 -1.05204956e+01] [-1.93112051e-02 2.17334011e-04 9.99813498e-01 -1.65303584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.918623853 meters 0.018224586906703356 Centerline is valid? [True, True] Translation: X:67.71, Y:-10.53, Z:-1.65 [[ 9.74493648e-01 2.23630711e-01 1.87466177e-02 6.77099956e+01] [-2.23585237e-01 9.74673926e-01 -4.51443710e-03 -1.05266411e+01] [-1.92814063e-02 2.07823315e-04 9.99814075e-01 -1.65323987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.948623853 meters 0.01732009089328856 Centerline is valid? [True, True] Translation: X:67.74, Y:-10.53, Z:-1.65 [[ 9.74165739e-01 2.24973673e-01 1.96966633e-02 6.77383167e+01] [-2.24923756e-01 9.74364824e-01 -4.74274630e-03 -1.05324935e+01] [-2.02587290e-02 1.89973451e-04 9.99794753e-01 -1.65284126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.978623853 meters 0.019199343591553897 Centerline is valid? [True, True] Translation: X:67.77, Y:-10.54, Z:-1.66 [[ 9.74101050e-01 2.25249878e-01 1.97391950e-02 6.77651129e+01] [-2.25199817e-01 9.74301010e-01 -4.75222897e-03 -1.05430767e+01] [-2.03023566e-02 1.83888128e-04 9.99793869e-01 -1.65555903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.008623853 meters 0.016835155505932176 Centerline is valid? [True, True] Translation: X:67.80, Y:-10.55, Z:-1.65 [[ 9.74000462e-01 2.25690524e-01 1.96694400e-02 6.77950557e+01] [-2.25640922e-01 9.74199034e-01 -4.73463815e-03 -1.05464098e+01] [-2.02305124e-02 1.73309163e-04 9.99795327e-01 -1.65420456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.038623853 meters 0.016649225525663062 Centerline is valid? [True, True] Translation: X:67.82, Y:-10.55, Z:-1.66 [[ 9.73914136e-01 2.26072145e-01 1.95612296e-02 6.78233151e+01] [-2.26023175e-01 9.74110547e-01 -4.70810281e-03 -1.05538670e+01] [-2.01191710e-02 1.63996669e-04 9.99797576e-01 -1.65559174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.068623853 meters 0.01657291936281842 Centerline is valid? [True, True] Translation: X:67.85, Y:-10.56, Z:-1.66 [[ 9.73840267e-01 2.26415793e-01 1.92619430e-02 6.78507460e+01] [-2.26368385e-01 9.74030731e-01 -4.63565987e-03 -1.05608414e+01] [-1.98113110e-02 1.54097312e-04 9.99803725e-01 -1.65665505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.098623853 meters 0.016001713401206395 Centerline is valid? [True, True] Translation: X:67.88, Y:-10.57, Z:-1.66 [[ 9.73563922e-01 2.27662919e-01 1.85171710e-02 6.78785366e+01] [-2.27619344e-01 9.73739996e-01 -4.45582930e-03 -1.05674504e+01] [-1.90453371e-02 1.23168347e-04 9.99818614e-01 -1.65936442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12862385300001 meters 0.015600368825090152 Centerline is valid? [True, True] Translation: X:67.91, Y:-10.57, Z:-1.66 [[ 9.73417439e-01 2.28314198e-01 1.81965828e-02 6.79064092e+01] [-2.28272248e-01 9.73587498e-01 -4.37781110e-03 -1.05734835e+01] [-1.87154820e-02 1.07662800e-04 9.99824844e-01 -1.66081720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.15862385300001 meters 0.014949473028096526 Centerline is valid? [True, True] Translation: X:67.93, Y:-10.58, Z:-1.66 [[ 9.73075832e-01 2.29735425e-01 1.85757956e-02 6.79343093e+01] [-2.29691986e-01 9.73253116e-01 -4.46809045e-03 -1.05788826e+01] [-1.91054296e-02 8.10794516e-05 9.99817471e-01 -1.66048680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18862385300001 meters 0.014702621818053301 Centerline is valid? [True, True] Translation: X:67.96, Y:-10.59, Z:-1.66 [[ 9.72974371e-01 2.30132672e-01 1.89690793e-02 6.79611733e+01] [-2.30087466e-01 9.73159261e-01 -4.56179848e-03 -1.05854669e+01] [-1.95097541e-02 7.39656052e-05 9.99809664e-01 -1.66059755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.21862385300001 meters 0.014492545903994144 Centerline is valid? [True, True] Translation: X:67.99, Y:-10.59, Z:-1.66 [[ 9.72886997e-01 2.30493351e-01 1.90710882e-02 6.79901268e+01] [-2.30447755e-01 9.73073898e-01 -4.58489036e-03 -1.05926716e+01] [-1.96143649e-02 6.56907462e-05 9.99807618e-01 -1.66056212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.248623853 meters 0.015222588626828753 Centerline is valid? [True, True] Translation: X:68.02, Y:-10.60, Z:-1.66 [[ 9.72838138e-01 2.30706003e-01 1.89920472e-02 6.80172441e+01] [-2.30660834e-01 9.73023503e-01 -4.56542398e-03 -1.06020190e+01] [-1.95329790e-02 6.06971193e-05 9.99809211e-01 -1.66446803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.278623853 meters 0.015222588626828753 Centerline is valid? [True, True] Translation: X:68.04, Y:-10.61, Z:-1.67 [[ 9.72852557e-01 2.30645184e-01 1.89921299e-02 6.80440077e+01] [-2.30600010e-01 9.73037921e-01 -4.56507966e-03 -1.06083011e+01] [-1.95329763e-02 6.15640734e-05 9.99809211e-01 -1.66515957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.308623853 meters 0.014472327635033798 Centerline is valid? [True, True] Translation: X:68.07, Y:-10.61, Z:-1.66 [[ 9.72640198e-01 2.31559215e-01 1.87450235e-02 6.80723954e+01] [-2.31515404e-01 9.72820810e-01 -4.50435981e-03 -1.06127138e+01] [-1.92785750e-02 4.13597221e-05 9.99814150e-01 -1.66405971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.338623853 meters 0.014193151673906676 Centerline is valid? [True, True] Translation: X:68.10, Y:-10.62, Z:-1.66 [[ 9.72670108e-01 2.31409159e-01 1.90436726e-02 6.81009601e+01] [-2.31363931e-01 9.72856515e-01 -4.57513976e-03 -1.06194801e+01] [-1.95854902e-02 4.40827283e-05 9.99808185e-01 -1.66348783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.368623853 meters 0.014107131779764297 Centerline is valid? [True, True] Translation: X:68.13, Y:-10.63, Z:-1.66 [[ 9.72603206e-01 2.31642095e-01 1.96199984e-02 6.81287485e+01] [-2.31594150e-01 9.72801078e-01 -4.71290328e-03 -1.06261140e+01] [-2.01780624e-02 3.99079873e-05 9.99796401e-01 -1.66350794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.398623853 meters 0.018242426478727612 Centerline is valid? [True, True] Translation: X:68.16, Y:-10.63, Z:-1.66 [[ 9.72484497e-01 2.32153920e-01 1.94540611e-02 6.81558803e+01] [-2.32106903e-01 9.72679062e-01 -4.67213130e-03 -1.06326791e+01] [-2.00072115e-02 2.81533771e-05 9.99799835e-01 -1.65985437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.428623853 meters 0.01378551831775093 Centerline is valid? [True, True] Translation: X:68.18, Y:-10.64, Z:-1.66 [[ 9.72342730e-01 2.32663534e-01 2.04278261e-02 6.81834925e+01] [-2.32611835e-01 9.72557289e-01 -4.90457707e-03 -1.06397634e+01] [-2.10083474e-02 1.71757519e-05 9.99779300e-01 -1.66237924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.458623853 meters 0.013742480743380317 Centerline is valid? [True, True] Translation: X:68.21, Y:-10.65, Z:-1.66 [[ 9.72257975e-01 2.33000635e-01 2.06187991e-02 6.82105848e+01] [-2.32948061e-01 9.72476583e-01 -4.94943317e-03 -1.06469377e+01] [-2.12045204e-02 9.01659988e-06 9.99775159e-01 -1.66260936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.488623853 meters 0.013644880532711807 Centerline is valid? [True, True] Translation: X:68.24, Y:-10.65, Z:-1.66 [[ 9.72201039e-01 2.33183401e-01 2.12283352e-02 6.82371931e+01] [-2.33127746e-01 9.72432775e-01 -5.09437761e-03 -1.06542981e+01] [-2.18310532e-02 3.84527145e-06 9.99761674e-01 -1.66237730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.51862385300001 meters 0.013757690755279191 Centerline is valid? [True, True] Translation: X:68.27, Y:-10.66, Z:-1.66 [[ 9.72168436e-01 2.33337954e-01 2.10221558e-02 6.82653093e+01] [-2.33283439e-01 9.72395701e-01 -5.04356703e-03 -1.06606412e+01] [-2.16187095e-02 -9.24135380e-07 9.99766288e-01 -1.66343718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54862385300001 meters 0.013699735458144655 Centerline is valid? [True, True] Translation: X:68.29, Y:-10.67, Z:-1.66 [[ 9.72097851e-01 2.33632363e-01 2.10163396e-02 6.82928406e+01] [-2.33577969e-01 9.72325007e-01 -5.04118179e-03 -1.06670210e+01] [-2.16124958e-02 -8.43194063e-06 9.99766423e-01 -1.66480714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.57862385300001 meters 0.01373197961440134 Centerline is valid? [True, True] Translation: X:68.32, Y:-10.68, Z:-1.67 [[ 9.72038088e-01 2.33897762e-01 2.08276921e-02 6.83199644e+01] [-2.33844429e-01 9.72261198e-01 -4.99462580e-03 -1.06754506e+01] [-2.14181887e-02 -1.54732595e-05 9.99770604e-01 -1.66551208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60862385300001 meters 0.013926718890704062 Centerline is valid? [True, True] Translation: X:68.35, Y:-10.68, Z:-1.67 [[ 9.71944496e-01 2.34311517e-01 2.05428624e-02 6.83482524e+01] [-2.34259747e-01 9.72161567e-01 -4.92534179e-03 -1.06831150e+01] [-2.11250456e-02 -2.52069021e-05 9.99776841e-01 -1.66659268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.638623853 meters 0.021841175488470737 Centerline is valid? [True, True] Translation: X:68.38, Y:-10.69, Z:-1.66 [[ 9.71838053e-01 2.34800923e-01 1.99831300e-02 6.83760403e+01] [-2.34752057e-01 9.72043479e-01 -4.79021058e-03 -1.06898010e+01] [-2.05492171e-02 -3.57719580e-05 9.99788842e-01 -1.66274242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.668623853 meters 0.014537357709369958 Centerline is valid? [True, True] Translation: X:68.40, Y:-10.69, Z:-1.67 [[ 9.71529175e-01 2.36122461e-01 1.94228084e-02 6.84029411e+01] [-2.36076579e-01 9.71723304e-01 -4.65505838e-03 -1.06948974e+01] [-1.99727594e-02 -6.27451446e-05 9.99800523e-01 -1.67026234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.698623853 meters 0.015073343191756591 Centerline is valid? [True, True] Translation: X:68.43, Y:-10.70, Z:-1.67 [[ 9.71285324e-01 2.37156973e-01 1.90102437e-02 6.84308587e+01] [-2.37113240e-01 9.71471339e-01 -4.55501543e-03 -1.06996397e+01] [-1.95481606e-02 -8.33608409e-05 9.99808913e-01 -1.67165454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.728623853 meters 0.015622552034422454 Centerline is valid? [True, True] Translation: X:68.46, Y:-10.70, Z:-1.67 [[ 9.71052891e-01 2.38112328e-01 1.89420476e-02 6.84593334e+01] [-2.38069113e-01 9.71237617e-01 -4.53749210e-03 -1.07040248e+01] [-1.94776619e-02 -1.03371636e-04 9.99810287e-01 -1.67299924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.758623853 meters 0.016967489868035642 Centerline is valid? [True, True] Translation: X:68.49, Y:-10.71, Z:-1.68 [[ 9.70651655e-01 2.39796760e-01 1.82449808e-02 6.84871586e+01] [-2.39756979e-01 9.70823102e-01 -4.36976205e-03 -1.07068989e+01] [-1.87605036e-02 -1.32844704e-04 9.99823997e-01 -1.67588797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.788623853 meters 0.017654271931801954 Centerline is valid? [True, True] Translation: X:68.52, Y:-10.71, Z:-1.68 [[ 9.70450092e-01 2.40620745e-01 1.81183846e-02 6.85152151e+01] [-2.40581679e-01 9.70619202e-01 -4.33830279e-03 -1.07125461e+01] [-1.86299376e-02 -1.48845034e-04 9.99826437e-01 -1.67693433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.818623853 meters 0.018098504686153215 Centerline is valid? [True, True] Translation: X:68.54, Y:-10.72, Z:-1.68 [[ 9.70326996e-01 2.41114449e-01 1.81477911e-02 6.85436128e+01] [-2.41075358e-01 9.70496675e-01 -4.34448905e-03 -1.07191227e+01] [-1.86598900e-02 -1.59410226e-04 9.99825876e-01 -1.67782813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.848623853 meters 0.018047188866130347 Centerline is valid? [True, True] Translation: X:68.57, Y:-10.73, Z:-1.68 [[ 9.70384886e-01 2.40869863e-01 1.82997994e-02 6.85705490e+01] [-2.40830085e-01 9.70557409e-01 -4.38014766e-03 -1.07275656e+01] [-1.88160515e-02 -1.56713173e-04 9.99822950e-01 -1.67827314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.87862385300001 meters 0.02618331231575017 Centerline is valid? [True, True] Translation: X:68.60, Y:-10.73, Z:-1.67 [[ 9.70452786e-01 2.40599093e-01 1.82610727e-02 6.85977125e+01] [-2.40559459e-01 9.70624569e-01 -4.36958498e-03 -1.07345208e+01] [-1.87759640e-02 -1.52397866e-04 9.99823704e-01 -1.67285031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90862385300001 meters 0.017401363295387332 Centerline is valid? [True, True] Translation: X:68.63, Y:-10.74, Z:-1.68 [[ 9.70598487e-01 2.39974393e-01 1.87314762e-02 6.86259434e+01] [-2.39932598e-01 9.70779208e-01 -4.48090110e-03 -1.07419711e+01] [-1.92594291e-02 -1.45135924e-04 9.99814509e-01 -1.67859145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93862385300001 meters 0.016583648690383486 Centerline is valid? [True, True] Translation: X:68.65, Y:-10.75, Z:-1.68 [[ 9.70913895e-01 2.38695176e-01 1.87302257e-02 6.86525293e+01] [-2.38653159e-01 9.71094536e-01 -4.48008795e-03 -1.07501367e+01] [-1.92581953e-02 -1.20247894e-04 9.99814537e-01 -1.67990976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96862385300001 meters 0.015405066846186814 Centerline is valid? [True, True] Translation: X:68.68, Y:-10.76, Z:-1.68 [[ 9.71077681e-01 2.38000071e-01 1.90814852e-02 6.86800737e+01] [-2.37956352e-01 9.71265131e-01 -4.56295121e-03 -1.07602012e+01] [-1.96191639e-02 -1.09580525e-04 9.99807520e-01 -1.67861558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.998623853 meters 0.015578582568334793 Centerline is valid? [True, True] Translation: X:68.71, Y:-10.77, Z:-1.68 [[ 9.71272561e-01 2.37209298e-01 1.90095259e-02 6.87072726e+01] [-2.37165773e-01 9.71458563e-01 -4.54486630e-03 -1.07676981e+01] [-1.95450513e-02 -9.41049870e-05 9.99808973e-01 -1.68092954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.028623853 meters 0.014927359136495172 Centerline is valid? [True, True] Translation: X:68.73, Y:-10.78, Z:-1.68 [[ 9.71614515e-01 2.35832786e-01 1.86582763e-02 6.87346342e+01] [-2.35790625e-01 9.71793647e-01 -4.45966492e-03 -1.07783360e+01] [-1.91837296e-02 -6.63714537e-05 9.99815973e-01 -1.68194874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.058623853 meters 0.014942019440045001 Centerline is valid? [True, True] Translation: X:68.76, Y:-10.79, Z:-1.68 [[ 9.71693197e-01 2.35530262e-01 1.83800574e-02 6.87612423e+01] [-2.35489309e-01 9.71867014e-01 -4.39240886e-03 -1.07852036e+01] [-1.88975167e-02 -6.02331983e-05 9.99821424e-01 -1.68328033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.088623853 meters 0.014787580596098377 Centerline is valid? [True, True] Translation: X:68.79, Y:-10.79, Z:-1.68 [[ 9.71755822e-01 2.35266601e-01 1.84458420e-02 6.87890322e+01] [-2.35225328e-01 9.71930874e-01 -4.40700796e-03 -1.07923142e+01] [-1.89649051e-02 -5.63935954e-05 9.99820148e-01 -1.68371258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.118623853 meters 0.014686574419010907 Centerline is valid? [True, True] Translation: X:68.82, Y:-10.80, Z:-1.68 [[ 9.71830279e-01 2.34953424e-01 1.85147960e-02 6.88159737e+01] [-2.34911800e-01 9.72006629e-01 -4.42270140e-03 -1.07996716e+01] [-1.90356333e-02 -5.12289173e-05 9.99818805e-01 -1.68491755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.148623853 meters 0.014653788638839085 Centerline is valid? [True, True] Translation: X:68.84, Y:-10.81, Z:-1.69 [[ 9.72027938e-01 2.34187168e-01 1.78341770e-02 6.88431375e+01] [-2.34148439e-01 9.72191529e-01 -4.25908165e-03 -1.08086162e+01] [-1.83356581e-02 -3.58983544e-05 9.99831887e-01 -1.68693425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.178623853 meters 0.014503842011801337 Centerline is valid? [True, True] Translation: X:68.87, Y:-10.82, Z:-1.69 [[ 9.72099385e-01 2.33909361e-01 1.75839544e-02 6.88704939e+01] [-2.33871679e-01 9.72258407e-01 -4.19856961e-03 -1.08173148e+01] [-1.80782322e-02 -3.09619987e-05 9.99836575e-01 -1.68678185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.208623853 meters 0.014575279139386362 Centerline is valid? [True, True] Translation: X:68.90, Y:-10.83, Z:-1.69 [[ 9.72106791e-01 2.33921433e-01 1.70044165e-02 6.88984959e+01] [-2.33886212e-01 9.72255503e-01 -4.05923491e-03 -1.08259969e+01] [-1.74821796e-02 -3.10887501e-05 9.99847175e-01 -1.68745764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.238623853 meters 0.014726666277368454 Centerline is valid? [True, True] Translation: X:68.93, Y:-10.83, Z:-1.69 [[ 9.72050972e-01 2.34181972e-01 1.66045532e-02 6.89273872e+01] [-2.34148433e-01 9.72192781e-01 -3.96338232e-03 -1.08328890e+01] [-1.70709794e-02 -3.53204792e-05 9.99854280e-01 -1.68882737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26862385300001 meters 0.014856373723089707 Centerline is valid? [True, True] Translation: X:68.96, Y:-10.84, Z:-1.69 [[ 9.71946040e-01 2.34616615e-01 1.66114127e-02 6.89551310e+01] [-2.34583117e-01 9.72087981e-01 -3.96470032e-03 -1.08388883e+01] [-1.70779392e-02 -4.32822022e-05 9.99854160e-01 -1.69005297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.29862385300001 meters 0.01490740453570096 Centerline is valid? [True, True] Translation: X:68.98, Y:-10.85, Z:-1.69 [[ 9.71794343e-01 2.35229777e-01 1.68138681e-02 6.89831746e+01] [-2.35195560e-01 9.71939787e-01 -4.01247680e-03 -1.08452439e+01] [-1.72859214e-02 -5.52448547e-05 9.99850586e-01 -1.69000828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32862385300001 meters 0.015125394090238938 Centerline is valid? [True, True] Translation: X:69.01, Y:-10.85, Z:-1.69 [[ 9.71674251e-01 2.35707439e-01 1.70631989e-02 6.90105988e+01] [-2.35672286e-01 9.71824058e-01 -4.07120423e-03 -1.08512101e+01] [-1.75420404e-02 -6.54387702e-05 9.99846124e-01 -1.69036946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.35862385300001 meters 0.01684763754463976 Centerline is valid? [True, True] Translation: X:69.04, Y:-10.85, Z:-1.69 [[ 9.71175461e-01 2.37701202e-01 1.77865895e-02 6.90385659e+01] [-2.37663360e-01 9.71338318e-01 -4.24264313e-03 -1.08528561e+01] [-1.82852773e-02 -1.06869739e-04 9.99832805e-01 -1.69173881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.388623853 meters 0.016580772572427314 Centerline is valid? [True, True] Translation: X:69.07, Y:-10.86, Z:-1.69 [[ 9.70880264e-01 2.38902932e-01 1.78017412e-02 6.90666110e+01] [-2.38865250e-01 9.71043445e-01 -4.24508616e-03 -1.08597370e+01] [-1.83004276e-02 -1.30746982e-04 9.99832525e-01 -1.68960277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.418623853 meters 0.017417992387616828 Centerline is valid? [True, True] Translation: X:69.09, Y:-10.86, Z:-1.69 [[ 9.70597134e-01 2.40052685e-01 1.77739304e-02 6.90942334e+01] [-2.40015327e-01 9.70759849e-01 -4.23769192e-03 -1.08640128e+01] [-1.82714873e-02 -1.52924072e-04 9.99833051e-01 -1.69092615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.448623853 meters 0.019667445477560556 Centerline is valid? [True, True] Translation: X:69.12, Y:-10.87, Z:-1.69 [[ 9.70052712e-01 2.42342429e-01 1.63671223e-02 6.91223741e+01] [-2.42311092e-01 9.70190762e-01 -3.90134111e-03 -1.08665543e+01] [-1.68246914e-02 -1.81428764e-04 9.99858438e-01 -1.69449031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.478623853 meters 0.029515781665007308 Centerline is valid? [True, True] Translation: X:69.15, Y:-10.87, Z:-1.69 [[ 9.69724689e-01 2.43717220e-01 1.53605003e-02 6.91496575e+01] [-2.43689803e-01 9.69846317e-01 -3.66067302e-03 -1.08706803e+01] [-1.57894937e-02 -1.93352277e-04 9.99875319e-01 -1.69038233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.508623853 meters 0.0220321266937811 Centerline is valid? [True, True] Translation: X:69.18, Y:-10.88, Z:-1.70 [[ 9.69522417e-01 2.44501729e-01 1.56584719e-02 6.91783974e+01] [-2.44473362e-01 9.69648833e-01 -3.73031673e-03 -1.08753016e+01] [-1.60952879e-02 -2.11453576e-04 9.99870440e-01 -1.69751442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.538623853 meters 0.02621403295198471 Centerline is valid? [True, True] Translation: X:69.21, Y:-10.88, Z:-1.70 [[ 9.69342791e-01 2.45195003e-01 1.59362743e-02 6.92073566e+01] [-2.45165726e-01 9.69473753e-01 -3.79582074e-03 -1.08750763e+01] [-1.63805159e-02 -2.27576790e-04 9.99865804e-01 -1.70069505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.568623853 meters 0.024100437513286287 Centerline is valid? [True, True] Translation: X:69.24, Y:-10.88, Z:-1.70 [[ 9.69045820e-01 2.46327508e-01 1.65214220e-02 6.92355191e+01] [-2.46296225e-01 9.69186614e-01 -3.93407147e-03 -1.08837337e+01] [-1.69814110e-02 -2.56868349e-04 9.99855772e-01 -1.69696566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.598623853 meters 0.028441680046291738 Centerline is valid? [True, True] Translation: X:69.26, Y:-10.88, Z:-1.70 [[ 9.68959149e-01 2.46630107e-01 1.70809017e-02 6.92636391e+01] [-2.46596723e-01 9.69109651e-01 -4.06692806e-03 -1.08833436e+01] [-1.75562936e-02 -2.71407219e-04 9.99845840e-01 -1.69933288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62862385300001 meters 0.027351339723357553 Centerline is valid? [True, True] Translation: X:69.29, Y:-10.89, Z:-1.69 [[ 9.68921368e-01 2.46774881e-01 1.71330175e-02 6.92910614e+01] [-2.46741356e-01 9.69072795e-01 -4.07696674e-03 -1.08948039e+01] [-1.76092341e-02 -2.77163777e-04 9.99844907e-01 -1.69285070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.65862385300001 meters 0.027750307064955 Centerline is valid? [True, True] Translation: X:69.32, Y:-10.90, Z:-1.69 [[ 9.68851973e-01 2.47028472e-01 1.74008311e-02 6.93188725e+01] [-2.46993946e-01 9.69008179e-01 -4.13995036e-03 -1.09001298e+01] [-1.78842333e-02 -2.86900858e-04 9.99840023e-01 -1.69292791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68862385300001 meters 0.03023810387150882 Centerline is valid? [True, True] Translation: X:69.35, Y:-10.91, Z:-1.69 [[ 9.68873311e-01 2.46930405e-01 1.76035009e-02 6.93475168e+01] [-2.46895073e-01 9.69033174e-01 -4.18705640e-03 -1.09061262e+01] [-1.80922879e-02 -2.89490442e-04 9.99836279e-01 -1.69271512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.71862385300001 meters 0.029291443109214402 Centerline is valid? [True, True] Translation: X:69.38, Y:-10.91, Z:-1.70 [[ 9.68933490e-01 2.46653095e-01 1.81698288e-02 6.93753911e+01] [-2.46615420e-01 9.69103794e-01 -4.32096302e-03 -1.09065033e+01] [-1.86742290e-02 -2.94234188e-04 9.99825578e-01 -1.70038510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.748623853 meters 0.029751403178214345 Centerline is valid? [True, True] Translation: X:69.40, Y:-10.92, Z:-1.69 [[ 9.69103384e-01 2.45993648e-01 1.80487010e-02 6.94021092e+01] [-2.45956379e-01 9.69271400e-01 -4.29106095e-03 -1.09195884e+01] [-1.85496634e-02 -2.80711442e-04 9.99827901e-01 -1.69330640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.778623853 meters 0.019906667611546146 Centerline is valid? [True, True] Translation: X:69.43, Y:-10.93, Z:-1.70 [[ 9.69511032e-01 2.44397271e-01 1.78418607e-02 6.94286039e+01] [-2.44360595e-01 9.69675158e-01 -4.24113035e-03 -1.09322651e+01] [-1.83373298e-02 -2.48025019e-04 9.99831826e-01 -1.69766005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.808623853 meters 0.032313858580589376 Centerline is valid? [True, True] Translation: X:69.46, Y:-10.93, Z:-1.70 [[ 9.69824137e-01 2.43220470e-01 1.68803603e-02 6.94568553e+01] [-2.43187475e-01 9.69971008e-01 -4.01188792e-03 -1.09342170e+01] [-1.73492334e-02 -2.14266455e-04 9.99849468e-01 -1.69625358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.838623853 meters 0.020883027183083033 Centerline is valid? [True, True] Translation: X:69.48, Y:-10.94, Z:-1.70 [[ 9.70166167e-01 2.41819536e-01 1.73470570e-02 6.94841238e+01] [-2.41784490e-01 9.70321222e-01 -4.12144300e-03 -1.09418357e+01] [-1.78288630e-02 -1.95764771e-04 9.99841034e-01 -1.70323473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.868623853 meters 0.018071728037898988 Centerline is valid? [True, True] Translation: X:69.51, Y:-10.95, Z:-1.70 [[ 9.70480356e-01 2.40548893e-01 1.74387258e-02 6.95110255e+01] [-2.40513285e-01 9.70637007e-01 -4.14246385e-03 -1.09525434e+01] [-1.79231377e-02 -1.74065419e-04 9.99839353e-01 -1.70183955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.898623853 meters 0.017294718981435753 Centerline is valid? [True, True] Translation: X:69.54, Y:-10.96, Z:-1.70 [[ 9.71038417e-01 2.38331075e-01 1.68134084e-02 6.95381263e+01] [-2.38297655e-01 9.71183959e-01 -3.99323076e-03 -1.09600785e+01] [-1.72806235e-02 -1.29015303e-04 9.99850671e-01 -1.70439017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.928623853 meters 0.01728584131255251 Centerline is valid? [True, True] Translation: X:69.57, Y:-10.97, Z:-1.71 [[ 9.71270548e-01 2.37378710e-01 1.68781205e-02 6.95654255e+01] [-2.37344906e-01 9.71417179e-01 -4.00753682e-03 -1.09656198e+01] [-1.73470001e-02 -1.13533445e-04 9.99849523e-01 -1.70648181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.958623853 meters 0.01599348939139216 Centerline is valid? [True, True] Translation: X:69.59, Y:-10.97, Z:-1.70 [[ 9.71381861e-01 2.36922208e-01 1.68863109e-02 6.95930172e+01] [-2.36888321e-01 9.71528618e-01 -4.00841869e-03 -1.09738950e+01] [-1.73552177e-02 -1.06464626e-04 9.99849381e-01 -1.70450670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.988623853 meters 0.01566911078596799 Centerline is valid? [True, True] Translation: X:69.62, Y:-10.98, Z:-1.70 [[ 9.71493510e-01 2.36446372e-01 1.71310608e-02 6.96217227e+01] [-2.36411437e-01 9.71644535e-01 -4.06564120e-03 -1.09790735e+01] [-1.76066077e-02 -1.00234646e-04 9.99844987e-01 -1.70472975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.01862385300001 meters 0.01560315123077809 Centerline is valid? [True, True] Translation: X:69.65, Y:-10.98, Z:-1.71 [[ 9.71540424e-01 2.36256051e-01 1.70962594e-02 6.96499966e+01] [-2.36221243e-01 9.71690830e-01 -4.05652062e-03 -1.09843050e+01] [-1.75706560e-02 -9.74258860e-05 9.99845619e-01 -1.70590884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04862385300001 meters 0.015545976229899365 Centerline is valid? [True, True] Translation: X:69.68, Y:-10.99, Z:-1.71 [[ 9.71628680e-01 2.35903561e-01 1.69475106e-02 6.96773811e+01] [-2.35869316e-01 9.71776467e-01 -4.02047884e-03 -1.09880213e+01] [-1.74176372e-02 -9.09851751e-05 9.99848297e-01 -1.70731407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.07862385300001 meters 0.01912966469183811 Centerline is valid? [True, True] Translation: X:69.70, Y:-10.99, Z:-1.70 [[ 9.71836794e-01 2.35072508e-01 1.65578588e-02 6.97047263e+01] [-2.35039716e-01 9.71977834e-01 -3.92704129e-03 -1.09949704e+01] [-1.70170112e-02 -7.53112069e-05 9.99855197e-01 -1.70419205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10862385300001 meters 0.022218205955594882 Centerline is valid? [True, True] Translation: X:69.73, Y:-11.00, Z:-1.70 [[ 9.72099272e-01 2.33987703e-01 1.65154558e-02 6.97325938e+01] [-2.33954941e-01 9.72239555e-01 -3.91586954e-03 -1.10028024e+01] [-1.69732447e-02 -5.72585594e-05 9.99855942e-01 -1.70369042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.138623853 meters 0.014150554274685338 Centerline is valid? [True, True] Translation: X:69.76, Y:-11.01, Z:-1.71 [[ 9.72702210e-01 2.31371151e-01 1.78269593e-02 6.97592950e+01] [-2.31332555e-01 9.72865556e-01 -4.22592974e-03 -1.10111492e+01] [-1.83209929e-02 -1.33848342e-05 9.99832156e-01 -1.70798975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.168623853 meters 0.014150554274685338 Centerline is valid? [True, True] Translation: X:69.79, Y:-11.02, Z:-1.71 [[ 9.72712963e-01 2.31325923e-01 1.78272271e-02 6.97868769e+01] [-2.31287340e-01 9.72876311e-01 -4.22479968e-03 -1.10175930e+01] [-1.83209926e-02 -1.36945178e-05 9.99832156e-01 -1.70870220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.198623853 meters 0.014120639719731999 Centerline is valid? [True, True] Translation: X:69.81, Y:-11.03, Z:-1.71 [[ 9.73000642e-01 2.30092967e-01 1.80824905e-02 6.98143198e+01] [-2.30053075e-01 9.73168653e-01 -4.28438888e-03 -1.10253403e+01] [-1.85831206e-02 8.78059759e-06 9.99827319e-01 -1.70868218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.228623853 meters 0.014310388524965205 Centerline is valid? [True, True] Translation: X:69.84, Y:-11.03, Z:-1.71 [[ 9.73280258e-01 2.28895513e-01 1.82313956e-02 6.98406761e+01] [-2.28854767e-01 9.73450997e-01 -4.31883948e-03 -1.10332627e+01] [-1.87359332e-02 3.10994056e-05 9.99824467e-01 -1.70941985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.258623853 meters 0.014606566144796206 Centerline is valid? [True, True] Translation: X:69.87, Y:-11.04, Z:-1.71 [[ 9.73646313e-01 2.27312028e-01 1.84959053e-02 6.98672084e+01] [-2.27269826e-01 9.73821975e-01 -4.38039474e-03 -1.10412067e+01] [-1.90074355e-02 6.13940036e-05 9.99819340e-01 -1.70962420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.288623853 meters 0.02371716025988251 Centerline is valid? [True, True] Translation: X:69.90, Y:-11.05, Z:-1.70 [[ 9.73730324e-01 2.26964238e-01 1.83436691e-02 6.98950216e+01] [-2.26922693e-01 9.73903091e-01 -4.34295459e-03 -1.10478494e+01] [-1.88506514e-02 6.62717900e-05 9.99822308e-01 -1.70438227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.318623853 meters 0.014644910477274628 Centerline is valid? [True, True] Translation: X:69.92, Y:-11.05, Z:-1.71 [[ 9.73752060e-01 2.26831388e-01 1.88267674e-02 6.99221927e+01] [-2.26787617e-01 9.73934041e-01 -4.45644838e-03 -1.10547175e+01] [-1.93468920e-02 6.97980741e-05 9.99812829e-01 -1.71048912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.348623853 meters 0.016665968451909687 Centerline is valid? [True, True] Translation: X:69.95, Y:-11.06, Z:-1.71 [[ 9.73756568e-01 2.26821415e-01 1.87134204e-02 6.99508691e+01] [-2.26778194e-01 9.73936364e-01 -4.42828128e-03 -1.10617306e+01] [-1.92301096e-02 6.82722953e-05 9.99815082e-01 -1.70781311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.37862385300001 meters 0.01449685185555385 Centerline is valid? [True, True] Translation: X:69.98, Y:-11.07, Z:-1.71 [[ 9.73600699e-01 2.27512580e-01 1.84311081e-02 6.99791583e+01] [-2.27470784e-01 9.73775140e-01 -4.36110024e-03 -1.10675303e+01] [-1.89399601e-02 5.34316309e-05 9.99820621e-01 -1.71228578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40862385300001 meters 0.014603569844325046 Centerline is valid? [True, True] Translation: X:70.01, Y:-11.07, Z:-1.72 [[ 9.73556392e-01 2.27741364e-01 1.79393972e-02 7.00062185e+01] [-2.27701817e-01 9.73721659e-01 -4.24426550e-03 -1.10732379e+01] [-1.84345744e-02 4.71984731e-05 9.99830068e-01 -1.71506831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.43862385300001 meters 0.014541670656501016 Centerline is valid? [True, True] Translation: X:70.03, Y:-11.08, Z:-1.72 [[ 9.73518745e-01 2.27932361e-01 1.75525291e-02 7.00345929e+01] [-2.27894553e-01 9.73676967e-01 -4.15161498e-03 -1.10793895e+01] [-1.80367807e-02 4.15492483e-05 9.99837323e-01 -1.71676544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46862385300001 meters 0.014646573719431243 Centerline is valid? [True, True] Translation: X:70.06, Y:-11.09, Z:-1.72 [[ 9.73456912e-01 2.28229138e-01 1.71201823e-02 7.00620779e+01] [-2.28193228e-01 9.73607446e-01 -4.04865599e-03 -1.10859617e+01] [-1.75923582e-02 3.44824925e-05 9.99845242e-01 -1.71915825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.498623853 meters 0.014853971142989671 Centerline is valid? [True, True] Translation: X:70.09, Y:-11.09, Z:-1.72 [[ 9.73499366e-01 2.28079016e-01 1.67016978e-02 7.00895427e+01] [-2.28044835e-01 9.73642625e-01 -3.94865276e-03 -1.10929876e+01] [-1.71620897e-02 3.52750442e-05 9.99852720e-01 -1.72035849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.528623853 meters 0.014897835343824991 Centerline is valid? [True, True] Translation: X:70.12, Y:-11.10, Z:-1.72 [[ 9.73582263e-01 2.27708224e-01 1.69275774e-02 7.01165272e+01] [-2.27673069e-01 9.73729410e-01 -4.00133329e-03 -1.11003944e+01] [-1.73940164e-02 4.16736295e-05 9.99848712e-01 -1.72137232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.558623853 meters 0.014943631287692896 Centerline is valid? [True, True] Translation: X:70.14, Y:-11.11, Z:-1.72 [[ 9.73678591e-01 2.27283388e-01 1.70957067e-02 7.01445966e+01] [-2.27247485e-01 9.73828660e-01 -4.03997741e-03 -1.11084685e+01] [-1.75665089e-02 4.86831620e-05 9.99845696e-01 -1.72152315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.588623853 meters 0.014905138567614044 Centerline is valid? [True, True] Translation: X:70.17, Y:-11.12, Z:-1.72 [[ 9.73801919e-01 2.26689374e-01 1.79373884e-02 7.01725286e+01] [-2.26649764e-01 9.73967106e-01 -4.23798409e-03 -1.11173881e+01] [-1.84311323e-02 6.14521911e-05 9.99830130e-01 -1.72067115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.618623853 meters 0.014983140180323144 Centerline is valid? [True, True] Translation: X:70.20, Y:-11.13, Z:-1.72 [[ 9.74006529e-01 2.25756402e-01 1.85830051e-02 7.01998803e+01] [-2.25713737e-01 9.74183782e-01 -4.38961701e-03 -1.11278271e+01] [-1.90942463e-02 8.10760951e-05 9.99817685e-01 -1.71970649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.648623853 meters 0.025491492209393365 Centerline is valid? [True, True] Translation: X:70.23, Y:-11.13, Z:-1.71 [[ 9.73960107e-01 2.25978582e-01 1.83136582e-02 7.02275210e+01] [-2.25937198e-01 9.74132268e-01 -4.32522162e-03 -1.11345450e+01] [-1.88173328e-02 7.48566984e-05 9.99822936e-01 -1.71443791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.678623853 meters 0.014366096209718592 Centerline is valid? [True, True] Translation: X:70.26, Y:-11.14, Z:-1.72 [[ 9.73566093e-01 2.27649187e-01 1.85717524e-02 7.02556905e+01] [-2.27606953e-01 9.73743214e-01 -4.38506337e-03 -1.11376477e+01] [-1.90823740e-02 4.20890217e-05 9.99817914e-01 -1.72161777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.708623853 meters 0.014239218942920944 Centerline is valid? [True, True] Translation: X:70.28, Y:-11.14, Z:-1.72 [[ 9.73283121e-01 2.28900467e-01 1.80150487e-02 7.02844728e+01] [-2.28860962e-01 9.73449832e-01 -4.25256644e-03 -1.11420903e+01] [-1.85101606e-02 1.60097674e-05 9.99828672e-01 -1.72357116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.738623853 meters 0.014232173660099975 Centerline is valid? [True, True] Translation: X:70.31, Y:-11.15, Z:-1.72 [[ 9.72937414e-01 2.30385058e-01 1.77626927e-02 7.03134379e+01] [-2.30346914e-01 9.73099545e-01 -4.19220695e-03 -1.11459020e+01] [-1.82506900e-02 -1.28264424e-05 9.99833442e-01 -1.72473492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76862385300001 meters 0.018452618756983733 Centerline is valid? [True, True] Translation: X:70.34, Y:-11.15, Z:-1.72 [[ 9.72588334e-01 2.31858602e-01 1.77065059e-02 7.03419982e+01] [-2.31820957e-01 9.72749499e-01 -4.17814958e-03 -1.11495305e+01] [-1.81927347e-02 -4.11195983e-05 9.99834498e-01 -1.72127226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.79862385300001 meters 0.014865744990090506 Centerline is valid? [True, True] Translation: X:70.37, Y:-11.15, Z:-1.72 [[ 9.72088301e-01 2.33902994e-01 1.82681562e-02 7.03708555e+01] [-2.33863299e-01 9.72259936e-01 -4.30984322e-03 -1.11531815e+01] [-1.87694816e-02 -8.27031134e-05 9.99823834e-01 -1.72402994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82862385300001 meters 0.01484606134751155 Centerline is valid? [True, True] Translation: X:70.40, Y:-11.16, Z:-1.72 [[ 9.71974241e-01 2.34375101e-01 1.82862220e-02 7.03992728e+01] [-2.34335429e-01 9.72146236e-01 -4.31314898e-03 -1.11598074e+01] [-1.87877766e-02 -9.28399758e-05 9.99823490e-01 -1.72375538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.85862385300001 meters 0.01592806299931681 Centerline is valid? [True, True] Translation: X:70.43, Y:-11.16, Z:-1.73 [[ 9.71934507e-01 2.34544840e-01 1.82217788e-02 7.04272241e+01] [-2.34505487e-01 9.72105297e-01 -4.29741608e-03 -1.11639165e+01] [-1.87214245e-02 -9.63001359e-05 9.99824734e-01 -1.72677630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.888623853 meters 0.014973123380550126 Centerline is valid? [True, True] Translation: X:70.46, Y:-11.17, Z:-1.72 [[ 9.71922976e-01 2.34584267e-01 1.83289260e-02 7.04551839e+01] [-2.34544480e-01 9.72095783e-01 -4.32144506e-03 -1.11717086e+01] [-1.88312147e-02 -9.88366676e-05 9.99822672e-01 -1.72475592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.918623853 meters 0.015119220476498182 Centerline is valid? [True, True] Translation: X:70.48, Y:-11.18, Z:-1.73 [[ 9.71904037e-01 2.34680052e-01 1.81056933e-02 7.04831750e+01] [-2.34641265e-01 9.72072663e-01 -4.26775785e-03 -1.11775871e+01] [-1.86016072e-02 -1.00491701e-04 9.99826970e-01 -1.72623036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.948623853 meters 0.015507971043743182 Centerline is valid? [True, True] Translation: X:70.51, Y:-11.18, Z:-1.73 [[ 9.71874442e-01 2.34817010e-01 1.79176051e-02 7.05101433e+01] [-2.34779054e-01 9.72039588e-01 -4.22310020e-03 -1.11825616e+01] [-1.84082772e-02 -1.02355216e-04 9.99830548e-01 -1.72786110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.978623853 meters 0.015675524080190198 Centerline is valid? [True, True] Translation: X:70.54, Y:-11.19, Z:-1.73 [[ 9.71738711e-01 2.35344479e-01 1.83535590e-02 7.05386013e+01] [-2.35304771e-01 9.71912014e-01 -4.32458041e-03 -1.11878801e+01] [-1.88558106e-02 -1.16317798e-04 9.99822207e-01 -1.72717883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.008623853 meters 0.015611146689447478 Centerline is valid? [True, True] Translation: X:70.57, Y:-11.19, Z:-1.73 [[ 9.71618468e-01 2.35784680e-01 1.90561736e-02 7.05667661e+01] [-2.35741977e-01 9.71805314e-01 -4.48916107e-03 -1.11937012e+01] [-1.95773662e-02 -1.30588252e-04 9.99808336e-01 -1.72623665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.038623853 meters 0.015342570484118155 Centerline is valid? [True, True] Translation: X:70.60, Y:-11.20, Z:-1.73 [[ 9.71561490e-01 2.35987991e-01 1.94406638e-02 7.05952677e+01] [-2.35943610e-01 9.71755962e-01 -4.57860499e-03 -1.12005110e+01] [-1.99720767e-02 -1.38504123e-04 9.99800529e-01 -1.72584244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.068623853 meters 0.01567610768322956 Centerline is valid? [True, True] Translation: X:70.62, Y:-11.21, Z:-1.73 [[ 9.71599835e-01 2.35832676e-01 1.94089892e-02 7.06230878e+01] [-2.35788419e-01 9.71793667e-01 -4.57069763e-03 -1.12057499e+01] [-1.99394527e-02 -1.35525813e-04 9.99801180e-01 -1.72751110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.098623853 meters 0.015722724621862895 Centerline is valid? [True, True] Translation: X:70.65, Y:-11.21, Z:-1.73 [[ 9.71825393e-01 2.34904457e-01 1.93727254e-02 7.06502683e+01] [-2.34860192e-01 9.72018458e-01 -4.56151956e-03 -1.12112672e+01] [-1.99021679e-02 -1.16881471e-04 9.99801925e-01 -1.72897120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12862385300001 meters 0.01470876594054669 Centerline is valid? [True, True] Translation: X:70.68, Y:-11.22, Z:-1.73 [[ 9.72060641e-01 2.33896398e-01 1.97632404e-02 7.06782729e+01] [-2.33850151e-01 9.72261521e-01 -4.65210152e-03 -1.12198629e+01] [-2.03031479e-02 -9.95119606e-05 9.99793865e-01 -1.72865081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.15862385300001 meters 0.014215278571662611 Centerline is valid? [True, True] Translation: X:70.70, Y:-11.23, Z:-1.73 [[ 9.72668108e-01 2.31408159e-01 1.91576598e-02 7.07049284e+01] [-2.31364239e-01 9.72856753e-01 -4.50854962e-03 -1.12302154e+01] [-1.96809738e-02 -4.70749417e-05 9.99806310e-01 -1.73141125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18862385300001 meters 0.013941559413437325 Centerline is valid? [True, True] Translation: X:70.73, Y:-11.24, Z:-1.73 [[ 9.72904159e-01 2.30459573e-01 1.85979331e-02 7.07334509e+01] [-2.30418023e-01 9.73081900e-01 -4.37607599e-03 -1.12390623e+01] [-1.91058207e-02 -2.77964485e-05 9.99817467e-01 -1.73144772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.21862385300001 meters 0.014041788222423593 Centerline is valid? [True, True] Translation: X:70.76, Y:-11.25, Z:-1.73 [[ 9.73097622e-01 2.29676759e-01 1.81549861e-02 7.07607271e+01] [-2.29637036e-01 9.73266965e-01 -4.27147326e-03 -1.12464504e+01] [-1.86507063e-02 -1.24967182e-05 9.99826060e-01 -1.73381427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.248623853 meters 0.014211982527597316 Centerline is valid? [True, True] Translation: X:70.79, Y:-11.25, Z:-1.74 [[ 9.73256619e-01 2.29054364e-01 1.74828910e-02 7.07881470e+01] [-2.29017439e-01 9.73413632e-01 -4.11269348e-03 -1.12541394e+01] [-1.79601148e-02 -1.18076895e-06 9.99838704e-01 -1.73624542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.278623853 meters 0.014194076965060221 Centerline is valid? [True, True] Translation: X:70.82, Y:-11.26, Z:-1.74 [[ 9.73291837e-01 2.28908605e-01 1.74313173e-02 7.08162641e+01] [-2.28871886e-01 9.73447919e-01 -4.09990476e-03 -1.12611947e+01] [-1.79069830e-02 8.65373829e-07 9.99839657e-01 -1.73752083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.308623853 meters 0.01426027845093531 Centerline is valid? [True, True] Translation: X:70.85, Y:-11.27, Z:-1.74 [[ 9.73281703e-01 2.28951527e-01 1.74334122e-02 7.08451059e+01] [-2.28914820e-01 9.73437825e-01 -4.09965905e-03 -1.12681186e+01] [-1.79089660e-02 -6.43254538e-07 9.99839622e-01 -1.73814342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.338623853 meters 0.014165096294717105 Centerline is valid? [True, True] Translation: X:70.87, Y:-11.28, Z:-1.74 [[ 9.73351050e-01 2.28653639e-01 1.74712955e-02 7.08737812e+01] [-2.28616731e-01 9.73507839e-01 -4.10813408e-03 -1.12752285e+01] [-1.79477830e-02 4.42614791e-06 9.99838926e-01 -1.73847785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.368623853 meters 0.016262893806300412 Centerline is valid? [True, True] Translation: X:70.90, Y:-11.28, Z:-1.73 [[ 9.73608973e-01 2.27496622e-01 1.81894333e-02 7.09022469e+01] [-2.27456425e-01 9.73778869e-01 -4.27650371e-03 -1.12843399e+01] [-1.86853759e-02 2.63389281e-05 9.99825413e-01 -1.73451283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.398623853 meters 0.02639650230116496 Centerline is valid? [True, True] Translation: X:70.93, Y:-11.29, Z:-1.73 [[ 9.73855905e-01 2.26439332e-01 1.81632788e-02 7.09308154e+01] [-2.26399077e-01 9.74025270e-01 -4.26980625e-03 -1.12934732e+01] [-1.86583446e-02 4.60264843e-05 9.99825917e-01 -1.73209408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.428623853 meters 0.020535529056016636 Centerline is valid? [True, True] Translation: X:70.96, Y:-11.30, Z:-1.73 [[ 9.74082965e-01 2.25459112e-01 1.81814898e-02 7.09601016e+01] [-2.25418611e-01 9.74252629e-01 -4.27377310e-03 -1.13020090e+01] [-1.86769253e-02 6.45634011e-05 9.99825569e-01 -1.73375890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.458623853 meters 0.014795064895601211 Centerline is valid? [True, True] Translation: X:70.99, Y:-11.31, Z:-1.74 [[ 9.74292812e-01 2.24529936e-01 1.84343258e-02 7.09896889e+01] [-2.24488138e-01 9.74467188e-01 -4.33305061e-03 -1.13109453e+01] [-1.89365452e-02 8.33726043e-05 9.99820684e-01 -1.73994576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.488623853 meters 0.016163095150502065 Centerline is valid? [True, True] Translation: X:71.02, Y:-11.32, Z:-1.74 [[ 9.74787446e-01 2.22395337e-01 1.81589701e-02 7.10188422e+01] [-2.22354416e-01 9.74956563e-01 -4.26789778e-03 -1.13238533e+01] [-1.86533676e-02 1.22566000e-04 9.99826003e-01 -1.74153414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.51862385300001 meters 0.016787109813430522 Centerline is valid? [True, True] Translation: X:71.05, Y:-11.33, Z:-1.74 [[ 9.75013285e-01 2.21404124e-01 1.81468452e-02 7.10498015e+01] [-2.21363030e-01 9.75182133e-01 -4.26797989e-03 -1.13344791e+01] [-1.86414276e-02 1.44296453e-04 9.99826223e-01 -1.74176013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54862385300001 meters 0.017403918005188836 Centerline is valid? [True, True] Translation: X:71.08, Y:-11.35, Z:-1.74 [[ 9.75212719e-01 2.20455827e-01 1.89573286e-02 7.10795928e+01] [-2.20410731e-01 9.75396944e-01 -4.46220645e-03 -1.13458999e+01] [-1.94746398e-02 1.73201827e-04 9.99810336e-01 -1.74131715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.57862385300001 meters 0.017695379143182536 Centerline is valid? [True, True] Translation: X:71.11, Y:-11.35, Z:-1.74 [[ 9.75192964e-01 2.20500987e-01 1.94421839e-02 7.11090701e+01] [-2.20453498e-01 9.75386735e-01 -4.57959850e-03 -1.13549411e+01] [-1.99734542e-02 1.79894795e-04 9.99800494e-01 -1.74162334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60862385300001 meters 0.017537225581345697 Centerline is valid? [True, True] Translation: X:71.14, Y:-11.36, Z:-1.74 [[ 9.75169950e-01 2.20569446e-01 1.98163642e-02 7.11400839e+01] [-2.20520061e-01 9.75371255e-01 -4.67096024e-03 -1.13635466e+01] [-2.03585831e-02 1.85074225e-04 9.99792725e-01 -1.74204606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.638623853 meters 0.01724724889071609 Centerline is valid? [True, True] Translation: X:71.17, Y:-11.37, Z:-1.74 [[ 9.75033246e-01 2.21130209e-01 2.02879164e-02 7.11700865e+01] [-2.21078490e-01 9.75244276e-01 -4.78579114e-03 -1.13727465e+01] [-2.08439574e-02 1.81083554e-04 9.99782725e-01 -1.74187208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.668623853 meters 0.016941768563497234 Centerline is valid? [True, True] Translation: X:71.20, Y:-11.38, Z:-1.74 [[ 9.74851873e-01 2.21906139e-01 2.05302380e-02 7.12006485e+01] [-2.21853277e-01 9.75068016e-01 -4.84630091e-03 -1.13805011e+01] [-2.10938024e-02 1.69724936e-04 9.99777487e-01 -1.74292047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.698623853 meters 0.01655047016585712 Centerline is valid? [True, True] Translation: X:71.23, Y:-11.39, Z:-1.74 [[ 9.74675850e-01 2.22711158e-01 2.01674882e-02 7.12315617e+01] [-2.22660257e-01 9.74884463e-01 -4.76375422e-03 -1.13883100e+01] [-2.07219122e-02 1.52618085e-04 9.99785266e-01 -1.74413507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.728623853 meters 0.015511884180246894 Centerline is valid? [True, True] Translation: X:71.26, Y:-11.40, Z:-1.75 [[ 9.74222044e-01 2.24742508e-01 1.95503167e-02 7.12623384e+01] [-2.24695017e-01 9.74418182e-01 -4.62126764e-03 -1.13952380e+01] [-2.00887793e-02 1.09282074e-04 9.99798194e-01 -1.74683448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.758623853 meters 0.022648121196225487 Centerline is valid? [True, True] Translation: X:71.29, Y:-11.40, Z:-1.74 [[ 9.73874470e-01 2.26295658e-01 1.89418208e-02 7.12936776e+01] [-2.26251301e-01 9.74058658e-01 -4.48105804e-03 -1.14007829e+01] [-1.94644886e-02 7.83764139e-05 9.99810546e-01 -1.74283158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.788623853 meters 0.01441318465380334 Centerline is valid? [True, True] Translation: X:71.32, Y:-11.41, Z:-1.75 [[ 9.73441413e-01 2.28162637e-01 1.88049836e-02 7.13226537e+01] [-2.28119254e-01 9.73623032e-01 -4.44934460e-03 -1.14052060e+01] [-1.93241394e-02 4.13974547e-05 9.99813271e-01 -1.75006487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.818623853 meters 0.020056099270126256 Centerline is valid? [True, True] Translation: X:71.35, Y:-11.41, Z:-1.75 [[ 9.73009521e-01 2.30052023e-01 1.81256580e-02 7.13517483e+01] [-2.30012048e-01 9.73178332e-01 -4.28848049e-03 -1.14098076e+01] [-1.86260712e-02 3.61261913e-06 9.99826520e-01 -1.74645561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.848623853 meters 0.015330107166718088 Centerline is valid? [True, True] Translation: X:71.38, Y:-11.41, Z:-1.75 [[ 9.71845754e-01 2.34894410e-01 1.84512132e-02 7.13802544e+01] [-2.34853862e-01 9.72020889e-01 -4.36526723e-03 -1.14088527e+01] [-1.89603415e-02 -9.09722578e-05 9.99820232e-01 -1.75206043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.87862385300001 meters 0.017050314799273155 Centerline is valid? [True, True] Translation: X:71.41, Y:-11.41, Z:-1.75 [[ 9.71198550e-01 2.37559708e-01 1.84054796e-02 7.14096088e+01] [-2.37519861e-01 9.71372928e-01 -4.35327982e-03 -1.14110396e+01] [-1.89127485e-02 -1.43767909e-04 9.99821128e-01 -1.75299408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90862385300001 meters 0.018664305327773727 Centerline is valid? [True, True] Translation: X:71.44, Y:-11.41, Z:-1.75 [[ 9.70472979e-01 2.40499865e-01 1.84935670e-02 7.14388257e+01] [-2.40460186e-01 9.70649151e-01 -4.37324549e-03 -1.14144555e+01] [-1.90025300e-02 -2.02849970e-04 9.99819415e-01 -1.75282019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.93862385300001 meters 0.02243240734836466 Centerline is valid? [True, True] Translation: X:71.47, Y:-11.41, Z:-1.75 [[ 9.69104017e-01 2.45940789e-01 1.87225391e-02 7.14699182e+01] [-2.45901155e-01 9.69284803e-01 -4.42631338e-03 -1.14124434e+01] [-1.92360836e-02 -3.14335910e-04 9.99814920e-01 -1.75265931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96862385300001 meters 0.03235096293849149 Centerline is valid? [True, True] Translation: X:71.50, Y:-11.41, Z:-1.75 [[ 9.68496694e-01 2.48356817e-01 1.82495511e-02 7.14984306e+01] [-2.48319593e-01 9.68668554e-01 -4.31427828e-03 -1.14127040e+01] [-1.87492467e-02 -3.53356861e-04 9.99824155e-01 -1.74821766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.998623853 meters 0.026094252590583383 Centerline is valid? [True, True] Translation: X:71.53, Y:-11.42, Z:-1.76 [[ 9.67964442e-01 2.50422380e-01 1.82611526e-02 7.15271996e+01] [-2.50385499e-01 9.68136600e-01 -4.31580158e-03 -1.14152901e+01] [-1.87600635e-02 -3.94785332e-04 9.99823937e-01 -1.75514103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.028623853 meters 0.029140649560006556 Centerline is valid? [True, True] Translation: X:71.56, Y:-11.41, Z:-1.76 [[ 9.67257571e-01 2.53143205e-01 1.82019227e-02 7.15563415e+01] [-2.53107062e-01 9.67428715e-01 -4.30083422e-03 -1.14144053e+01] [-1.86977896e-02 -4.47020710e-04 9.99825081e-01 -1.75681629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.058623853 meters 0.030248470414276724 Centerline is valid? [True, True] Translation: X:71.58, Y:-11.42, Z:-1.76 [[ 9.67135702e-01 2.53604446e-01 1.82570550e-02 7.15841241e+01] [-2.53568179e-01 9.67307901e-01 -4.31314844e-03 -1.14177258e+01] [-1.87540272e-02 -4.58008353e-04 9.99824023e-01 -1.75792339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.088623853 meters 0.030248470414276724 Centerline is valid? [True, True] Translation: X:71.61, Y:-11.42, Z:-1.76 [[ 9.67153692e-01 2.53535812e-01 1.82572945e-02 7.16109160e+01] [-2.53499553e-01 9.67325893e-01 -4.31213445e-03 -1.14239192e+01] [-1.87540342e-02 -4.57719240e-04 9.99824023e-01 -1.75861508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.118623853 meters 0.029696556807596485 Centerline is valid? [True, True] Translation: X:71.64, Y:-11.43, Z:-1.76 [[ 9.67275958e-01 2.53002203e-01 1.91600341e-02 7.16394558e+01] [-2.52962197e-01 9.67465588e-01 -4.52369122e-03 -1.14279106e+01] [-1.96811775e-02 -4.71106567e-04 9.99806196e-01 -1.75730935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.148623853 meters 0.02862813395644152 Centerline is valid? [True, True] Translation: X:71.67, Y:-11.43, Z:-1.76 [[ 9.67512302e-01 2.52026287e-01 2.00673143e-02 7.16676030e+01] [-2.51982214e-01 9.67720273e-01 -4.73683921e-03 -1.14338330e+01] [-2.06133549e-02 -4.73656067e-04 9.99787410e-01 -1.75666771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.178623853 meters 0.02774806007732361 Centerline is valid? [True, True] Translation: X:71.70, Y:-11.44, Z:-1.76 [[ 9.67871270e-01 2.50611019e-01 2.04773376e-02 7.16954006e+01] [-2.50564831e-01 9.68087760e-01 -4.83257504e-03 -1.14392421e+01] [-2.10349565e-02 -4.53590112e-04 9.99778638e-01 -1.75627611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.208623853 meters 0.026445516951701307 Centerline is valid? [True, True] Translation: X:71.72, Y:-11.45, Z:-1.76 [[ 9.68301756e-01 2.48950573e-01 2.03794248e-02 7.17232000e+01] [-2.48904480e-01 9.68516101e-01 -4.80846201e-03 -1.14457729e+01] [-2.09348705e-02 -4.16487922e-04 9.99780755e-01 -1.75749748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.238623853 meters 0.022575488596744613 Centerline is valid? [True, True] Translation: X:71.75, Y:-11.45, Z:-1.76 [[ 9.69465870e-01 2.44437233e-01 1.96562098e-02 7.17493956e+01] [-2.44393442e-01 9.69665068e-01 -4.63695356e-03 -1.14546782e+01] [-2.01933841e-02 -3.08480556e-04 9.99796045e-01 -1.76013872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26862385300001 meters 0.020144204500461265 Centerline is valid? [True, True] Translation: X:71.78, Y:-11.46, Z:-1.76 [[ 9.70138566e-01 2.41772955e-01 1.94164949e-02 7.17763814e+01] [-2.41729716e-01 9.70332817e-01 -4.57918286e-03 -1.14644617e+01] [-1.99475848e-02 -2.51101913e-04 9.99800996e-01 -1.76152435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.29862385300001 meters 0.019841012247010313 Centerline is valid? [True, True] Translation: X:71.80, Y:-11.47, Z:-1.76 [[ 9.70893033e-01 2.38765313e-01 1.89167566e-02 7.18031807e+01] [-2.38723718e-01 9.71077284e-01 -4.46042491e-03 -1.14746116e+01] [-1.94346274e-02 -1.85282995e-04 9.99811113e-01 -1.76034920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32862385300001 meters 0.015855326665174394 Centerline is valid? [True, True] Translation: X:71.83, Y:-11.49, Z:-1.76 [[ 9.71675634e-01 2.35572309e-01 1.87656281e-02 7.18301899e+01] [-2.35530798e-01 9.71856817e-01 -4.42389009e-03 -1.14855291e+01] [-1.92796496e-02 -1.21297157e-04 9.99814123e-01 -1.76398674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.35862385300001 meters 0.01431573024111 Centerline is valid? [True, True] Translation: X:71.86, Y:-11.50, Z:-1.77 [[ 9.73176890e-01 2.29333557e-01 1.82444897e-02 7.18566152e+01] [-2.29293241e-01 9.73347892e-01 -4.29998833e-03 -1.14987161e+01] [-1.87443672e-02 1.31109386e-06 9.99824309e-01 -1.76658723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.388623853 meters 0.014902125809226778 Centerline is valid? [True, True] Translation: X:71.88, Y:-11.51, Z:-1.77 [[ 9.73922235e-01 2.26153310e-01 1.81703083e-02 7.18837156e+01] [-2.26112773e-01 9.74091719e-01 -4.28223290e-03 -1.15086198e+01] [-1.86679880e-02 6.20230467e-05 9.99825736e-01 -1.76750355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.418623853 meters 0.016859701445980323 Centerline is valid? [True, True] Translation: X:71.91, Y:-11.52, Z:-1.77 [[ 9.75181581e-01 2.20603187e-01 1.88445968e-02 7.19128639e+01] [-2.20558574e-01 9.75363627e-01 -4.43974669e-03 -1.15214313e+01] [-1.93597566e-02 1.73221789e-04 9.99812567e-01 -1.76603652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.448623853 meters 0.018797873433903014 Centerline is valid? [True, True] Translation: X:71.94, Y:-11.53, Z:-1.77 [[ 9.75737614e-01 2.18090633e-01 1.93024182e-02 7.19423581e+01] [-2.18043339e-01 9.75928493e-01 -4.54738920e-03 -1.15321685e+01] [-1.98295229e-02 2.28294971e-04 9.99803350e-01 -1.76607557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.478623853 meters 0.02146960453430339 Centerline is valid? [True, True] Translation: X:71.97, Y:-11.54, Z:-1.77 [[ 9.76217728e-01 2.15921285e-01 1.94151124e-02 7.19713648e+01] [-2.15872941e-01 9.76410734e-01 -4.57728051e-03 -1.15438908e+01] [-1.99454564e-02 2.77224971e-04 9.99801031e-01 -1.76677553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.508623853 meters 0.02239188228630228 Centerline is valid? [True, True] Translation: X:72.00, Y:-11.55, Z:-1.77 [[ 9.76656043e-01 2.13896605e-01 1.97792008e-02 7.20022957e+01] [-2.13845949e-01 9.76856251e-01 -4.66641720e-03 -1.15529782e+01] [-2.03195668e-02 3.27782584e-04 9.99793483e-01 -1.76671701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.538623853 meters 0.02917168434406102 Centerline is valid? [True, True] Translation: X:72.03, Y:-11.57, Z:-1.77 [[ 9.77347489e-01 2.10761682e-01 1.92716936e-02 7.20305192e+01] [-2.10712915e-01 9.77537398e-01 -4.55008500e-03 -1.15695388e+01] [-1.97977848e-02 3.86219401e-04 9.99803930e-01 -1.76995360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.568623853 meters 0.03467528583543895 Centerline is valid? [True, True] Translation: X:72.06, Y:-11.57, Z:-1.76 [[ 9.77598582e-01 2.09672126e-01 1.84013911e-02 7.20619356e+01] [-2.09627417e-01 9.77771673e-01 -4.34749774e-03 -1.15747326e+01] [-1.89039081e-02 3.92671540e-04 9.99821228e-01 -1.76401255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.598623853 meters 0.027201433320020268 Centerline is valid? [True, True] Translation: X:72.09, Y:-11.58, Z:-1.77 [[ 9.77759760e-01 2.08881228e-01 1.88277492e-02 7.20937900e+01] [-2.08834219e-01 9.77940927e-01 -4.45120547e-03 -1.15805961e+01] [-1.93421998e-02 4.20331282e-04 9.99812834e-01 -1.77074532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62862385300001 meters 0.02985015124025633 Centerline is valid? [True, True] Translation: X:72.12, Y:-11.59, Z:-1.77 [[ 9.77920197e-01 2.08149694e-01 1.85955350e-02 7.21235981e+01] [-2.08103641e-01 9.78096886e-01 -4.39965639e-03 -1.15915010e+01] [-1.91040220e-02 4.32714321e-04 9.99817408e-01 -1.77245893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.65862385300001 meters 0.03136428157387374 Centerline is valid? [True, True] Translation: X:72.15, Y:-11.60, Z:-1.77 [[ 9.78189011e-01 2.06946432e-01 1.78726946e-02 7.21541249e+01] [-2.06903639e-01 9.78352176e-01 -4.23136954e-03 -1.16024599e+01] [-1.83614564e-02 4.41153646e-04 9.99831317e-01 -1.77437268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68862385300001 meters 0.031558645755932466 Centerline is valid? [True, True] Translation: X:72.19, Y:-11.61, Z:-1.78 [[ 9.78263349e-01 2.06604533e-01 1.77591553e-02 7.21852720e+01] [-2.06562171e-01 9.78424431e-01 -4.20750111e-03 -1.16113541e+01] [-1.82452802e-02 4.47674454e-04 9.99833441e-01 -1.77543780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.71862385300001 meters 0.03037816992515928 Centerline is valid? [True, True] Translation: X:72.22, Y:-11.62, Z:-1.77 [[ 9.78410506e-01 2.05863263e-01 1.82537160e-02 7.22168419e+01] [-2.05818319e-01 9.78580650e-01 -4.32789139e-03 -1.16191537e+01] [-1.87536872e-02 4.77505250e-04 9.99824020e-01 -1.77424629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.748623853 meters 0.032107339128045975 Centerline is valid? [True, True] Translation: X:72.25, Y:-11.63, Z:-1.77 [[ 9.78410134e-01 2.05810202e-01 1.88618860e-02 7.22473140e+01] [-2.05762136e-01 9.78591801e-01 -4.47553541e-03 -1.16301091e+01] [-1.93791979e-02 4.97847242e-04 9.99812082e-01 -1.77460030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.778623853 meters 0.03957387888073547 Centerline is valid? [True, True] Translation: X:72.28, Y:-11.64, Z:-1.77 [[ 9.78345508e-01 2.06117322e-01 1.88604341e-02 7.22776243e+01] [-2.06069250e-01 9.78527161e-01 -4.47880648e-03 -1.16396990e+01] [-1.93786066e-02 4.95264697e-04 9.99812095e-01 -1.76785474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.808623853 meters 0.032635987361435775 Centerline is valid? [True, True] Translation: X:72.31, Y:-11.65, Z:-1.78 [[ 9.78115576e-01 2.07175703e-01 1.91871697e-02 7.23077150e+01] [-2.07126080e-01 9.78303630e-01 -4.56020606e-03 -1.16480898e+01] [-1.97156416e-02 4.86245342e-04 9.99805510e-01 -1.77585092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.838623853 meters 0.031758219903942175 Centerline is valid? [True, True] Translation: X:72.34, Y:-11.66, Z:-1.78 [[ 9.77896140e-01 2.08234231e-01 1.89114871e-02 7.23387629e+01] [-2.08186166e-01 9.78078878e-01 -4.49755341e-03 -1.16558840e+01] [-1.94334706e-02 4.61030132e-04 9.99811046e-01 -1.77693086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.868623853 meters 0.02825377016794402 Centerline is valid? [True, True] Translation: X:72.37, Y:-11.66, Z:-1.78 [[ 9.77620895e-01 2.09513308e-01 1.90147026e-02 7.23707481e+01] [-2.09464895e-01 9.77805696e-01 -4.52528237e-03 -1.16604204e+01] [-1.95407913e-02 4.41097916e-04 9.99808963e-01 -1.77651983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.898623853 meters 0.028213733582794408 Centerline is valid? [True, True] Translation: X:72.40, Y:-11.67, Z:-1.78 [[ 9.76934752e-01 2.12682299e-01 1.90978972e-02 7.24004420e+01] [-2.12633987e-01 9.77121330e-01 -4.54915798e-03 -1.16690762e+01] [-1.96284881e-02 3.83368488e-04 9.99807269e-01 -1.77785785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.928623853 meters 0.02644677609379075 Centerline is valid? [True, True] Translation: X:72.43, Y:-11.68, Z:-1.78 [[ 9.76591535e-01 2.14224069e-01 1.94170526e-02 7.24319676e+01] [-2.14174424e-01 9.76784480e-01 -4.62561602e-03 -1.16755855e+01] [-1.99571939e-02 3.58701387e-04 9.99800771e-01 -1.77820746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.958623853 meters 0.033558683050052544 Centerline is valid? [True, True] Translation: X:72.46, Y:-11.68, Z:-1.77 [[ 9.76252061e-01 2.15766133e-01 1.94136128e-02 7.24638162e+01] [-2.15716747e-01 9.76445015e-01 -4.62801403e-03 -1.16811181e+01] [-1.99548941e-02 3.30266851e-04 9.99800827e-01 -1.77080759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.988623853 meters 0.02158830387850297 Centerline is valid? [True, True] Translation: X:72.49, Y:-11.69, Z:-1.78 [[ 9.75684846e-01 2.18209391e-01 2.05850162e-02 7.24948074e+01] [-2.18154326e-01 9.75901927e-01 -4.91108766e-03 -1.16880525e+01] [-2.11606024e-02 3.00963472e-04 9.99776044e-01 -1.77701178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.01862385300001 meters 0.02081156971209822 Centerline is valid? [True, True] Translation: X:72.53, Y:-11.70, Z:-1.78 [[ 9.75428312e-01 2.19356378e-01 2.05520825e-02 7.25261931e+01] [-2.19301668e-01 9.75644762e-01 -4.90681071e-03 -1.16954174e+01] [-2.11278719e-02 2.79136120e-04 9.99776743e-01 -1.77766200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04862385300001 meters 0.01993636093644191 Centerline is valid? [True, True] Translation: X:72.56, Y:-11.70, Z:-1.78 [[ 9.75174508e-01 2.20500037e-01 2.03571471e-02 7.25571493e+01] [-2.20446537e-01 9.75386933e-01 -4.86375485e-03 -1.17032759e+01] [-2.09285534e-02 2.55347168e-04 9.99780941e-01 -1.77897697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.07862385300001 meters 0.019350208207176475 Centerline is valid? [True, True] Translation: X:72.59, Y:-11.71, Z:-1.78 [[ 9.74951981e-01 2.21525548e-01 1.98762889e-02 7.25881989e+01] [-2.21474690e-01 9.75154541e-01 -4.75221923e-03 -1.17121438e+01] [-2.04351914e-02 2.31090616e-04 9.99791153e-01 -1.78076063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10862385300001 meters 0.01937816703822554 Centerline is valid? [True, True] Translation: X:72.62, Y:-11.72, Z:-1.78 [[ 9.74554172e-01 2.23365786e-01 1.87587432e-02 7.26177539e+01] [-2.23320768e-01 9.74734677e-01 -4.48811930e-03 -1.17235385e+01] [-1.92872898e-02 1.84698450e-04 9.99813966e-01 -1.78490110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.138623853 meters 0.01806870073766778 Centerline is valid? [True, True] Translation: X:72.65, Y:-11.73, Z:-1.79 [[ 9.74355455e-01 2.24282094e-01 1.81380914e-02 7.26490417e+01] [-2.24240114e-01 9.74524251e-01 -4.34233842e-03 -1.17302804e+01] [-1.86499187e-02 1.63693441e-04 9.99826062e-01 -1.78577892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.168623853 meters 0.017644089620302013 Centerline is valid? [True, True] Translation: X:72.68, Y:-11.74, Z:-1.79 [[ 9.74161523e-01 2.25161074e-01 1.76583680e-02 7.26803648e+01] [-2.25121376e-01 9.74321543e-01 -4.23041496e-03 -1.17388317e+01] [-1.81574531e-02 1.45831379e-04 9.99835129e-01 -1.78782946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.198623853 meters 0.01714199179685055 Centerline is valid? [True, True] Translation: X:72.71, Y:-11.75, Z:-1.79 [[ 9.73974519e-01 2.25974342e-01 1.75850369e-02 7.27109945e+01] [-2.25935033e-01 9.74133245e-01 -4.21688781e-03 -1.17471558e+01] [-1.80830776e-02 1.34065371e-04 9.99836479e-01 -1.78888157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.228623853 meters 0.015958894441799716 Centerline is valid? [True, True] Translation: X:72.74, Y:-11.75, Z:-1.79 [[ 9.73421392e-01 2.28362153e-01 1.73643745e-02 7.27403620e+01] [-2.28324195e-01 9.73576252e-01 -4.16447991e-03 -1.17531388e+01] [-1.78565523e-02 8.90869878e-05 9.99840555e-01 -1.78956585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.258623853 meters 0.015473601141148931 Centerline is valid? [True, True] Translation: X:72.77, Y:-11.76, Z:-1.79 [[ 9.73108605e-01 2.29673429e-01 1.75999466e-02 7.27696553e+01] [-2.29634645e-01 9.73267749e-01 -4.22117547e-03 -1.17589018e+01] [-1.80989522e-02 6.61047081e-05 9.99836198e-01 -1.79044947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.288623853 meters 0.014599730600912002 Centerline is valid? [True, True] Translation: X:72.80, Y:-11.76, Z:-1.79 [[ 9.72377752e-01 2.32690393e-01 1.83490688e-02 7.27984763e+01] [-2.32648762e-01 9.72550863e-01 -4.40145229e-03 -1.17627354e+01] [-1.88695784e-02 1.09861417e-05 9.99821954e-01 -1.78907060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.318623853 meters 0.014467962143414422 Centerline is valid? [True, True] Translation: X:72.83, Y:-11.77, Z:-1.79 [[ 9.71937634e-01 2.34498576e-01 1.86454543e-02 7.28285259e+01] [-2.34455938e-01 9.72116463e-01 -4.47165357e-03 -1.17681657e+01] [-1.91741495e-02 -2.53690936e-05 9.99816159e-01 -1.78885259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.348623853 meters 0.014877333625039083 Centerline is valid? [True, True] Translation: X:72.86, Y:-11.77, Z:-1.79 [[ 9.71552062e-01 2.36098717e-01 1.85468698e-02 7.28581365e+01] [-2.36056821e-01 9.71729074e-01 -4.44801050e-03 -1.17735677e+01] [-1.90727022e-02 -5.66413516e-05 9.99818098e-01 -1.78918384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.37862385300001 meters 0.01622582953406163 Centerline is valid? [True, True] Translation: X:72.89, Y:-11.78, Z:-1.79 [[ 9.70840921e-01 2.38986685e-01 1.87955190e-02 7.28866677e+01] [-2.38944194e-01 9.71022838e-01 -4.50785168e-03 -1.17760008e+01] [-1.93281947e-02 -1.14673268e-04 9.99813186e-01 -1.78991639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40862385300001 meters 0.016222742525477608 Centerline is valid? [True, True] Translation: X:72.92, Y:-11.78, Z:-1.79 [[ 9.70598858e-01 2.39990145e-01 1.85091052e-02 7.29161865e+01] [-2.39949139e-01 9.70775315e-01 -4.43827079e-03 -1.17832359e+01] [-1.90333237e-02 -1.33463292e-04 9.99818841e-01 -1.78981674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.43862385300001 meters 0.01735561228472937 Centerline is valid? [True, True] Translation: X:72.95, Y:-11.79, Z:-1.79 [[ 9.70192266e-01 2.41670245e-01 1.79571404e-02 7.29457594e+01] [-2.41631937e-01 9.70358422e-01 -4.30586870e-03 -1.17882716e+01] [-1.84654628e-02 -1.61498109e-04 9.99829486e-01 -1.79182538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46862385300001 meters 0.01762111588836105 Centerline is valid? [True, True] Translation: X:72.98, Y:-11.79, Z:-1.79 [[ 9.70108858e-01 2.42021461e-01 1.77317905e-02 7.29756093e+01] [-2.41984164e-01 9.70270882e-01 -4.25200868e-03 -1.17945882e+01] [-1.82337174e-02 -1.65901212e-04 9.99833738e-01 -1.79264262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.49862385300001 meters 0.01780902425892738 Centerline is valid? [True, True] Translation: X:73.00, Y:-11.80, Z:-1.79 [[ 9.70127257e-01 2.41949993e-01 1.77004882e-02 7.30038252e+01] [-2.41912812e-01 9.70288707e-01 -4.24469383e-03 -1.18003672e+01] [-1.82015875e-02 -1.64081692e-04 9.99834324e-01 -1.79389352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.528623853 meters 0.017644098729605786 Centerline is valid? [True, True] Translation: X:73.03, Y:-11.81, Z:-1.79 [[ 9.70207688e-01 2.41632499e-01 1.76288744e-02 7.30326636e+01] [-2.41595575e-01 9.70367822e-01 -4.22700094e-03 -1.18076151e+01] [-1.81278733e-02 -1.57989243e-04 9.99835664e-01 -1.79459323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.558623853 meters 0.017322474721335034 Centerline is valid? [True, True] Translation: X:73.06, Y:-11.82, Z:-1.80 [[ 9.70396155e-01 2.40856566e-01 1.78722423e-02 7.30607400e+01] [-2.40818493e-01 9.70560711e-01 -4.28490544e-03 -1.18151646e+01] [-1.83781438e-02 -1.45910683e-04 9.99831097e-01 -1.79550253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.588623853 meters 0.016035652084471812 Centerline is valid? [True, True] Translation: X:73.09, Y:-11.83, Z:-1.80 [[ 9.70853121e-01 2.39024695e-01 1.76468847e-02 7.30893451e+01] [-2.38987284e-01 9.71013482e-01 -4.23025453e-03 -1.18253139e+01] [-1.81464983e-02 -1.10425235e-04 9.99835333e-01 -1.79619890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.618623853 meters 0.015812124081372725 Centerline is valid? [True, True] Translation: X:73.12, Y:-11.83, Z:-1.80 [[ 9.71053203e-01 2.38203213e-01 1.77455910e-02 7.31181834e+01] [-2.38165253e-01 9.71215332e-01 -4.25347559e-03 -1.18335514e+01] [-1.82479816e-02 -9.60320689e-05 9.99833487e-01 -1.79754111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.648623853 meters 0.017381867946948886 Centerline is valid? [True, True] Translation: X:73.15, Y:-11.84, Z:-1.79 [[ 9.71253013e-01 2.37422933e-01 1.72608127e-02 7.31486508e+01] [-2.37386891e-01 9.71406375e-01 -4.13753742e-03 -1.18437397e+01] [-1.77496098e-02 -7.88949745e-05 9.99842460e-01 -1.79486315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.678623853 meters 0.014894849488966142 Centerline is valid? [True, True] Translation: X:73.18, Y:-11.85, Z:-1.80 [[ 9.71702328e-01 2.35576700e-01 1.72685857e-02 7.31777927e+01] [-2.35540277e-01 9.71855759e-01 -4.14262291e-03 -1.18548264e+01] [-1.77584799e-02 -4.20511370e-05 9.99842305e-01 -1.79896248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.708623853 meters 0.014805549302782101 Centerline is valid? [True, True] Translation: X:73.21, Y:-11.86, Z:-1.80 [[ 9.71884738e-01 2.34787198e-01 1.77490056e-02 7.32080440e+01] [-2.34748532e-01 9.72046795e-01 -4.26097920e-03 -1.18633366e+01] [-1.82532874e-02 -2.53723557e-05 9.99833395e-01 -1.79926536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.738623853 meters 0.01485749049766118 Centerline is valid? [True, True] Translation: X:73.24, Y:-11.87, Z:-1.80 [[ 9.72292809e-01 2.33094515e-01 1.77098877e-02 7.32372404e+01] [-2.33055685e-01 9.72454085e-01 -4.25454423e-03 -1.18731570e+01] [-1.82137635e-02 9.27276238e-06 9.99834116e-01 -1.80052375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76862385300001 meters 0.014802465882132042 Centerline is valid? [True, True] Translation: X:73.27, Y:-11.88, Z:-1.80 [[ 9.72416605e-01 2.32579965e-01 1.76778543e-02 7.32671867e+01] [-2.32541120e-01 9.72577277e-01 -4.25064735e-03 -1.18821174e+01] [-1.81816948e-02 2.25720222e-05 9.99834699e-01 -1.80100888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.79862385300001 meters 0.014886568630438914 Centerline is valid? [True, True] Translation: X:73.30, Y:-11.89, Z:-1.80 [[ 9.72495831e-01 2.32237760e-01 1.78180349e-02 7.32982876e+01] [-2.32198249e-01 9.72659047e-01 -4.28377829e-03 -1.18905644e+01] [-1.83257279e-02 2.86400165e-05 9.99832069e-01 -1.80086992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82862385300001 meters 0.014933763687862273 Centerline is valid? [True, True] Translation: X:73.33, Y:-11.90, Z:-1.80 [[ 9.72643341e-01 2.31600104e-01 1.80644307e-02 7.33289479e+01] [-2.31559324e-01 9.72811076e-01 -4.34622117e-03 -1.19000038e+01] [-1.85798635e-02 4.43357252e-05 9.99827378e-01 -1.80107550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.85862385300001 meters 0.015257901475253003 Centerline is valid? [True, True] Translation: X:73.36, Y:-11.91, Z:-1.80 [[ 9.72775067e-01 2.31024181e-01 1.83438639e-02 7.33591581e+01] [-2.30981957e-01 9.72948007e-01 -4.41717824e-03 -1.19093868e+01] [-1.88681008e-02 5.98192846e-05 9.99821980e-01 -1.80184871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.888623853 meters 0.015568275351360013 Centerline is valid? [True, True] Translation: X:73.39, Y:-11.92, Z:-1.80 [[ 9.72964001e-01 2.30189188e-01 1.88146280e-02 7.33892432e+01] [-2.30144553e-01 9.73145894e-01 -4.53356415e-03 -1.19192491e+01] [-1.93529554e-02 8.09105668e-05 9.99812711e-01 -1.80183729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.918623853 meters 0.015502238734162304 Centerline is valid? [True, True] Translation: X:73.42, Y:-11.93, Z:-1.80 [[ 9.73193620e-01 2.29195335e-01 1.90703202e-02 7.34212719e+01] [-2.29149221e-01 9.73380443e-01 -4.59859596e-03 -1.19283650e+01] [-1.96166534e-02 1.05375244e-04 9.99807569e-01 -1.80053833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.948623853 meters 0.01736485550240206 Centerline is valid? [True, True] Translation: X:73.45, Y:-11.94, Z:-1.80 [[ 9.73912185e-01 2.26130856e-01 1.89708205e-02 7.34498309e+01] [-2.26084559e-01 9.74096919e-01 -4.57880661e-03 -1.19425171e+01] [-1.95148273e-02 1.70345953e-04 9.99809553e-01 -1.80232811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.978623853 meters 0.01736485550240206 Centerline is valid? [True, True] Translation: X:73.48, Y:-11.95, Z:-1.80 [[ 9.73867580e-01 2.26322933e-01 1.89701310e-02 7.34813641e+01] [-2.26276616e-01 9.74052309e-01 -4.58166125e-03 -1.19503229e+01] [-1.95148350e-02 1.69434294e-04 9.99809553e-01 -1.80314584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.008623853 meters 0.03030127007164661 Centerline is valid? [True, True] Translation: X:73.51, Y:-11.96, Z:-1.80 [[ 9.74255517e-01 2.24717173e-01 1.81212489e-02 7.35107897e+01] [-2.24674552e-01 9.74424011e-01 -4.38089349e-03 -1.19621397e+01] [-1.86422421e-02 1.96726161e-04 9.99826199e-01 -1.79790513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.038623853 meters 0.029999245289910676 Centerline is valid? [True, True] Translation: X:73.54, Y:-11.97, Z:-1.80 [[ 9.74631378e-01 2.23098970e-01 1.79032802e-02 7.35410736e+01] [-2.23057073e-01 9.74795773e-01 -4.32938521e-03 -1.19742469e+01] [-1.84179232e-02 2.26101396e-04 9.99830350e-01 -1.80022528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.068623853 meters 0.02309762210514065 Centerline is valid? [True, True] Translation: X:73.57, Y:-11.99, Z:-1.81 [[ 9.75289023e-01 2.20270832e-01 1.70904282e-02 7.35688477e+01] [-2.20232167e-01 9.75438715e-01 -4.13581078e-03 -1.19902766e+01] [-1.75816639e-02 2.69748806e-04 9.99845394e-01 -1.80944460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.098623853 meters 0.02430582098458392 Centerline is valid? [True, True] Translation: X:73.60, Y:-12.00, Z:-1.81 [[ 9.75391060e-01 2.19862280e-01 1.65184211e-02 7.35985400e+01] [-2.19826056e-01 9.75530884e-01 -4.00003792e-03 -1.20013979e+01] [-1.69936874e-02 2.70421876e-04 9.99855560e-01 -1.81170456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12862385300001 meters 0.023266791236173815 Centerline is valid? [True, True] Translation: X:73.63, Y:-12.01, Z:-1.81 [[ 9.75325445e-01 2.20154661e-01 1.64985084e-02 7.36303423e+01] [-2.20118527e-01 9.75464942e-01 -3.99757362e-03 -1.20096714e+01] [-1.69738010e-02 2.67307908e-04 9.99855899e-01 -1.81120684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.15862385300001 meters 0.03382911912107528 Centerline is valid? [True, True] Translation: X:73.66, Y:-12.02, Z:-1.80 [[ 9.74717490e-01 2.22845315e-01 1.63027485e-02 7.36617546e+01] [-2.22810350e-01 9.74853792e-01 -3.95362690e-03 -1.20161765e+01] [-1.67738434e-02 2.21248185e-04 9.99859285e-01 -1.80443115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18862385300001 meters 0.019753262046144707 Centerline is valid? [True, True] Translation: X:73.69, Y:-12.02, Z:-1.81 [[ 9.74305835e-01 2.24592930e-01 1.69161438e-02 7.36937289e+01] [-2.24555477e-01 9.74452654e-01 -4.10644430e-03 -1.20220794e+01] [-1.74062596e-02 2.02319889e-04 9.99848479e-01 -1.81163365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.21862385300001 meters 0.016727448031306297 Centerline is valid? [True, True] Translation: X:73.73, Y:-12.03, Z:-1.81 [[ 9.73101848e-01 2.29754469e-01 1.69019595e-02 7.37250799e+01] [-2.29717851e-01 9.73248618e-01 -4.10331725e-03 -1.20250128e+01] [-1.73925642e-02 1.10263786e-04 9.99848732e-01 -1.81251585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24862385300001 meters 0.01562573538327331 Centerline is valid? [True, True] Translation: X:73.76, Y:-12.03, Z:-1.81 [[ 9.72429726e-01 2.32598334e-01 1.66865886e-02 7.37564333e+01] [-2.32563015e-01 9.72572882e-01 -4.05375775e-03 -1.20297359e+01] [-1.71718209e-02 6.13111952e-05 9.99852552e-01 -1.81362833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.278623853 meters 0.01494079615984141 Centerline is valid? [True, True] Translation: X:73.79, Y:-12.03, Z:-1.81 [[ 9.71766115e-01 2.35337166e-01 1.69421662e-02 7.37884975e+01] [-2.35301124e-01 9.71913791e-01 -4.11860345e-03 -1.20343668e+01] [-1.74355855e-02 1.58085147e-05 9.99847988e-01 -1.81413291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.308623853 meters 0.015451887880346718 Centerline is valid? [True, True] Translation: X:73.82, Y:-12.04, Z:-1.81 [[ 9.70496440e-01 2.40445797e-01 1.79576972e-02 7.38205544e+01] [-2.40406114e-01 9.70662564e-01 -4.36895713e-03 -1.20363455e+01] [-1.84813618e-02 -7.70828691e-05 9.99829202e-01 -1.81297323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.338623853 meters 0.0164436057591011 Centerline is valid? [True, True] Translation: X:73.85, Y:-12.04, Z:-1.81 [[ 9.69949201e-01 2.42616722e-01 1.83214271e-02 7.38515605e+01] [-2.42575737e-01 9.70122215e-01 -4.46086409e-03 -1.20406578e+01] [-1.88563036e-02 -1.17522123e-04 9.99822197e-01 -1.81298652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.368623853 meters 0.017128636020241627 Centerline is valid? [True, True] Translation: X:73.88, Y:-12.05, Z:-1.81 [[ 9.69435058e-01 2.44655754e-01 1.84181998e-02 7.38837058e+01] [-2.44614677e-01 9.69609992e-01 -4.48576975e-03 -1.20462571e+01] [-1.89559400e-02 -1.56699544e-04 9.99820308e-01 -1.81272279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.398623853 meters 0.01786934383313948 Centerline is valid? [True, True] Translation: X:73.92, Y:-12.05, Z:-1.81 [[ 9.68874636e-01 2.46888551e-01 1.81102965e-02 7.39154467e+01] [-2.46849170e-01 9.69043862e-01 -4.41379806e-03 -1.20513596e+01] [-1.86393879e-02 -1.94094678e-04 9.99826253e-01 -1.81326120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.428623853 meters 0.021980939424701793 Centerline is valid? [True, True] Translation: X:73.95, Y:-12.05, Z:-1.82 [[ 9.67915367e-01 2.50619679e-01 1.81554020e-02 7.39478460e+01] [-2.50580694e-01 9.68085589e-01 -4.42817044e-03 -1.20505945e+01] [-1.86857697e-02 -2.63299007e-04 9.99825371e-01 -1.81558680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.458623853 meters 0.022427175031633915 Centerline is valid? [True, True] Translation: X:73.98, Y:-12.06, Z:-1.82 [[ 9.67593841e-01 2.51858928e-01 1.81449209e-02 7.39775271e+01] [-2.51820130e-01 9.67763918e-01 -4.42970409e-03 -1.20566647e+01] [-1.86756603e-02 -2.83101937e-04 9.99825555e-01 -1.81596717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.488623853 meters 0.024059602605043955 Centerline is valid? [True, True] Translation: X:74.01, Y:-12.06, Z:-1.82 [[ 9.67215081e-01 2.53302409e-01 1.82448900e-02 7.40055475e+01] [-2.53263433e-01 9.67387095e-01 -4.45441397e-03 -1.20606521e+01] [-1.87781850e-02 -3.12387106e-04 9.99823626e-01 -1.81670719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.51862385300001 meters 0.024418298874451887 Centerline is valid? [True, True] Translation: X:74.04, Y:-12.07, Z:-1.82 [[ 9.66727258e-01 2.55109975e-01 1.89026255e-02 7.40356847e+01] [-2.55068507e-01 9.66911976e-01 -4.61375141e-03 -1.20659150e+01] [-1.94541890e-02 -3.61225208e-04 9.99810684e-01 -1.81547763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54862385300001 meters 0.025043932688259735 Centerline is valid? [True, True] Translation: X:74.07, Y:-12.07, Z:-1.82 [[ 9.66596730e-01 2.55576502e-01 1.92720752e-02 7.40650542e+01] [-2.55533488e-01 9.66788761e-01 -4.70399137e-03 -1.20708287e+01] [-1.98342553e-02 -3.77797905e-04 9.99803210e-01 -1.81531818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.57862385300001 meters 0.026386765293543432 Centerline is valid? [True, True] Translation: X:74.09, Y:-12.07, Z:-1.82 [[ 9.66400150e-01 2.56300782e-01 1.95104678e-02 7.40939772e+01] [-2.56256847e-01 9.66596995e-01 -4.76205286e-03 -1.20725946e+01] [-2.00792774e-02 -3.97642371e-04 9.99798312e-01 -1.81555031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60862385300001 meters 0.02734520428171526 Centerline is valid? [True, True] Translation: X:74.12, Y:-12.08, Z:-1.82 [[ 9.66308910e-01 2.56616421e-01 1.98771982e-02 7.41217757e+01] [-2.56570898e-01 9.66513240e-01 -4.85095410e-03 -1.20760589e+01] [-2.04564098e-02 -4.12390439e-04 9.99790661e-01 -1.81585574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.638623853 meters 0.02558628162735897 Centerline is valid? [True, True] Translation: X:74.15, Y:-12.08, Z:-1.82 [[ 9.66263784e-01 2.56819690e-01 1.94408648e-02 7.41500591e+01] [-2.56776216e-01 9.66459249e-01 -4.74290780e-03 -1.20837429e+01] [-2.00068757e-02 -4.09051666e-04 9.99799759e-01 -1.81620127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.668623853 meters 0.027170776377968834 Centerline is valid? [True, True] Translation: X:74.18, Y:-12.08, Z:-1.82 [[ 9.66290899e-01 2.56773124e-01 1.86938919e-02 7.41793897e+01] [-2.56732926e-01 9.66471628e-01 -4.56028989e-03 -1.20849822e+01] [-1.92380760e-02 -3.92770940e-04 9.99814854e-01 -1.81950233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.698623853 meters 0.02576956620222034 Centerline is valid? [True, True] Translation: X:74.21, Y:-12.09, Z:-1.82 [[ 9.66388432e-01 2.56429682e-01 1.83634430e-02 7.42078593e+01] [-2.56390843e-01 9.66562814e-01 -4.47899218e-03 -1.20919476e+01] [-1.88979676e-02 -3.79772393e-04 9.99821345e-01 -1.82027943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.728623853 meters 0.025376057998818268 Centerline is valid? [True, True] Translation: X:74.24, Y:-12.10, Z:-1.82 [[ 9.66636188e-01 2.55516388e-01 1.80514828e-02 7.42361764e+01] [-2.55478712e-01 9.66804659e-01 -4.40223253e-03 -1.20971060e+01] [-1.85771002e-02 -3.56412296e-04 9.99827367e-01 -1.82193671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.758623853 meters 0.0251051694104595 Centerline is valid? [True, True] Translation: X:74.26, Y:-12.10, Z:-1.82 [[ 9.66897108e-01 2.54573459e-01 1.73878271e-02 7.42637285e+01] [-2.54538357e-01 9.67053384e-01 -4.23994164e-03 -1.21029743e+01] [-1.78943337e-02 -3.26281636e-04 9.99839830e-01 -1.82413559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.788623853 meters 0.023309773910705715 Centerline is valid? [True, True] Translation: X:74.29, Y:-12.11, Z:-1.83 [[ 9.67574881e-01 2.51995715e-01 1.72339674e-02 7.42914080e+01] [-2.51960843e-01 9.67728310e-01 -4.20125881e-03 -1.21089823e+01] [-1.77364974e-02 -2.77252462e-04 9.99842658e-01 -1.82581392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.818623853 meters 0.021515091442405536 Centerline is valid? [True, True] Translation: X:74.32, Y:-12.12, Z:-1.83 [[ 9.68022938e-01 2.50263123e-01 1.73193903e-02 7.43193995e+01] [-2.50227643e-01 9.68177829e-01 -4.22121750e-03 -1.21172055e+01] [-1.78246648e-02 -2.47554854e-04 9.99841097e-01 -1.82586595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.848623853 meters 0.02031546484932774 Centerline is valid? [True, True] Translation: X:74.35, Y:-12.12, Z:-1.83 [[ 9.68451415e-01 2.48598371e-01 1.73408945e-02 7.43462472e+01] [-2.48562550e-01 9.68606629e-01 -4.22567868e-03 -1.21245327e+01] [-1.78470022e-02 -2.17932451e-04 9.99840706e-01 -1.82686651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.87862385300001 meters 0.02135655210584926 Centerline is valid? [True, True] Translation: X:74.37, Y:-12.13, Z:-1.82 [[ 9.69316819e-01 2.45243144e-01 1.67542553e-02 7.43735778e+01] [-2.45209223e-01 9.69461591e-01 -4.08163927e-03 -1.21331098e+01] [-1.72436011e-02 -1.51896335e-04 9.99851307e-01 -1.82436335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90862385300001 meters 0.029379644156980834 Centerline is valid? [True, True] Translation: X:74.40, Y:-12.14, Z:-1.82 [[ 9.69732872e-01 2.43608864e-01 1.65190505e-02 7.44017179e+01] [-2.43575665e-01 9.69873552e-01 -4.02354124e-03 -1.21408844e+01] [-1.70015605e-02 -1.21878493e-04 9.99855456e-01 -1.82261679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.93862385300001 meters 0.015781859780249496 Centerline is valid? [True, True] Translation: X:74.43, Y:-12.15, Z:-1.83 [[ 9.70504384e-01 2.40495716e-01 1.68241362e-02 7.44284091e+01] [-2.40460828e-01 9.70650197e-01 -4.09689744e-03 -1.21503010e+01] [-1.73156374e-02 -6.94888021e-05 9.99850071e-01 -1.83045842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96862385300001 meters 0.015335183349852236 Centerline is valid? [True, True] Translation: X:74.46, Y:-12.16, Z:-1.83 [[ 9.70823196e-01 2.39205066e-01 1.68302829e-02 7.44565034e+01] [-2.39169971e-01 9.70969070e-01 -4.09767372e-03 -1.21584749e+01] [-1.73218684e-02 -4.71815690e-05 9.99849964e-01 -1.83067195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.99862385300001 meters 0.014955519160800968 Centerline is valid? [True, True] Translation: X:74.48, Y:-12.17, Z:-1.83 [[ 9.71368301e-01 2.36943704e-01 1.73581515e-02 7.44845241e+01] [-2.36906019e-01 9.71523382e-01 -4.22575193e-03 -1.21661671e+01] [-1.78651154e-02 -7.48909676e-06 9.99840406e-01 -1.83053447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.028623853 meters 0.014908733723065708 Centerline is valid? [True, True] Translation: X:74.51, Y:-12.17, Z:-1.83 [[ 9.71572893e-01 2.36097404e-01 1.74393105e-02 7.45128380e+01] [-2.36059237e-01 9.71729394e-01 -4.24505864e-03 -1.21733535e+01] [-1.79485379e-02 7.67357798e-06 9.99838912e-01 -1.82997103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.058623853 meters 0.01474090881127195 Centerline is valid? [True, True] Translation: X:74.54, Y:-12.18, Z:-1.83 [[ 9.71763978e-01 2.35275680e-01 1.78920356e-02 7.45435659e+01] [-2.35235382e-01 9.71928677e-01 -4.35446597e-03 -1.21811651e+01] [-1.84142825e-02 2.26733471e-05 9.99830442e-01 -1.82946298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.088623853 meters 0.014874472324446072 Centerline is valid? [True, True] Translation: X:74.57, Y:-12.19, Z:-1.83 [[ 9.71921913e-01 2.34590164e-01 1.83098179e-02 7.45732974e+01] [-2.34547829e-01 9.72094365e-01 -4.45671364e-03 -1.21890891e+01] [-1.88443720e-02 3.70496146e-05 9.99822428e-01 -1.83023288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.118623853 meters 0.014988531105741873 Centerline is valid? [True, True] Translation: X:74.60, Y:-12.20, Z:-1.83 [[ 9.72064206e-01 2.33969095e-01 1.86987221e-02 7.46027749e+01] [-2.33924821e-01 9.72244033e-01 -4.55169673e-03 -1.21965375e+01] [-1.92446774e-02 5.04462503e-05 9.99814803e-01 -1.83026263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.148623853 meters 0.01500663428690402 Centerline is valid? [True, True] Translation: X:74.63, Y:-12.20, Z:-1.83 [[ 9.72200808e-01 2.33337009e-01 1.94789609e-02 7.46327551e+01] [-2.33288838e-01 9.72395926e-01 -4.74150067e-03 -1.22041492e+01] [-2.00476298e-02 6.54666219e-05 9.99799024e-01 -1.82890539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.178623853 meters 0.014958037681455453 Centerline is valid? [True, True] Translation: X:74.66, Y:-12.21, Z:-1.83 [[ 9.72179965e-01 2.33403048e-01 1.97264262e-02 7.46632338e+01] [-2.33353650e-01 9.72380076e-01 -4.80223856e-03 -1.22108386e+01] [-2.03024410e-02 6.54065590e-05 9.99793882e-01 -1.82929482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.208623853 meters 0.017146359031330057 Centerline is valid? [True, True] Translation: X:74.69, Y:-12.22, Z:-1.83 [[ 9.72097212e-01 2.33788003e-01 1.92400828e-02 7.46932008e+01] [-2.33741075e-01 9.72287594e-01 -4.68437707e-03 -1.22171228e+01] [-1.98020450e-02 5.64722479e-05 9.99803919e-01 -1.82868170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.238623853 meters 0.015246226329652314 Centerline is valid? [True, True] Translation: X:74.72, Y:-12.22, Z:-1.84 [[ 9.71909454e-01 2.34678131e-01 1.78378533e-02 7.47206068e+01] [-2.34637931e-01 9.72073132e-01 -4.34372817e-03 -1.22193823e+01] [-1.83590759e-02 3.62734875e-05 9.99831457e-01 -1.83636595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26862385300001 meters 0.014935310069377964 Centerline is valid? [True, True] Translation: X:74.75, Y:-12.22, Z:-1.84 [[ 9.71803011e-01 2.35168800e-01 1.71622397e-02 7.47511449e+01] [-2.35131693e-01 9.71954544e-01 -4.17754338e-03 -1.22242735e+01] [-1.76633447e-02 2.43627485e-05 9.99843991e-01 -1.83656298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.29862385300001 meters 0.01546411822214997 Centerline is valid? [True, True] Translation: X:74.78, Y:-12.23, Z:-1.84 [[ 9.71452219e-01 2.36681043e-01 1.62070772e-02 7.47800900e+01] [-2.36648168e-01 9.71587404e-01 -3.94472695e-03 -1.22274966e+01] [-1.66802341e-02 -3.26136704e-06 9.99860875e-01 -1.84139396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32862385300001 meters 0.01513592939183957 Centerline is valid? [True, True] Translation: X:74.81, Y:-12.23, Z:-1.84 [[ 9.71283649e-01 2.37392078e-01 1.59082854e-02 7.48096427e+01] [-2.37360481e-01 9.71413918e-01 -3.87314516e-03 -1.22324979e+01] [-1.63729839e-02 -1.40757117e-05 9.99865954e-01 -1.84010190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.35862385300001 meters 0.015359849721377232 Centerline is valid? [True, True] Translation: X:74.84, Y:-12.24, Z:-1.84 [[ 9.71110816e-01 2.38100575e-01 1.58713025e-02 7.48376770e+01] [-2.38069224e-01 9.71240503e-01 -3.86383852e-03 -1.22367947e+01] [-1.63348340e-02 -2.62532817e-05 9.99866577e-01 -1.84161241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.388623853 meters 0.01554928087312839 Centerline is valid? [True, True] Translation: X:74.87, Y:-12.24, Z:-1.84 [[ 9.70789600e-01 2.39388277e-01 1.61494853e-02 7.48655682e+01] [-2.39356002e-01 9.70923916e-01 -3.93112712e-03 -1.22391329e+01] [-1.66209873e-02 -4.91789155e-05 9.99861861e-01 -1.84177550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.418623853 meters 0.01540523791492034 Centerline is valid? [True, True] Translation: X:74.89, Y:-12.24, Z:-1.84 [[ 9.70702274e-01 2.39727308e-01 1.63680594e-02 7.48940790e+01] [-2.39694222e-01 9.70840262e-01 -3.98315923e-03 -1.22441987e+01] [-1.68456431e-02 -5.68675340e-05 9.99858100e-01 -1.84112364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.448623853 meters 0.015503913403844372 Centerline is valid? [True, True] Translation: X:74.92, Y:-12.25, Z:-1.84 [[ 9.70528874e-01 2.40385695e-01 1.69830198e-02 7.49227909e+01] [-2.40350193e-01 9.70677450e-01 -4.13187492e-03 -1.22486537e+01] [-1.74782780e-02 -7.17681835e-05 9.99847241e-01 -1.84123575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.478623853 meters 0.015920826317846252 Centerline is valid? [True, True] Translation: X:74.95, Y:-12.25, Z:-1.84 [[ 9.70426845e-01 2.40778532e-01 1.72463939e-02 7.49508106e+01] [-2.40741996e-01 9.70580080e-01 -4.19512301e-03 -1.22521491e+01] [-1.77491019e-02 -8.08713054e-05 9.99842469e-01 -1.84260507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.508623853 meters 0.01595242170807507 Centerline is valid? [True, True] Translation: X:74.98, Y:-12.26, Z:-1.84 [[ 9.70268860e-01 2.41355648e-01 1.80496680e-02 7.49793350e+01] [-2.41315754e-01 9.70436727e-01 -4.38918528e-03 -1.22560189e+01] [-1.85754154e-02 -9.69794356e-05 9.99827457e-01 -1.84117848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.538623853 meters 0.016120619743663158 Centerline is valid? [True, True] Translation: X:75.01, Y:-12.26, Z:-1.84 [[ 9.70287841e-01 2.41280972e-01 1.80277044e-02 7.50067797e+01] [-2.41241177e-01 9.70455297e-01 -4.38301432e-03 -1.22601821e+01] [-1.85526191e-02 -9.62391210e-05 9.99827881e-01 -1.84279609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.568623853 meters 0.0158666115358196 Centerline is valid? [True, True] Translation: X:75.04, Y:-12.27, Z:-1.84 [[ 9.70327675e-01 2.41134089e-01 1.78481081e-02 7.50352861e+01] [-2.41095081e-01 9.70491804e-01 -4.33816158e-03 -1.22662376e+01] [-1.83675212e-02 -9.36528165e-05 9.99831298e-01 -1.84298243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.598623853 meters 0.02593805058585957 Centerline is valid? [True, True] Translation: X:75.06, Y:-12.27, Z:-1.84 [[ 9.70563520e-01 2.40233399e-01 1.71571627e-02 7.50628824e+01] [-2.40197225e-01 9.70715153e-01 -4.16948226e-03 -1.22707520e+01] [-1.76563667e-02 -7.43554965e-05 9.99844111e-01 -1.83924284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62862385300001 meters 0.015479408194387008 Centerline is valid? [True, True] Translation: X:75.09, Y:-12.28, Z:-1.85 [[ 9.70693279e-01 2.39665393e-01 1.77498590e-02 7.50905677e+01] [-2.39626605e-01 9.70855548e-01 -4.31224411e-03 -1.22773619e+01] [-1.82660447e-02 -6.74720594e-05 9.99833160e-01 -1.84642826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.65862385300001 meters 0.015379527247418154 Centerline is valid? [True, True] Translation: X:75.12, Y:-12.28, Z:-1.85 [[ 9.70880967e-01 2.38912145e-01 1.76390162e-02 7.51183567e+01] [-2.38873731e-01 9.71041186e-01 -4.28444806e-03 -1.22842563e+01] [-1.81518179e-02 -5.38085290e-05 9.99835241e-01 -1.84758440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68862385300001 meters 0.015150893712489647 Centerline is valid? [True, True] Translation: X:75.15, Y:-12.29, Z:-1.85 [[ 9.71341842e-01 2.37046660e-01 1.74329059e-02 7.51458568e+01] [-2.37008853e-01 9.71498266e-01 -4.23353170e-03 -1.22915884e+01] [-1.79395824e-02 -1.95465443e-05 9.99839073e-01 -1.84875245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.71862385300001 meters 0.015020505612055535 Centerline is valid? [True, True] Translation: X:75.17, Y:-12.30, Z:-1.85 [[ 9.71594945e-01 2.36028314e-01 1.71434291e-02 7.51726637e+01] [-2.35991607e-01 9.71746178e-01 -4.16248486e-03 -1.22986731e+01] [-1.76415260e-02 -1.45613080e-06 9.99844376e-01 -1.85028974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74862385300001 meters 0.015112963731794014 Centerline is valid? [True, True] Translation: X:75.20, Y:-12.31, Z:-1.85 [[ 9.71804673e-01 2.35172785e-01 1.70129155e-02 7.52011079e+01] [-2.35136524e-01 9.71953580e-01 -4.12966101e-03 -1.23058041e+01] [-1.75069480e-02 1.28660567e-05 9.99846742e-01 -1.85085815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.778623853 meters 0.015305649857789635 Centerline is valid? [True, True] Translation: X:75.23, Y:-12.31, Z:-1.85 [[ 9.72218469e-01 2.33453343e-01 1.70524184e-02 7.52280668e+01] [-2.33416662e-01 9.72368004e-01 -4.13849996e-03 -1.23124688e+01] [-1.75473727e-02 4.32075251e-05 9.99846032e-01 -1.85118505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.808623853 meters 0.015355703923531697 Centerline is valid? [True, True] Translation: X:75.26, Y:-12.32, Z:-1.85 [[ 9.72412433e-01 2.32600855e-01 1.76324275e-02 7.52558756e+01] [-2.32561520e-01 9.72572279e-01 -4.27793365e-03 -1.23191885e+01] [-1.81438613e-02 5.92917235e-05 9.99835385e-01 -1.85084245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.838623853 meters 0.015609240265696137 Centerline is valid? [True, True] Translation: X:75.28, Y:-12.33, Z:-1.85 [[ 9.72612584e-01 2.31720583e-01 1.81750442e-02 7.52825662e+01] [-2.31678652e-01 9.72782383e-01 -4.40872940e-03 -1.23264680e+01] [-1.87019562e-02 7.72159596e-05 9.99825100e-01 -1.85093649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.868623853 meters 0.016282211054656895 Centerline is valid? [True, True] Translation: X:75.31, Y:-12.33, Z:-1.85 [[ 9.72973907e-01 2.30162875e-01 1.86233127e-02 7.53092019e+01] [-2.30118588e-01 9.73152115e-01 -4.51619712e-03 -1.23343918e+01] [-1.91627771e-02 1.08571524e-04 9.99816371e-01 -1.85091802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.898623853 meters 0.016567476884838304 Centerline is valid? [True, True] Translation: X:75.34, Y:-12.34, Z:-1.85 [[ 9.73127553e-01 2.29488024e-01 1.89212285e-02 7.53357020e+01] [-2.29442205e-01 9.73311477e-01 -4.58725331e-03 -1.23416426e+01] [-1.94689686e-02 1.22654192e-04 9.99810454e-01 -1.85109769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.928623853 meters 0.016567476884838304 Centerline is valid? [True, True] Translation: X:75.36, Y:-12.35, Z:-1.85 [[ 9.73138049e-01 2.29443487e-01 1.89215068e-02 7.53632510e+01] [-2.29397682e-01 9.73321977e-01 -4.58610520e-03 -1.23482259e+01] [-1.94689704e-02 1.22363666e-04 9.99810454e-01 -1.85181015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.958623853 meters 0.025288896795691792 Centerline is valid? [True, True] Translation: X:75.39, Y:-12.35, Z:-1.85 [[ 9.73418217e-01 2.28263921e-01 1.87765125e-02 7.53921295e+01] [-2.28218615e-01 9.73599282e-01 -4.54993340e-03 -1.23549324e+01] [-1.93193847e-02 1.43838379e-04 9.99813353e-01 -1.84587519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.988623853 meters 0.018132854938567616 Centerline is valid? [True, True] Translation: X:75.42, Y:-12.36, Z:-1.85 [[ 9.73740113e-01 2.26867451e-01 1.90092567e-02 7.54195342e+01] [-2.26820758e-01 9.73925628e-01 -4.60590300e-03 -1.23647776e+01] [-1.95585317e-02 1.73258502e-04 9.99808699e-01 -1.85368290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.01862385300001 meters 0.01811350508158741 Centerline is valid? [True, True] Translation: X:75.45, Y:-12.37, Z:-1.85 [[ 9.73949002e-01 2.25957178e-01 1.91493019e-02 7.54479291e+01] [-2.25909634e-01 9.74137217e-01 -4.63902439e-03 -1.23717986e+01] [-1.97022685e-02 1.92161399e-04 9.99805873e-01 -1.85365773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04862385300001 meters 0.01854607372664121 Centerline is valid? [True, True] Translation: X:75.48, Y:-12.38, Z:-1.85 [[ 9.74164463e-01 2.25049602e-01 1.88752783e-02 7.54763867e+01] [-2.25003248e-01 9.74347286e-01 -4.57216959e-03 -1.23803137e+01] [-1.94200411e-02 2.07046219e-04 9.99811392e-01 -1.85443705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.07862385300001 meters 0.01987432847453016 Centerline is valid? [True, True] Translation: X:75.51, Y:-12.39, Z:-1.85 [[ 9.74639118e-01 2.22956114e-01 1.92135595e-02 7.55052270e+01] [-2.22907689e-01 9.74828450e-01 -4.65347026e-03 -1.23903742e+01] [-1.97674441e-02 2.52604008e-04 9.99804573e-01 -1.85484948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10862385300001 meters 0.029804916278773762 Centerline is valid? [True, True] Translation: X:75.53, Y:-12.40, Z:-1.85 [[ 9.75024374e-01 2.21304896e-01 1.87513451e-02 7.55341375e+01] [-2.21258470e-01 9.75204627e-01 -4.54145018e-03 -1.23997534e+01] [-1.92914437e-02 2.79130704e-04 9.99813864e-01 -1.84959994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.138623853 meters 0.022136389038751463 Centerline is valid? [True, True] Translation: X:75.56, Y:-12.41, Z:-1.86 [[ 9.75231300e-01 2.20357499e-01 1.91437650e-02 7.55637274e+01] [-2.20308922e-01 9.75419130e-01 -4.63667669e-03 -1.24103488e+01] [-1.96949211e-02 3.04289987e-04 9.99805990e-01 -1.85686659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.168623853 meters 0.023787865229522896 Centerline is valid? [True, True] Translation: X:75.59, Y:-12.42, Z:-1.86 [[ 9.75521100e-01 2.19094748e-01 1.88699272e-02 7.55924867e+01] [-2.19047305e-01 9.75703533e-01 -4.57089686e-03 -1.24213041e+01] [-1.94129141e-02 3.25599645e-04 9.99811499e-01 -1.85882232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.198623853 meters 0.03419034521316083 Centerline is valid? [True, True] Translation: X:75.62, Y:-12.44, Z:-1.86 [[ 9.76057426e-01 2.16840673e-01 1.70886942e-02 7.56211934e+01] [-2.16801434e-01 9.76206951e-01 -4.13851844e-03 -1.24356186e+01] [-1.75795012e-02 3.34578247e-04 9.99845413e-01 -1.85627301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.228623853 meters 0.02680316905435264 Centerline is valid? [True, True] Translation: X:75.65, Y:-12.45, Z:-1.86 [[ 9.76260563e-01 2.15926955e-01 1.70547041e-02 7.56514339e+01] [-2.15887687e-01 9.76409456e-01 -4.13291678e-03 -1.24461955e+01] [-1.75447825e-02 3.52903038e-04 9.99846016e-01 -1.86360348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.258623853 meters 0.028948648767420274 Centerline is valid? [True, True] Translation: X:75.68, Y:-12.46, Z:-1.87 [[ 9.76504456e-01 2.14828512e-01 1.69634088e-02 7.56802931e+01] [-2.14789444e-01 9.76651714e-01 -4.11387807e-03 -1.24604659e+01] [-1.74511205e-02 3.73659142e-04 9.99847648e-01 -1.86511522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.288623853 meters 0.028313841601202663 Centerline is valid? [True, True] Translation: X:75.71, Y:-12.47, Z:-1.87 [[ 9.76454674e-01 2.15026099e-01 1.73218275e-02 7.57123220e+01] [-2.14985346e-01 9.76608228e-01 -4.20347907e-03 -1.24693630e+01] [-1.78204969e-02 3.80567720e-04 9.99841130e-01 -1.86540797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.318623853 meters 0.02729986679184738 Centerline is valid? [True, True] Translation: X:75.74, Y:-12.48, Z:-1.87 [[ 9.76316280e-01 2.15650169e-01 1.73644949e-02 7.57430755e+01] [-2.15609248e-01 9.76470617e-01 -4.21748241e-03 -1.24775848e+01] [-1.78654198e-02 3.73651058e-04 9.99840331e-01 -1.86562417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.348623853 meters 0.026760238627690808 Centerline is valid? [True, True] Translation: X:75.77, Y:-12.49, Z:-1.87 [[ 9.76087856e-01 2.16679993e-01 1.73861507e-02 7.57726953e+01] [-2.16639076e-01 9.76242619e-01 -4.22593575e-03 -1.24866461e+01] [-1.78887770e-02 3.58364935e-04 9.99839919e-01 -1.86673187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.37862385300001 meters 0.024506393383161778 Centerline is valid? [True, True] Translation: X:75.80, Y:-12.49, Z:-1.87 [[ 9.75399141e-01 2.19800528e-01 1.68595455e-02 7.58030367e+01] [-2.19762472e-01 9.75544792e-01 -4.10060557e-03 -1.24944079e+01] [-1.73485571e-02 2.94631753e-04 9.99849459e-01 -1.86810831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40862385300001 meters 0.021674008694067163 Centerline is valid? [True, True] Translation: X:75.83, Y:-12.50, Z:-1.87 [[ 9.74936298e-01 2.21835374e-01 1.69788330e-02 7.58348693e+01] [-2.21797039e-01 9.75084098e-01 -4.13227962e-03 -1.24998682e+01] [-1.74724759e-02 2.62854505e-04 9.99847310e-01 -1.86774545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.43862385300001 meters 0.019437157677652406 Centerline is valid? [True, True] Translation: X:75.87, Y:-12.51, Z:-1.87 [[ 9.73909661e-01 2.26266866e-01 1.74148852e-02 7.58654851e+01] [-2.26227185e-01 9.74065331e-01 -4.24171821e-03 -1.25071345e+01] [-1.79229962e-02 1.91329876e-04 9.99839352e-01 -1.86913611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46862385300001 meters 0.018102688354198905 Centerline is valid? [True, True] Translation: X:75.90, Y:-12.51, Z:-1.87 [[ 9.73450869e-01 2.28231640e-01 1.74276872e-02 7.58959930e+01] [-2.28192139e-01 9.73606847e-01 -4.24908636e-03 -1.25134554e+01] [-1.79374916e-02 1.59415581e-04 9.99839098e-01 -1.86982263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.49862385300001 meters 0.01690778992165025 Centerline is valid? [True, True] Translation: X:75.93, Y:-12.52, Z:-1.87 [[ 9.73043431e-01 2.29953410e-01 1.75474006e-02 7.59259453e+01] [-2.29913633e-01 9.73201630e-01 -4.27888294e-03 -1.25195421e+01] [-1.80611026e-02 1.29152322e-04 9.99836877e-01 -1.87067903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.528623853 meters 0.024633913873280653 Centerline is valid? [True, True] Translation: X:75.95, Y:-12.53, Z:-1.87 [[ 9.72718803e-01 2.31325620e-01 1.75096393e-02 7.59545577e+01] [-2.31286234e-01 9.72876378e-01 -4.26976063e-03 -1.25257661e+01] [-1.80224195e-02 1.03537906e-04 9.99837578e-01 -1.86546636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.558623853 meters 0.0146265145147875 Centerline is valid? [True, True] Translation: X:75.98, Y:-12.53, Z:-1.87 [[ 9.71957244e-01 2.34391484e-01 1.89670279e-02 7.59832388e+01] [-2.34345856e-01 9.72142289e-01 -4.62495633e-03 -1.25318861e+01] [-1.95227003e-02 5.04154134e-05 9.99809413e-01 -1.86975160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.588623853 meters 0.014273797986683238 Centerline is valid? [True, True] Translation: X:76.01, Y:-12.54, Z:-1.87 [[ 9.71640837e-01 2.35649340e-01 1.95824681e-02 7.60119089e+01] [-2.35600970e-01 9.71838149e-01 -4.77445836e-03 -1.25395518e+01] [-2.01560875e-02 2.54102409e-05 9.99796845e-01 -1.86962564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.618623853 meters 0.014119709072727523 Centerline is valid? [True, True] Translation: X:76.04, Y:-12.55, Z:-1.87 [[ 9.71344736e-01 2.36832490e-01 1.99943682e-02 7.60414781e+01] [-2.36782320e-01 9.71550499e-01 -4.87457697e-03 -1.25475673e+01] [-2.05799966e-02 5.81785472e-07 9.99788209e-01 -1.86929090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.648623853 meters 0.01436366279644506 Centerline is valid? [True, True] Translation: X:76.07, Y:-12.55, Z:-1.87 [[ 9.70693122e-01 2.39483916e-01 2.00578341e-02 7.60719420e+01] [-2.39433994e-01 9.70900330e-01 -4.88993907e-03 -1.25546454e+01] [-2.06452195e-02 -5.58971031e-05 9.99786863e-01 -1.86940661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.678623853 meters 0.014898722717456054 Centerline is valid? [True, True] Translation: X:76.10, Y:-12.56, Z:-1.87 [[ 9.70293015e-01 2.41130746e-01 1.96831781e-02 7.61024936e+01] [-2.41083001e-01 9.70492635e-01 -4.79908591e-03 -1.25611352e+01] [-2.02595866e-02 -8.87601133e-05 9.99794750e-01 -1.87105364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.708623853 meters 0.015908453912732476 Centerline is valid? [True, True] Translation: X:76.13, Y:-12.57, Z:-1.87 [[ 9.69820593e-01 2.43061316e-01 1.92149312e-02 7.61313403e+01] [-2.43016181e-01 9.70010918e-01 -4.68559720e-03 -1.25666312e+01] [-1.97775805e-02 -1.25350545e-04 9.99804397e-01 -1.87299296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.738623853 meters 0.018356281483396953 Centerline is valid? [True, True] Translation: X:76.16, Y:-12.57, Z:-1.88 [[ 9.68866561e-01 2.46879310e-01 1.86599483e-02 7.61595181e+01] [-2.46837454e-01 9.69046215e-01 -4.55017925e-03 -1.25705894e+01] [-1.92056974e-02 -1.97457612e-04 9.99815534e-01 -1.87528706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76862385300001 meters 0.025033534121494186 Centerline is valid? [True, True] Translation: X:76.19, Y:-12.57, Z:-1.87 [[ 9.68384517e-01 2.48829396e-01 1.77583372e-02 7.61875280e+01] [-2.48791830e-01 9.68547304e-01 -4.32948247e-03 -1.25747917e+01] [-1.82770922e-02 -2.25525423e-04 9.99832935e-01 -1.87234488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.79862385300001 meters 0.03231347879873786 Centerline is valid? [True, True] Translation: X:76.22, Y:-12.58, Z:-1.87 [[ 9.67846253e-01 2.50931449e-01 1.75225145e-02 7.62161110e+01] [-2.50895215e-01 9.68004824e-01 -4.27220915e-03 -1.25800746e+01] [-1.80339102e-02 -2.61473417e-04 9.99837342e-01 -1.87167366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82862385300001 meters 0.026503281077688335 Centerline is valid? [True, True] Translation: X:76.25, Y:-12.58, Z:-1.88 [[ 9.66616987e-01 2.55559293e-01 1.84675121e-02 7.62456436e+01] [-2.55519906e-01 9.66793314e-01 -4.50160684e-03 -1.25804334e+01] [-1.90046947e-02 -3.67487322e-04 9.99819327e-01 -1.87757832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.85862385300001 meters 0.03231549895905577 Centerline is valid? [True, True] Translation: X:76.27, Y:-12.58, Z:-1.87 [[ 9.66115866e-01 2.57435472e-01 1.86309017e-02 7.62743704e+01] [-2.57395751e-01 9.66295405e-01 -4.54058587e-03 -1.25848894e+01] [-1.91718626e-02 -4.08782888e-04 9.99816119e-01 -1.87258240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.888623853 meters 0.028466262690027236 Centerline is valid? [True, True] Translation: X:76.30, Y:-12.59, Z:-1.88 [[ 9.65607387e-01 2.59282315e-01 1.93663224e-02 7.63026106e+01] [-2.59239786e-01 9.65801463e-01 -4.71881667e-03 -1.25896278e+01] [-1.99275282e-02 -4.63997043e-04 9.99801319e-01 -1.87726026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.918623853 meters 0.03365572424620765 Centerline is valid? [True, True] Translation: X:76.33, Y:-12.59, Z:-1.88 [[ 9.64771960e-01 2.62294649e-01 2.04103356e-02 7.63325460e+01] [-2.62248108e-01 9.64987673e-01 -4.97210461e-03 -1.25879812e+01] [-2.09998787e-02 -5.55624782e-04 9.99779324e-01 -1.87695475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.948623853 meters 0.032173137255414055 Centerline is valid? [True, True] Translation: X:76.36, Y:-12.60, Z:-1.88 [[ 9.64546545e-01 2.63109685e-01 2.05732078e-02 7.63598385e+01] [-2.63062603e-01 9.64765753e-01 -5.01080036e-03 -1.25959386e+01] [-2.11667165e-02 -5.78891441e-04 9.99775792e-01 -1.87673538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.978623853 meters 0.033181858958209666 Centerline is valid? [True, True] Translation: X:76.39, Y:-12.60, Z:-1.88 [[ 9.64307956e-01 2.63970773e-01 2.07267227e-02 7.63882362e+01] [-2.63923214e-01 9.64530490e-01 -5.04683153e-03 -1.26014587e+01] [-2.13237720e-02 -6.03563470e-04 9.99772440e-01 -1.87727495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.008623853 meters 0.03494645390087853 Centerline is valid? [True, True] Translation: X:76.42, Y:-12.60, Z:-1.88 [[ 9.63941647e-01 2.65297756e-01 2.08230985e-02 7.64157690e+01] [-2.65250084e-01 9.64166321e-01 -5.06929249e-03 -1.26049005e+01] [-2.14218022e-02 -6.36826468e-04 9.99770324e-01 -1.87782572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.038623853 meters 0.035403320405924824 Centerline is valid? [True, True] Translation: X:76.44, Y:-12.61, Z:-1.88 [[ 9.63811661e-01 2.65792000e-01 2.05351991e-02 7.64441777e+01] [-2.65745778e-01 9.64030188e-01 -4.99789525e-03 -1.26098685e+01] [-2.11249524e-02 -6.40112715e-04 9.99776638e-01 -1.87876682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.068623853 meters 0.04291135604190068 Centerline is valid? [True, True] Translation: X:76.47, Y:-12.61, Z:-1.88 [[ 9.63719507e-01 2.66165407e-01 2.00172051e-02 7.64739241e+01] [-2.66121584e-01 9.63927163e-01 -4.87100658e-03 -1.26050194e+01] [-2.05916211e-02 -6.32726248e-04 9.99787770e-01 -1.88184357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.098623853 meters 0.04348020053127105 Centerline is valid? [True, True] Translation: X:76.50, Y:-12.61, Z:-1.88 [[ 9.63599618e-01 2.66625000e-01 1.96694045e-02 7.65029167e+01] [-2.66582818e-01 9.63800139e-01 -4.78461683e-03 -1.26095521e+01] [-2.02330732e-02 -6.33070329e-04 9.99795090e-01 -1.88291933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12862385300001 meters 0.037007496052762275 Centerline is valid? [True, True] Translation: X:76.53, Y:-12.62, Z:-1.88 [[ 9.63399019e-01 2.67388830e-01 1.91192027e-02 7.65296731e+01] [-2.67349140e-01 9.63588509e-01 -4.64998020e-03 -1.26209005e+01] [-1.96663968e-02 -6.31716059e-04 9.99806398e-01 -1.88354488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.15862385300001 meters 0.03873106892051262 Centerline is valid? [True, True] Translation: X:76.56, Y:-12.62, Z:-1.89 [[ 9.63349600e-01 2.67606246e-01 1.85592464e-02 7.65581680e+01] [-2.67568904e-01 9.63528160e-01 -4.51297525e-03 -1.26226265e+01] [-1.90900569e-02 -6.18304301e-04 9.99817577e-01 -1.88602025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18862385300001 meters 0.03992782058858077 Centerline is valid? [True, True] Translation: X:76.59, Y:-12.63, Z:-1.89 [[ 9.63387477e-01 2.67514675e-01 1.79016202e-02 7.65863236e+01] [-2.67479936e-01 9.63553602e-01 -4.35199516e-03 -1.26254647e+01] [-1.84133932e-02 -5.95666602e-04 9.99830282e-01 -1.88811138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.21862385300001 meters 0.039093410451515126 Centerline is valid? [True, True] Translation: X:76.62, Y:-12.63, Z:-1.89 [[ 9.63618123e-01 2.66691904e-01 1.77634908e-02 7.66150955e+01] [-2.66657581e-01 9.63781664e-01 -4.31726935e-03 -1.26294133e+01] [-1.82715075e-02 -5.76570483e-04 9.99832896e-01 -1.88959183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24862385300001 meters 0.03643092325831775 Centerline is valid? [True, True] Translation: X:76.64, Y:-12.64, Z:-1.89 [[ 9.63831419e-01 2.65898904e-01 1.80767505e-02 7.66426790e+01] [-2.65863237e-01 9.64000750e-01 -4.39252535e-03 -1.26372506e+01] [-1.85939687e-02 -5.72289469e-04 9.99826953e-01 -1.88895434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.278623853 meters 0.03522763814775208 Centerline is valid? [True, True] Translation: X:76.67, Y:-12.64, Z:-1.88 [[ 9.64536729e-01 2.63278469e-01 1.87975044e-02 7.66723959e+01] [-2.63239426e-01 9.64719727e-01 -4.56647613e-03 -1.26435924e+01] [-1.93365782e-02 -5.43710320e-04 9.99812883e-01 -1.88425429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.308623853 meters 0.032482013038838554 Centerline is valid? [True, True] Translation: X:76.70, Y:-12.65, Z:-1.89 [[ 9.64967759e-01 2.61669101e-01 1.91443536e-02 7.67000377e+01] [-2.61628286e-01 9.65157505e-01 -4.65075579e-03 -1.26485901e+01] [-1.96942756e-02 -5.20875028e-04 9.99805913e-01 -1.88851410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.338623853 meters 0.030349796221048636 Centerline is valid? [True, True] Translation: X:76.73, Y:-12.66, Z:-1.89 [[ 9.65433573e-01 2.59903007e-01 1.97089750e-02 7.67279114e+01] [-2.59859408e-01 9.65634598e-01 -4.78657824e-03 -1.26554974e+01] [-2.02757143e-02 -5.00439263e-04 9.99794301e-01 -1.88839125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.368623853 meters 0.029386661936829775 Centerline is valid? [True, True] Translation: X:76.76, Y:-12.66, Z:-1.89 [[ 9.65919558e-01 2.58074321e-01 1.99261607e-02 7.67559841e+01] [-2.58029388e-01 9.66124954e-01 -4.83830761e-03 -1.26602230e+01] [-2.04998041e-02 -4.68119105e-04 9.99789747e-01 -1.88866599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.398623853 meters 0.03627675167175925 Centerline is valid? [True, True] Translation: X:76.78, Y:-12.67, Z:-1.88 [[ 9.66607516e-01 2.55443829e-01 2.04538375e-02 7.67847069e+01] [-2.55395915e-01 9.66823805e-01 -4.96551794e-03 -1.26664940e+01] [-2.10436680e-02 -4.24119596e-04 9.99778468e-01 -1.88216138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.428623853 meters 0.02592572741931059 Centerline is valid? [True, True] Translation: X:76.81, Y:-12.67, Z:-1.89 [[ 9.66904082e-01 2.54309564e-01 2.05704081e-02 7.68129919e+01] [-2.54260885e-01 9.67122786e-01 -4.99193984e-03 -1.26694796e+01] [-2.11636084e-02 -4.03523175e-04 9.99775944e-01 -1.88926720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.458623853 meters 0.023589811048713345 Centerline is valid? [True, True] Translation: X:76.84, Y:-12.67, Z:-1.89 [[ 9.67336856e-01 2.52641903e-01 2.07719874e-02 7.68423353e+01] [-2.52591904e-01 9.67559782e-01 -5.03974525e-03 -1.26725272e+01] [-2.13713904e-02 -3.71704525e-04 9.99771537e-01 -1.88965115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.488623853 meters 0.023610060809334716 Centerline is valid? [True, True] Translation: X:76.87, Y:-12.67, Z:-1.89 [[ 9.67489381e-01 2.52035731e-01 2.10306477e-02 7.68705338e+01] [-2.51984352e-01 9.67717861e-01 -5.10177989e-03 -1.26746627e+01] [-2.16375643e-02 -3.63476278e-04 9.99765814e-01 -1.89082328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.51862385300001 meters 0.022157432744314087 Centerline is valid? [True, True] Translation: X:76.90, Y:-12.68, Z:-1.89 [[ 9.67605512e-01 2.51602217e-01 2.08781534e-02 7.68988390e+01] [-2.51551509e-01 9.67830667e-01 -5.06344862e-03 -1.26794482e+01] [-2.14804921e-02 -3.52510202e-04 9.99769205e-01 -1.89121403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54862385300001 meters 0.02342044143023249 Centerline is valid? [True, True] Translation: X:76.93, Y:-12.68, Z:-1.89 [[ 9.67737173e-01 2.51113151e-01 2.06627553e-02 7.69274563e+01] [-2.51063393e-01 9.67957680e-01 -5.01020172e-03 -1.26800980e+01] [-2.12588002e-02 -3.39103018e-04 9.99773949e-01 -1.89328217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.57862385300001 meters 0.021119563659441516 Centerline is valid? [True, True] Translation: X:76.96, Y:-12.68, Z:-1.90 [[ 9.68113575e-01 2.49725524e-01 1.98310054e-02 7.69568427e+01] [-2.49679427e-01 9.68316619e-01 -4.80719936e-03 -1.26832010e+01] [-2.04031724e-02 -2.97479109e-04 9.99791789e-01 -1.89575580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60862385300001 meters 0.02080138532945984 Centerline is valid? [True, True] Translation: X:76.98, Y:-12.69, Z:-1.90 [[ 9.68414598e-01 2.48598786e-01 1.92823566e-02 7.69841490e+01] [-2.48554993e-01 9.68606511e-01 -4.67361694e-03 -1.26865782e+01] [-1.98388716e-02 -2.66727139e-04 9.99803155e-01 -1.89793212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.638623853 meters 0.019269950968799687 Centerline is valid? [True, True] Translation: X:77.01, Y:-12.69, Z:-1.90 [[ 9.68789543e-01 2.47180588e-01 1.86702365e-02 7.70119724e+01] [-2.47139292e-01 9.68969403e-01 -4.52404096e-03 -1.26926020e+01] [-1.92091430e-02 -2.31305447e-04 9.99815461e-01 -1.89983863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.668623853 meters 0.018000286314973777 Centerline is valid? [True, True] Translation: X:77.04, Y:-12.69, Z:-1.90 [[ 9.69665491e-01 2.43789802e-01 1.77586185e-02 7.70397775e+01] [-2.43751886e-01 9.69828082e-01 -4.30236771e-03 -1.26949568e+01] [-1.82716803e-02 -1.56839251e-04 9.99833047e-01 -1.90410998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.698623853 meters 0.016512950645463813 Centerline is valid? [True, True] Translation: X:77.07, Y:-12.70, Z:-1.90 [[ 9.70115751e-01 2.42009495e-01 1.75166784e-02 7.70675416e+01] [-2.41972336e-01 9.70273873e-01 -4.24255279e-03 -1.27011623e+01] [-1.80227135e-02 -1.22784304e-04 9.99837570e-01 -1.90417252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.728623853 meters 0.015747873379520733 Centerline is valid? [True, True] Translation: X:77.10, Y:-12.71, Z:-1.91 [[ 9.70578770e-01 2.40154925e-01 1.73914520e-02 7.70958701e+01] [-2.40118013e-01 9.70734569e-01 -4.21132531e-03 -1.27059219e+01] [-1.78938542e-02 -8.85779611e-05 9.99839888e-01 -1.90535462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.758623853 meters 0.014879762149904156 Centerline is valid? [True, True] Translation: X:77.12, Y:-12.71, Z:-1.91 [[ 9.71409682e-01 2.36757454e-01 1.75823022e-02 7.71238292e+01] [-2.36719187e-01 9.71568787e-01 -4.25669919e-03 -1.27082686e+01] [-1.80902213e-02 -2.70694738e-05 9.99836358e-01 -1.90614236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.788623853 meters 0.014873007210686452 Centerline is valid? [True, True] Translation: X:77.15, Y:-12.71, Z:-1.91 [[ 9.71760258e-01 2.35328159e-01 1.73970816e-02 7.71501986e+01] [-2.35290482e-01 9.71915972e-01 -4.21092007e-03 -1.27124220e+01] [-1.78994495e-02 -1.36292677e-06 9.99839792e-01 -1.90764177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.818623853 meters 0.014873007210686452 Centerline is valid? [True, True] Translation: X:77.18, Y:-12.72, Z:-1.91 [[ 9.71776749e-01 2.35260021e-01 1.73974612e-02 7.71769459e+01] [-2.35222361e-01 9.71932468e-01 -4.20935103e-03 -1.27187544e+01] [-1.78994494e-02 -1.72242903e-06 9.99839792e-01 -1.90833324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.848623853 meters 0.02672823809949897 Centerline is valid? [True, True] Translation: X:77.20, Y:-12.72, Z:-1.90 [[ 9.72042858e-01 2.34159546e-01 1.73778549e-02 7.72045565e+01] [-2.34121818e-01 9.72198183e-01 -4.20332977e-03 -1.27241192e+01] [-1.78789688e-02 1.72816941e-05 9.99840158e-01 -1.90200273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.87862385300001 meters 0.015250047626192592 Centerline is valid? [True, True] Translation: X:77.23, Y:-12.73, Z:-1.91 [[ 9.72752393e-01 2.31058122e-01 1.91030294e-02 7.72314421e+01] [-2.31011964e-01 9.72939946e-01 -4.61891567e-03 -1.27300030e+01] [-1.96533384e-02 8.00329266e-05 9.99806851e-01 -1.90666946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90862385300001 meters 0.015604603478217642 Centerline is valid? [True, True] Translation: X:77.26, Y:-12.74, Z:-1.91 [[ 9.73076291e-01 2.29618843e-01 1.99428980e-02 7.72593117e+01] [-2.29568263e-01 9.73280625e-01 -4.82061601e-03 -1.27365393e+01] [-2.05169405e-02 1.12570700e-04 9.99789499e-01 -1.90541457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.93862385300001 meters 0.01622953310396221 Centerline is valid? [True, True] Translation: X:77.29, Y:-12.74, Z:-1.90 [[ 9.73406179e-01 2.28147910e-01 2.07109007e-02 7.72861811e+01] [-2.28093046e-01 9.73626473e-01 -5.00531723e-03 -1.27423375e+01] [-2.13066339e-02 1.48194280e-04 9.99772977e-01 -1.90483316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96862385300001 meters 0.016544391520411983 Centerline is valid? [True, True] Translation: X:77.31, Y:-12.75, Z:-1.90 [[ 9.73660943e-01 2.27010837e-01 2.12237786e-02 7.73147676e+01] [-2.26952997e-01 9.73892217e-01 -5.12717325e-03 -1.27469760e+01] [-2.18335966e-02 1.75328195e-04 9.99761603e-01 -1.90441480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.99862385300001 meters 0.017129764940884896 Centerline is valid? [True, True] Translation: X:77.34, Y:-12.75, Z:-1.90 [[ 9.73963704e-01 2.25695913e-01 2.13555157e-02 7.73434477e+01] [-2.25637061e-01 9.74197779e-01 -5.15790944e-03 -1.27518855e+01] [-2.19686150e-02 2.05020793e-04 9.99758640e-01 -1.90489718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.028623853 meters 0.01968158884579858 Centerline is valid? [True, True] Translation: X:77.37, Y:-12.76, Z:-1.91 [[ 9.74598962e-01 2.23013156e-01 2.05425501e-02 7.73700407e+01] [-2.22958124e-01 9.74815402e-01 -4.96060648e-03 -1.27588313e+01] [-2.11314747e-02 2.54473502e-04 9.99776673e-01 -1.90777386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.058623853 meters 0.02062955412543363 Centerline is valid? [True, True] Translation: X:77.40, Y:-12.77, Z:-1.91 [[ 9.74919786e-01 2.21634330e-01 2.02394387e-02 7.73976862e+01] [-2.21580640e-01 9.75129810e-01 -4.88609700e-03 -1.27661724e+01] [-2.08190068e-02 2.78884864e-04 9.99783222e-01 -1.90928752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.088623853 meters 0.021187417815810367 Centerline is valid? [True, True] Translation: X:77.43, Y:-12.77, Z:-1.91 [[ 9.75316504e-01 2.19921688e-01 1.98032584e-02 7.74258350e+01] [-2.19869954e-01 9.75517481e-01 -4.77985018e-03 -1.27731448e+01] [-2.03696175e-02 3.07725249e-04 9.99792470e-01 -1.91010749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.118623853 meters 0.023514622692497968 Centerline is valid? [True, True] Translation: X:77.45, Y:-12.78, Z:-1.91 [[ 9.75956509e-01 2.17147114e-01 1.88685646e-02 7.74529279e+01] [-2.17099646e-01 9.76138827e-01 -4.55341106e-03 -1.27815497e+01] [-1.94070986e-02 3.47572468e-04 9.99811604e-01 -1.91247600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.148623853 meters 0.024787145987429572 Centerline is valid? [True, True] Translation: X:77.48, Y:-12.79, Z:-1.91 [[ 9.76169903e-01 2.16187460e-01 1.88494998e-02 7.74797313e+01] [-2.16139932e-01 9.76351806e-01 -4.54761304e-03 -1.27891490e+01] [-1.93868801e-02 3.65113366e-04 9.99811990e-01 -1.91347616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.178623853 meters 0.025924411299002185 Centerline is valid? [True, True] Translation: X:77.51, Y:-12.80, Z:-1.92 [[ 9.76355867e-01 2.15368985e-01 1.85855074e-02 7.75062848e+01] [-2.15322654e-01 9.76532672e-01 -4.48276881e-03 -1.27959866e+01] [-1.91148046e-02 3.74896857e-04 9.99817225e-01 -1.91523277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.208623853 meters 0.027507935011683648 Centerline is valid? [True, True] Translation: X:77.53, Y:-12.80, Z:-1.92 [[ 9.76386799e-01 2.15277933e-01 1.80063731e-02 7.75334984e+01] [-2.15234449e-01 9.76552753e-01 -4.34200677e-03 -1.28036273e+01] [-1.85189115e-02 3.63886311e-04 9.99828444e-01 -1.91671897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.238623853 meters 0.02570611997423186 Centerline is valid? [True, True] Translation: X:77.56, Y:-12.81, Z:-1.92 [[ 9.76322015e-01 2.15604013e-01 1.76134085e-02 7.75619399e+01] [-2.15562479e-01 9.76480818e-01 -4.24611997e-03 -1.28067137e+01] [-1.81146360e-02 3.48790402e-04 9.99835856e-01 -1.91778048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26862385300001 meters 0.025646563039080663 Centerline is valid? [True, True] Translation: X:77.59, Y:-12.81, Z:-1.92 [[ 9.76261117e-01 2.15894677e-01 1.74275694e-02 7.75888600e+01] [-2.15854075e-01 9.76416598e-01 -4.20054768e-03 -1.28121004e+01] [-1.79234439e-02 3.39019490e-04 9.99839305e-01 -1.91951238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.29862385300001 meters 0.029768489063880427 Centerline is valid? [True, True] Translation: X:77.62, Y:-12.82, Z:-1.92 [[ 9.75988687e-01 2.17141007e-01 1.72007572e-02 7.76159992e+01] [-2.17101668e-01 9.76140198e-01 -4.14482924e-03 -1.28191254e+01] [-1.76903629e-02 3.10993378e-04 9.99843465e-01 -1.91616470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32862385300001 meters 0.025870626746692594 Centerline is valid? [True, True] Translation: X:77.64, Y:-12.82, Z:-1.92 [[ 9.75888825e-01 2.17530339e-01 1.79318830e-02 7.76430528e+01] [-2.17487672e-01 9.76053509e-01 -4.31981806e-03 -1.28245268e+01] [-1.84421689e-02 3.15698676e-04 9.99829879e-01 -1.92097443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.35862385300001 meters 0.024000101759778233 Centerline is valid? [True, True] Translation: X:77.67, Y:-12.83, Z:-1.92 [[ 9.75808044e-01 2.17896719e-01 1.78796260e-02 7.76721441e+01] [-2.17854382e-01 9.75971785e-01 -4.30612729e-03 -1.28282575e+01] [-1.83883015e-02 3.06798774e-04 9.99830874e-01 -1.92096314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.388623853 meters 0.023614878982523284 Centerline is valid? [True, True] Translation: X:77.70, Y:-12.83, Z:-1.92 [[ 9.75763607e-01 2.18099377e-01 1.78337924e-02 7.77007817e+01] [-2.18057307e-01 9.75926519e-01 -4.29414428e-03 -1.28345388e+01] [-1.83410211e-02 3.01280971e-04 9.99831744e-01 -1.92201086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.418623853 meters 0.024013746509337637 Centerline is valid? [True, True] Translation: X:77.73, Y:-12.84, Z:-1.92 [[ 9.75835645e-01 2.17815158e-01 1.73594826e-02 7.77287199e+01] [-2.17775261e-01 9.75989994e-01 -4.17940785e-03 -1.28415254e+01] [-1.78530197e-02 2.97949300e-04 9.99840578e-01 -1.92350045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.448623853 meters 0.023517378231239627 Centerline is valid? [True, True] Translation: X:77.76, Y:-12.85, Z:-1.92 [[ 9.75881023e-01 2.17587628e-01 1.76593323e-02 7.77560909e+01] [-2.17546317e-01 9.76040742e-01 -4.25089004e-03 -1.28471194e+01] [-1.81611689e-02 3.06640232e-04 9.99835025e-01 -1.92363407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.478623853 meters 0.02424875596669592 Centerline is valid? [True, True] Translation: X:77.78, Y:-12.86, Z:-1.92 [[ 9.75932015e-01 2.17347369e-01 1.77995562e-02 7.77821763e+01] [-2.17305377e-01 9.76094270e-01 -4.28360339e-03 -1.28551026e+01] [-1.83050748e-02 3.12566397e-04 9.99832399e-01 -1.92447064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.508623853 meters 0.026504416839281647 Centerline is valid? [True, True] Translation: X:77.81, Y:-12.87, Z:-1.93 [[ 9.76009050e-01 2.17008968e-01 1.77043042e-02 7.78074025e+01] [-2.16967412e-01 9.76169559e-01 -4.25831301e-03 -1.28669583e+01] [-1.82064949e-02 3.14894975e-04 9.99834198e-01 -1.92625041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.538623853 meters 0.024611456214300872 Centerline is valid? [True, True] Translation: X:77.83, Y:-12.87, Z:-1.93 [[ 9.76012556e-01 2.17008075e-01 1.75209811e-02 7.78348369e+01] [-2.16967406e-01 9.76169759e-01 -4.21256130e-03 -1.28714614e+01] [-1.80176117e-02 3.10030900e-04 9.99837622e-01 -1.92615841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.568623853 meters 0.030870288482052144 Centerline is valid? [True, True] Translation: X:77.86, Y:-12.88, Z:-1.92 [[ 9.75690091e-01 2.18523483e-01 1.66232698e-02 7.78633321e+01] [-2.18487116e-01 9.75831654e-01 -3.99542459e-03 -1.28769405e+01] [-1.70946070e-02 2.66325906e-04 9.99853841e-01 -1.92154573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.598623853 meters 0.022079930788203472 Centerline is valid? [True, True] Translation: X:77.89, Y:-12.88, Z:-1.93 [[ 9.75404884e-01 2.19774687e-01 1.68641567e-02 7.78906805e+01] [-2.19737458e-01 9.75550627e-01 -4.05257644e-03 -1.28814992e+01] [-1.73424923e-02 2.47215929e-04 9.99849577e-01 -1.92815625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62862385300001 meters 0.01959580953934338 Centerline is valid? [True, True] Translation: X:77.92, Y:-12.88, Z:-1.93 [[ 9.74988563e-01 2.21617476e-01 1.68224925e-02 7.79194850e+01] [-2.21580725e-01 9.75133657e-01 -4.04147705e-03 -1.28839825e+01] [-1.72998405e-02 2.12853828e-04 9.99850324e-01 -1.92773274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.65862385300001 meters 0.016557852090938484 Centerline is valid? [True, True] Translation: X:77.95, Y:-12.88, Z:-1.93 [[ 9.73875316e-01 2.26468944e-01 1.66939099e-02 7.79498635e+01] [-2.26433463e-01 9.74018378e-01 -4.01063715e-03 -1.28830510e+01] [-1.71684598e-02 1.25800690e-04 9.99852603e-01 -1.92815220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68862385300001 meters 0.015470260965859616 Centerline is valid? [True, True] Translation: X:77.98, Y:-12.89, Z:-1.93 [[ 9.73265705e-01 2.29072271e-01 1.67261190e-02 7.79781034e+01] [-2.29037094e-01 9.73409415e-01 -4.01503946e-03 -1.28860890e+01] [-1.72010959e-02 7.67985186e-05 9.99852047e-01 -1.92914997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.71862385300001 meters 0.014825828180132642 Centerline is valid? [True, True] Translation: X:78.01, Y:-12.89, Z:-1.93 [[ 9.72759270e-01 2.31220132e-01 1.66328894e-02 7.80071100e+01] [-2.31185693e-01 9.72901459e-01 -3.99077893e-03 -1.28896441e+01] [-1.71049108e-02 3.67811453e-05 9.99853700e-01 -1.93028969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74862385300001 meters 0.015097880329524024 Centerline is valid? [True, True] Translation: X:78.03, Y:-12.89, Z:-1.93 [[ 9.71950271e-01 2.34595211e-01 1.66660925e-02 7.80348941e+01] [-2.34561139e-01 9.72093147e-01 -3.99818465e-03 -1.28906855e+01] [-1.71389493e-02 -2.31809950e-05 9.99853117e-01 -1.93315848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.778623853 meters 0.01543855625873175 Centerline is valid? [True, True] Translation: X:78.06, Y:-12.89, Z:-1.93 [[ 9.71701914e-01 2.35598654e-01 1.69901219e-02 7.80626429e+01] [-2.35563412e-01 9.71850437e-01 -4.07509839e-03 -1.28949609e+01] [-1.74719451e-02 -4.24701900e-05 9.99847353e-01 -1.93324075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.808623853 meters 0.015088453812997345 Centerline is valid? [True, True] Translation: X:78.09, Y:-12.90, Z:-1.93 [[ 9.71577167e-01 2.36079416e-01 1.74447200e-02 7.80896923e+01] [-2.36042415e-01 9.71733763e-01 -4.17993740e-03 -1.29005928e+01] [-1.79384206e-02 -5.65620944e-05 9.99839092e-01 -1.93185887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.838623853 meters 0.015519753565875668 Centerline is valid? [True, True] Translation: X:78.12, Y:-12.91, Z:-1.93 [[ 9.71480027e-01 2.36435838e-01 1.80180940e-02 7.81160978e+01] [-2.36396451e-01 9.71647102e-01 -4.31600651e-03 -1.29050057e+01] [-1.85276874e-02 -6.64993562e-05 9.99828345e-01 -1.93294146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.868623853 meters 0.0187402368052386 Centerline is valid? [True, True] Translation: X:78.14, Y:-12.91, Z:-1.93 [[ 9.71465398e-01 2.36461955e-01 1.84587065e-02 7.81429286e+01] [-2.36420640e-01 9.71640746e-01 -4.42063391e-03 -1.29118289e+01] [-1.89805431e-02 -6.95263214e-05 9.99819851e-01 -1.92624673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.898623853 meters 0.023818565403457972 Centerline is valid? [True, True] Translation: X:78.17, Y:-12.92, Z:-1.92 [[ 9.71479188e-01 2.36388004e-01 1.86788503e-02 7.81706556e+01] [-2.36345774e-01 9.71658739e-01 -4.46866794e-03 -1.29184867e+01] [-1.92058076e-02 -7.34494337e-05 9.99815549e-01 -1.92471062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.928623853 meters 0.014684411275424714 Centerline is valid? [True, True] Translation: X:78.20, Y:-12.92, Z:-1.93 [[ 9.71781649e-01 2.35097168e-01 1.92288571e-02 7.81977760e+01] [-2.35052190e-01 9.71971872e-01 -4.59878470e-03 -1.29245652e+01] [-1.97710695e-02 -5.07703933e-05 9.99804532e-01 -1.93176856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.958623853 meters 0.01459241652921012 Centerline is valid? [True, True] Translation: X:78.22, Y:-12.93, Z:-1.93 [[ 9.71938101e-01 2.34487817e-01 1.87561015e-02 7.82246530e+01] [-2.34444947e-01 9.72119058e-01 -4.48379940e-03 -1.29312307e+01] [-1.92845601e-02 -3.92977479e-05 9.99814035e-01 -1.93349895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.988623853 meters 0.014633713533450256 Centerline is valid? [True, True] Translation: X:78.25, Y:-12.94, Z:-1.93 [[ 9.72062572e-01 2.33999948e-01 1.83950987e-02 7.82520610e+01] [-2.33958650e-01 9.72236609e-01 -4.39619584e-03 -1.29375892e+01] [-1.89130980e-02 -3.03150292e-05 9.99821131e-01 -1.93453384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.01862385300001 meters 0.014577644787228516 Centerline is valid? [True, True] Translation: X:78.28, Y:-12.94, Z:-1.94 [[ 9.72363637e-01 2.32810608e-01 1.75549938e-02 7.82793071e+01] [-2.32772826e-01 9.72522093e-01 -4.19410828e-03 -1.29442406e+01] [-1.80490523e-02 -8.12714894e-06 9.99837103e-01 -1.93689512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04862385300001 meters 0.014888974690706954 Centerline is valid? [True, True] Translation: X:78.31, Y:-12.95, Z:-1.94 [[ 9.72529325e-01 2.32122631e-01 1.74870567e-02 7.83052312e+01] [-2.32085040e-01 9.72686529e-01 -4.17730865e-03 -1.29504218e+01] [-1.79790724e-02 4.07091323e-06 9.99838363e-01 -1.93923019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.07862385300001 meters 0.02021523458079539 Centerline is valid? [True, True] Translation: X:78.33, Y:-12.96, Z:-1.93 [[ 9.72657386e-01 2.31578855e-01 1.75739507e-02 7.83325779e+01] [-2.31540852e-01 9.72816136e-01 -4.19527743e-03 -1.29572602e+01] [-1.80677603e-02 1.14800643e-05 9.99836765e-01 -1.93310742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10862385300001 meters 0.014512673872665423 Centerline is valid? [True, True] Translation: X:78.36, Y:-12.96, Z:-1.94 [[ 9.72827543e-01 2.30848340e-01 1.77655637e-02 7.83594846e+01] [-2.30809405e-01 9.72989745e-01 -4.23971997e-03 -1.29632476e+01] [-1.82644436e-02 2.40571731e-05 9.99833191e-01 -1.93754222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.138623853 meters 0.014781391470290147 Centerline is valid? [True, True] Translation: X:78.39, Y:-12.97, Z:-1.94 [[ 9.73149287e-01 2.29525109e-01 1.72826228e-02 7.83857180e+01] [-2.29488074e-01 9.73302739e-01 -4.12333709e-03 -1.29714229e+01] [-1.77676335e-02 4.64667290e-05 9.99842142e-01 -1.93938254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.168623853 meters 0.01488034301391524 Centerline is valid? [True, True] Translation: X:78.41, Y:-12.98, Z:-1.94 [[ 9.73322514e-01 2.28775082e-01 1.74712963e-02 7.84127545e+01] [-2.28737145e-01 9.73479306e-01 -4.16650959e-03 -1.29788476e+01] [-1.79611390e-02 5.90231422e-05 9.99838684e-01 -1.93953006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.198623853 meters 0.015278767921009483 Centerline is valid? [True, True] Translation: X:78.44, Y:-12.99, Z:-1.94 [[ 9.73670648e-01 2.27238161e-01 1.81187325e-02 7.84383265e+01] [-2.27197113e-01 9.73839212e-01 -4.31987820e-03 -1.29872162e+01] [-1.86263734e-02 8.96148758e-05 9.99826510e-01 -1.93892212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.228623853 meters 0.015532700163733959 Centerline is valid? [True, True] Translation: X:78.47, Y:-12.99, Z:-1.94 [[ 9.73845649e-01 2.26466408e-01 1.83743583e-02 7.84658176e+01] [-2.26424115e-01 9.74018971e-01 -4.37775750e-03 -1.29943527e+01] [-1.88883885e-02 1.02862278e-04 9.99821593e-01 -1.93888613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.258623853 meters 0.016134646618701957 Centerline is valid? [True, True] Translation: X:78.49, Y:-13.00, Z:-1.94 [[ 9.73992233e-01 2.25819347e-01 1.85674978e-02 7.84920455e+01] [-2.25776059e-01 9.74169189e-01 -4.42290534e-03 -1.30027157e+01] [-1.90866618e-02 1.15778975e-04 9.99817826e-01 -1.94008955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.288623853 meters 0.016106125838108942 Centerline is valid? [True, True] Translation: X:78.52, Y:-13.01, Z:-1.94 [[ 9.74137108e-01 2.25191173e-01 1.85965217e-02 7.85200200e+01] [-2.25147659e-01 9.74314590e-01 -4.42859272e-03 -1.30099031e+01] [-1.91161424e-02 1.27093196e-04 9.99817262e-01 -1.94039304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.318623853 meters 0.017184080620673673 Centerline is valid? [True, True] Translation: X:78.55, Y:-13.02, Z:-1.94 [[ 9.74512936e-01 2.23607605e-01 1.80048883e-02 7.85459162e+01] [-2.23566559e-01 9.74679237e-01 -4.28692810e-03 -1.30202077e+01] [-1.85075805e-02 1.52375967e-04 9.99828708e-01 -1.94212615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.348623853 meters 0.017751597172086873 Centerline is valid? [True, True] Translation: X:78.57, Y:-13.03, Z:-1.94 [[ 9.74712526e-01 2.22755605e-01 1.77604077e-02 7.85727182e+01] [-2.22715545e-01 9.74874306e-01 -4.22764334e-03 -1.30285554e+01] [-1.82558964e-02 1.65218035e-04 9.99833334e-01 -1.94324811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.37862385300001 meters 0.01986854055829883 Centerline is valid? [True, True] Translation: X:78.60, Y:-13.04, Z:-1.94 [[ 9.74847942e-01 2.22181285e-01 1.75204523e-02 7.86007429e+01] [-2.22142228e-01 9.75005357e-01 -4.16939014e-03 -1.30373627e+01] [-1.80088953e-02 1.72489077e-04 9.99837812e-01 -1.94186177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40862385300001 meters 0.018444351731851015 Centerline is valid? [True, True] Translation: X:78.63, Y:-13.05, Z:-1.95 [[ 9.74989223e-01 2.21580706e-01 1.72628659e-02 7.86278828e+01] [-2.21542709e-01 9.75142020e-01 -4.10726239e-03 -1.30457284e+01] [-1.77438360e-02 1.80074491e-04 9.99842550e-01 -1.94532965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.43862385300001 meters 0.019293457799686966 Centerline is valid? [True, True] Translation: X:78.65, Y:-13.06, Z:-1.95 [[ 9.75158636e-01 2.20866654e-01 1.68391008e-02 7.86542112e+01] [-2.20830406e-01 9.75303997e-01 -4.00572492e-03 -1.30564211e+01] [-1.73079734e-02 1.87631788e-04 9.99850188e-01 -1.94740550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46862385300001 meters 0.02219271153140877 Centerline is valid? [True, True] Translation: X:78.68, Y:-13.06, Z:-1.94 [[ 9.75157897e-01 2.20909728e-01 1.63085356e-02 7.86819639e+01] [-2.20875752e-01 9.75294243e-01 -3.87844991e-03 -1.30635095e+01] [-1.67624082e-02 1.79940994e-04 9.99859485e-01 -1.94417610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.49862385300001 meters 0.018992781285870994 Centerline is valid? [True, True] Translation: X:78.71, Y:-13.07, Z:-1.95 [[ 9.75092144e-01 2.21194816e-01 1.63757383e-02 7.87092410e+01] [-2.21160613e-01 9.75229626e-01 -3.89360576e-03 -1.30707865e+01] [-1.68313506e-02 1.74956058e-04 9.99858327e-01 -1.94917888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.528623853 meters 0.018649815679740313 Centerline is valid? [True, True] Translation: X:78.74, Y:-13.08, Z:-1.95 [[ 9.74751941e-01 2.22750988e-01 1.55129499e-02 7.87358095e+01] [-2.22720501e-01 9.74875365e-01 -3.68785023e-03 -1.30782800e+01] [-1.59446650e-02 1.39687186e-04 9.99872866e-01 -1.95257737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.558623853 meters 0.020877117443222674 Centerline is valid? [True, True] Translation: X:78.76, Y:-13.08, Z:-1.95 [[ 9.74500819e-01 2.23879170e-01 1.50423295e-02 7.87641465e+01] [-2.23850655e-01 9.74616901e-01 -3.57500042e-03 -1.30838326e+01] [-1.54608767e-02 1.16605523e-04 9.99880467e-01 -1.94895389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.588623853 meters 0.01653720366894661 Centerline is valid? [True, True] Translation: X:78.79, Y:-13.09, Z:-1.95 [[ 9.73933495e-01 2.26289032e-01 1.57105676e-02 7.87920043e+01] [-2.26258254e-01 9.74060197e-01 -3.73298366e-03 -1.30885687e+01] [-1.61477719e-02 8.10322275e-05 9.99869613e-01 -1.95333021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.618623853 meters 0.01593194665200421 Centerline is valid? [True, True] Translation: X:78.82, Y:-13.09, Z:-1.95 [[ 9.73690747e-01 2.27287281e-01 1.63346682e-02 7.88191821e+01] [-2.27254163e-01 9.73827750e-01 -3.88050178e-03 -1.30935476e+01] [-1.67891418e-02 6.62873401e-05 9.99859050e-01 -1.95280261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.648623853 meters 0.015606600292917685 Centerline is valid? [True, True] Translation: X:78.85, Y:-13.10, Z:-1.95 [[ 9.73486608e-01 2.28146293e-01 1.65255276e-02 7.88472260e+01] [-2.28112537e-01 9.73626862e-01 -3.92475974e-03 -1.30987180e+01] [-1.69851170e-02 5.10210121e-05 9.99855741e-01 -1.95323767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.678623853 meters 0.015433114136625122 Centerline is valid? [True, True] Translation: X:78.87, Y:-13.10, Z:-1.95 [[ 9.73379194e-01 2.28585732e-01 1.67781804e-02 7.88732621e+01] [-2.28551005e-01 9.73523786e-01 -3.98458331e-03 -1.31046107e+01] [-1.72447766e-02 4.38404999e-05 9.99851297e-01 -1.95370097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.708623853 meters 0.015313190522185714 Centerline is valid? [True, True] Translation: X:78.90, Y:-13.11, Z:-1.95 [[ 9.73374572e-01 2.28577986e-01 1.71477629e-02 7.89009729e+01] [-2.28541762e-01 9.73525604e-01 -4.06950330e-03 -1.31140996e+01] [-1.76239851e-02 4.21710927e-05 9.99844685e-01 -1.95420620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.738623853 meters 0.015313190522185714 Centerline is valid? [True, True] Translation: X:78.93, Y:-13.12, Z:-1.95 [[ 9.73389605e-01 2.28513952e-01 1.71479029e-02 7.89277490e+01] [-2.28477727e-01 9.73540637e-01 -4.06891322e-03 -1.31203073e+01] [-1.76239838e-02 4.27239518e-05 9.99844685e-01 -1.95489767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76862385300001 meters 0.015475994343523588 Centerline is valid? [True, True] Translation: X:78.95, Y:-13.13, Z:-1.96 [[ 9.73541704e-01 2.27870785e-01 1.70720979e-02 7.89549470e+01] [-2.27834805e-01 9.73691380e-01 -4.04957501e-03 -1.31289862e+01] [-1.75457344e-02 5.28120565e-05 9.99846060e-01 -1.95592435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.79862385300001 meters 0.015787627190209298 Centerline is valid? [True, True] Translation: X:78.98, Y:-13.14, Z:-1.96 [[ 9.73786513e-01 2.26784427e-01 1.75684428e-02 7.89807423e+01] [-2.26746158e-01 9.73944977e-01 -4.16670153e-03 -1.31382368e+01] [-1.80556397e-02 7.39008365e-05 9.99836981e-01 -1.95598419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82862385300001 meters 0.016111372643104208 Centerline is valid? [True, True] Translation: X:79.01, Y:-13.15, Z:-1.95 [[ 9.74320283e-01 2.24427920e-01 1.82234687e-02 7.90075592e+01] [-2.24386365e-01 9.74490685e-01 -4.32032389e-03 -1.31504594e+01] [-1.87282018e-02 1.20281296e-04 9.99824605e-01 -1.95385114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.85862385300001 meters 0.016768228887030584 Centerline is valid? [True, True] Translation: X:79.03, Y:-13.16, Z:-1.95 [[ 9.74670163e-01 2.22912555e-01 1.81125692e-02 7.90347344e+01] [-2.22871259e-01 9.74838433e-01 -4.29313925e-03 -1.31599921e+01] [-1.86138232e-02 1.47623637e-04 9.99826737e-01 -1.95389065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.888623853 meters 0.018846133242467172 Centerline is valid? [True, True] Translation: X:79.06, Y:-13.17, Z:-1.96 [[ 9.75377828e-01 2.19858576e-01 1.73291445e-02 7.90601214e+01] [-2.19820306e-01 9.75531736e-01 -4.10670882e-03 -1.31732245e+01] [-1.78080256e-02 1.96294874e-04 9.99841405e-01 -1.95529186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.918623853 meters 0.019910628977861083 Centerline is valid? [True, True] Translation: X:79.09, Y:-13.18, Z:-1.96 [[ 9.75683456e-01 2.18509434e-01 1.71878371e-02 7.90877034e+01] [-2.18471597e-01 9.75834812e-01 -4.07204930e-03 -1.31834637e+01] [-1.76622709e-02 2.17976924e-04 9.99843986e-01 -1.95696884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.948623853 meters 0.021072594367717936 Centerline is valid? [True, True] Translation: X:79.11, Y:-13.19, Z:-1.96 [[ 9.75977939e-01 2.17202630e-01 1.70317403e-02 7.91136766e+01] [-2.17165291e-01 9.76126508e-01 -4.03431403e-03 -1.31935247e+01] [-1.75013969e-02 2.38698641e-04 9.99846810e-01 -1.95780551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.978623853 meters 0.02318283658153311 Centerline is valid? [True, True] Translation: X:79.14, Y:-13.21, Z:-1.96 [[ 9.76486450e-01 2.14917524e-01 1.68721829e-02 7.91400260e+01] [-2.14880560e-01 9.76632163e-01 -3.99538526e-03 -1.32076270e+01] [-1.73365948e-02 2.75935453e-04 9.99849672e-01 -1.95922266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.008623853 meters 0.02419479551977009 Centerline is valid? [True, True] Translation: X:79.17, Y:-13.22, Z:-1.96 [[ 9.76700458e-01 2.13958117e-01 1.66775390e-02 7.91663555e+01] [-2.13921874e-01 9.76842792e-01 -3.94857701e-03 -1.32179756e+01] [-1.71361639e-02 2.88886588e-04 9.99853123e-01 -1.96025410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.038623853 meters 0.0251708616073748 Centerline is valid? [True, True] Translation: X:79.19, Y:-13.23, Z:-1.96 [[ 9.76916374e-01 2.12990400e-01 1.64160555e-02 7.91932994e+01] [-2.12955166e-01 9.77054246e-01 -3.88558226e-03 -1.32282629e+01] [-1.68669684e-02 3.00005108e-04 9.99857698e-01 -1.96144182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.068623853 meters 0.026694236983107102 Centerline is valid? [True, True] Translation: X:79.22, Y:-13.24, Z:-1.96 [[ 9.77248881e-01 2.11455935e-01 1.64624731e-02 7.92196766e+01] [-2.11420298e-01 9.77387477e-01 -3.89575824e-03 -1.32424132e+01] [-1.69139962e-02 3.26624429e-04 9.99856895e-01 -1.96231393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.098623853 meters 0.027170103111354132 Centerline is valid? [True, True] Translation: X:79.25, Y:-13.25, Z:-1.96 [[ 9.77358339e-01 2.10944675e-01 1.65233582e-02 7.92457700e+01] [-2.10908713e-01 9.77497944e-01 -3.90944579e-03 -1.32528619e+01] [-1.69762255e-02 3.36009226e-04 9.99855837e-01 -1.96314040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12862385300001 meters 0.027578231339003615 Centerline is valid? [True, True] Translation: X:79.27, Y:-13.26, Z:-1.96 [[ 9.77470430e-01 2.10426138e-01 1.65045169e-02 7.92732827e+01] [-2.10390203e-01 9.77609698e-01 -3.90388353e-03 -1.32635353e+01] [-1.69564550e-02 3.43542046e-04 9.99856170e-01 -1.96371696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.15862385300001 meters 0.027347208069781165 Centerline is valid? [True, True] Translation: X:79.30, Y:-13.28, Z:-1.96 [[ 9.77444917e-01 2.10527268e-01 1.67243279e-02 7.93002887e+01] [-2.10490400e-01 9.77587924e-01 -3.95495641e-03 -1.32769182e+01] [-1.71821272e-02 3.45441575e-04 9.99852317e-01 -1.96329503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18862385300001 meters 0.02673226535723228 Centerline is valid? [True, True] Translation: X:79.33, Y:-13.29, Z:-1.96 [[ 9.77319629e-01 2.11087507e-01 1.69825349e-02 7.93275208e+01] [-2.11049585e-01 9.77467109e-01 -4.01547105e-03 -1.32860994e+01] [-1.74474850e-02 3.40241746e-04 9.99847723e-01 -1.96335557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.21862385300001 meters 0.02609005291034056 Centerline is valid? [True, True] Translation: X:79.36, Y:-13.30, Z:-1.96 [[ 9.77160116e-01 2.11803254e-01 1.72478788e-02 7.93554724e+01] [-2.11764268e-01 9.77312269e-01 -4.07716928e-03 -1.32955067e+01] [-1.77201213e-02 3.31562790e-04 9.99842931e-01 -1.96400803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24862385300001 meters 0.024329763296829687 Centerline is valid? [True, True] Translation: X:79.38, Y:-13.31, Z:-1.96 [[ 9.76672058e-01 2.14029074e-01 1.74139950e-02 7.93824375e+01] [-2.13989693e-01 9.76827246e-01 -4.11609104e-03 -1.33060007e+01] [-1.78914279e-02 2.93655673e-04 9.99839892e-01 -1.96438952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.278623853 meters 0.02285258123143692 Centerline is valid? [True, True] Translation: X:79.41, Y:-13.31, Z:-1.97 [[ 9.76370379e-01 2.15414987e-01 1.72414045e-02 7.94114018e+01] [-2.15376611e-01 9.76522562e-01 -4.07458655e-03 -1.33133276e+01] [-1.77143474e-02 2.64910364e-04 9.99843054e-01 -1.96516259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.308623853 meters 0.018336077359232466 Centerline is valid? [True, True] Translation: X:79.44, Y:-13.32, Z:-1.97 [[ 9.75466815e-01 2.19514762e-01 1.66662031e-02 7.94405928e+01] [-2.19479508e-01 9.75609161e-01 -3.93827942e-03 -1.33170761e+01] [-1.71242109e-02 1.83770834e-04 9.99853353e-01 -1.96588498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.338623853 meters 0.017293190405854735 Centerline is valid? [True, True] Translation: X:79.47, Y:-13.32, Z:-1.97 [[ 9.74929930e-01 2.21921702e-01 1.61984666e-02 7.94682718e+01] [-2.21888736e-01 9.75064480e-01 -3.82745676e-03 -1.33242410e+01] [-1.66439452e-02 1.37244859e-04 9.99861471e-01 -1.96803890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.368623853 meters 0.016084320179197344 Centerline is valid? [True, True] Translation: X:79.50, Y:-13.33, Z:-1.97 [[ 9.74288920e-01 2.24743583e-01 1.58562761e-02 7.94957975e+01] [-2.24712377e-01 9.74417936e-01 -3.74610652e-03 -1.33299151e+01] [-1.62925532e-02 8.66886004e-05 9.99867264e-01 -1.97022408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.398623853 meters 0.015055011004360741 Centerline is valid? [True, True] Translation: X:79.52, Y:-13.33, Z:-1.97 [[ 9.73596191e-01 2.27765774e-01 1.52711879e-02 7.95241061e+01] [-2.27737211e-01 9.73715950e-01 -3.60716605e-03 -1.33343037e+01] [-1.56913882e-02 3.41053943e-05 9.99876882e-01 -1.97140490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.428623853 meters 0.0167744858957915 Centerline is valid? [True, True] Translation: X:79.55, Y:-13.33, Z:-1.98 [[ 9.71862505e-01 2.35097817e-01 1.45700991e-02 7.95530470e+01] [-2.35072648e-01 9.71971712e-01 -3.44100265e-03 -1.33333222e+01] [-1.49706964e-02 -8.08503104e-05 9.99887930e-01 -1.97567971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.458623853 meters 0.018152938483076357 Centerline is valid? [True, True] Translation: X:79.58, Y:-13.34, Z:-1.97 [[ 9.70965816e-01 2.38762847e-01 1.47542248e-02 7.95819137e+01] [-2.38737476e-01 9.71077898e-01 -3.48341281e-03 -1.33372566e+01] [-1.51592111e-02 -1.40111622e-04 9.99885083e-01 -1.97406734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.488623853 meters 0.021105800189182063 Centerline is valid? [True, True] Translation: X:79.61, Y:-13.34, Z:-1.97 [[ 9.70022999e-01 2.42543383e-01 1.51025818e-02 7.96099041e+01] [-2.42517265e-01 9.70140539e-01 -3.56520236e-03 -1.33390927e+01] [-1.55163431e-02 -2.04308547e-04 9.99879593e-01 -1.97410816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.51862385300001 meters 0.028164045150858272 Centerline is valid? [True, True] Translation: X:79.64, Y:-13.34, Z:-1.97 [[ 9.68184746e-01 2.49709794e-01 1.62270139e-02 7.96411855e+01] [-2.49680682e-01 9.68320660e-01 -3.82846263e-03 -1.33355037e+01] [-1.66689574e-02 -3.44912788e-04 9.99861004e-01 -1.97325021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54862385300001 meters 0.029027364075518234 Centerline is valid? [True, True] Translation: X:79.67, Y:-13.34, Z:-1.97 [[ 9.67495415e-01 2.52366629e-01 1.62390781e-02 7.96704211e+01] [-2.52337849e-01 9.67631610e-01 -3.83121273e-03 -1.33412536e+01] [-1.66803155e-02 -3.91053282e-04 9.99860797e-01 -1.97219643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.57862385300001 meters 0.03463131042322378 Centerline is valid? [True, True] Translation: X:79.70, Y:-13.34, Z:-1.97 [[ 9.66612322e-01 2.55711541e-01 1.64992795e-02 7.96999635e+01] [-2.55682321e-01 9.66753019e-01 -3.89243691e-03 -1.33394076e+01] [-1.69460693e-02 -4.56096589e-04 9.99856301e-01 -1.97405338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60862385300001 meters 0.03483548621002847 Centerline is valid? [True, True] Translation: X:79.73, Y:-13.34, Z:-1.97 [[ 9.66309733e-01 2.56846719e-01 1.65910658e-02 7.97277310e+01] [-2.56817356e-01 9.66452034e-01 -3.91313617e-03 -1.33449770e+01] [-1.70395455e-02 -4.79572088e-04 9.99854701e-01 -1.97472650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.63862385300001 meters 0.035936086130345116 Centerline is valid? [True, True] Translation: X:79.76, Y:-13.35, Z:-1.98 [[ 9.66154723e-01 2.57429449e-01 1.65870537e-02 7.97554297e+01] [-2.57400199e-01 9.66296972e-01 -3.91139931e-03 -1.33491762e+01] [-1.70349292e-02 -4.90494024e-04 9.99854775e-01 -1.97578134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.668623853 meters 0.039254188531048555 Centerline is valid? [True, True] Translation: X:79.78, Y:-13.35, Z:-1.98 [[ 9.66065835e-01 2.57756829e-01 1.66799029e-02 7.97835004e+01] [-2.57727330e-01 9.66209691e-01 -3.93155235e-03 -1.33505304e+01] [-1.71296683e-02 -5.00728428e-04 9.99853151e-01 -1.97756382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.698623853 meters 0.036940581835020296 Centerline is valid? [True, True] Translation: X:79.81, Y:-13.36, Z:-1.98 [[ 9.66305445e-01 2.56846078e-01 1.68486858e-02 7.98109245e+01] [-2.56815860e-01 9.66452198e-01 -3.97020351e-03 -1.33591884e+01] [-1.73031807e-02 -4.90580476e-04 9.99850168e-01 -1.97705898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.728623853 meters 0.033613090932478745 Centerline is valid? [True, True] Translation: X:79.84, Y:-13.37, Z:-1.98 [[ 9.66537515e-01 2.55965016e-01 1.69453045e-02 7.98381903e+01] [-2.55934329e-01 9.66685927e-01 -3.99217285e-03 -1.33694835e+01] [-1.74026440e-02 -4.78300314e-04 9.99848448e-01 -1.97631345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.758623853 meters 0.031941173712440714 Centerline is valid? [True, True] Translation: X:79.87, Y:-13.38, Z:-1.98 [[ 9.66890518e-01 2.54614362e-01 1.71537969e-02 7.98658717e+01] [-2.54582718e-01 9.67042561e-01 -4.04043119e-03 -1.33773585e+01] [-1.76172035e-02 -4.60405627e-04 9.99844699e-01 -1.97617385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.788623853 meters 0.03514790474446006 Centerline is valid? [True, True] Translation: X:79.89, Y:-13.39, Z:-1.97 [[ 9.67658774e-01 2.51698198e-01 1.68675666e-02 7.98934223e+01] [-2.51667172e-01 9.67805691e-01 -3.97219425e-03 -1.33866418e+01] [-1.73243211e-02 -4.01284178e-04 9.99849842e-01 -1.97140683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.818623853 meters 0.028164257140649688 Centerline is valid? [True, True] Translation: X:79.92, Y:-13.39, Z:-1.98 [[ 9.68034556e-01 2.50230258e-01 1.71440132e-02 7.99206156e+01] [-2.50197991e-01 9.68186280e-01 -4.03650684e-03 -1.33927732e+01] [-1.76086545e-02 -3.81919548e-04 9.99844883e-01 -1.97766030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.848623853 meters 0.024535779719539474 Centerline is valid? [True, True] Translation: X:79.95, Y:-13.40, Z:-1.98 [[ 9.69084532e-01 2.46099110e-01 1.76181202e-02 7.99480381e+01] [-2.46064376e-01 9.69244617e-01 -4.14672726e-03 -1.34028933e+01] [-1.80967741e-02 -3.16662507e-04 9.99836190e-01 -1.97864603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.87862385300001 meters 0.02222494580495967 Centerline is valid? [True, True] Translation: X:79.97, Y:-13.41, Z:-1.98 [[ 9.69759534e-01 2.43419482e-01 1.77031831e-02 7.99747131e+01] [-2.43383970e-01 9.69921071e-01 -4.16647244e-03 -1.34129328e+01] [-1.81848909e-02 -2.68194609e-04 9.99834605e-01 -1.97962029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90862385300001 meters 0.020049650852914585 Centerline is valid? [True, True] Translation: X:80.00, Y:-13.42, Z:-1.98 [[ 9.70488193e-01 2.40509977e-01 1.75390354e-02 8.00009426e+01] [-2.40474658e-01 9.70646643e-01 -4.12707420e-03 -1.34223444e+01] [-1.80168083e-02 -2.12416761e-04 9.99837662e-01 -1.98010583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.93862385300001 meters 0.016182051780777598 Centerline is valid? [True, True] Translation: X:80.03, Y:-13.43, Z:-1.98 [[ 9.71912258e-01 2.34681263e-01 1.76427706e-02 8.00267202e+01] [-2.34644584e-01 9.72072370e-01 -4.15039740e-03 -1.34348013e+01] [-1.81240704e-02 -1.05958464e-04 9.99835740e-01 -1.98211984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96862385300001 meters 0.027744819797172193 Centerline is valid? [True, True] Translation: X:80.05, Y:-13.45, Z:-1.98 [[ 9.72629448e-01 2.31757140e-01 1.67506989e-02 8.00538045e+01] [-2.31723660e-01 9.72773676e-01 -3.93951813e-03 -1.34465282e+01] [-1.72076504e-02 -4.98419048e-05 9.99851936e-01 -1.97737598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.99862385300001 meters 0.014547761623901248 Centerline is valid? [True, True] Translation: X:80.08, Y:-13.46, Z:-1.98 [[ 9.73180463e-01 2.29438411e-01 1.66673757e-02 8.00808759e+01] [-2.29404938e-01 9.73323181e-01 -3.91909859e-03 -1.34564940e+01] [-1.71219349e-02 -9.58811045e-06 9.99853409e-01 -1.98488066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.028623853 meters 0.015136815477996945 Centerline is valid? [True, True] Translation: X:80.11, Y:-13.47, Z:-1.99 [[ 9.74018605e-01 2.25924392e-01 1.56820091e-02 8.01067200e+01] [-2.25894313e-01 9.74144839e-01 -3.68680829e-03 -1.34682119e+01] [-1.61094882e-02 4.85431814e-05 9.99870233e-01 -1.98737850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.058623853 meters 0.015609125562651085 Centerline is valid? [True, True] Translation: X:80.13, Y:-13.48, Z:-1.99 [[ 9.74272760e-01 2.24821052e-01 1.57507073e-02 8.01337259e+01] [-2.24790580e-01 9.74400067e-01 -3.70198246e-03 -1.34763098e+01] [-1.61797738e-02 6.61300419e-05 9.99869097e-01 -1.98776616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.088623853 meters 0.01574661249055374 Centerline is valid? [True, True] Translation: X:80.16, Y:-13.48, Z:-1.99 [[ 9.74428466e-01 2.24121567e-01 1.60837960e-02 8.01612796e+01] [-2.24089716e-01 9.74561192e-01 -3.77915151e-03 -1.34835551e+01] [-1.65216328e-02 7.82995205e-05 9.99863505e-01 -1.98803186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.118623853 meters 0.015643918739828545 Centerline is valid? [True, True] Translation: X:80.19, Y:-13.49, Z:-1.99 [[ 9.74357027e-01 2.24440356e-01 1.59659135e-02 8.01884871e+01] [-2.24409023e-01 9.74487825e-01 -3.75082186e-03 -1.34882642e+01] [-1.64004241e-02 7.17445860e-05 9.99865501e-01 -1.98877035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.148623853 meters 0.015629556868029457 Centerline is valid? [True, True] Translation: X:80.22, Y:-13.49, Z:-1.99 [[ 9.74243892e-01 2.24942632e-01 1.58003470e-02 8.02154511e+01] [-2.24912029e-01 9.74372007e-01 -3.71091889e-03 -1.34932255e+01] [-1.62301597e-02 6.16519674e-05 9.99868280e-01 -1.99051042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.178623853 meters 0.014860240610305019 Centerline is valid? [True, True] Translation: X:80.24, Y:-13.50, Z:-1.99 [[ 9.73880998e-01 2.26493389e-01 1.60170834e-02 8.02442820e+01] [-2.26462169e-01 9.74012702e-01 -3.76065281e-03 -1.34960947e+01] [-1.64526056e-02 3.51648757e-05 9.99864646e-01 -1.98975676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.208623853 meters 0.014944769370776856 Centerline is valid? [True, True] Translation: X:80.27, Y:-13.50, Z:-1.99 [[ 9.73661714e-01 2.27446246e-01 1.58452653e-02 8.02716911e+01] [-2.27415830e-01 9.73790637e-01 -3.71963589e-03 -1.35003415e+01] [-1.62759882e-02 1.82028986e-05 9.99867537e-01 -1.99155003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.238623853 meters 0.014769019377260596 Centerline is valid? [True, True] Translation: X:80.30, Y:-13.50, Z:-1.99 [[ 9.73467476e-01 2.28267179e-01 1.59739585e-02 8.02997446e+01] [-2.28236392e-01 9.73598529e-01 -3.74892280e-03 -1.35044219e+01] [-1.64079785e-02 3.61575865e-06 9.99865380e-01 -1.99239283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26862385300001 meters 0.014972378922209333 Centerline is valid? [True, True] Translation: X:80.33, Y:-13.51, Z:-1.99 [[ 9.73336414e-01 2.28842656e-01 1.57246068e-02 8.03275293e+01] [-2.28812917e-01 9.73463424e-01 -3.68919487e-03 -1.35083939e+01] [-1.61515747e-02 -7.16544353e-06 9.99869555e-01 -1.99405499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.29862385300001 meters 0.015115837569980355 Centerline is valid? [True, True] Translation: X:80.36, Y:-13.51, Z:-2.00 [[ 9.73150272e-01 2.29684370e-01 1.49545217e-02 8.03563078e+01] [-2.29657586e-01 9.73265169e-01 -3.50760465e-03 -1.35112972e+01] [-1.53603570e-02 -2.09929333e-05 9.99882023e-01 -1.99563030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32862385300001 meters 0.015673817906361198 Centerline is valid? [True, True] Translation: X:80.38, Y:-13.52, Z:-2.00 [[ 9.72967883e-01 2.30478702e-01 1.45967881e-02 8.03838584e+01] [-2.30453283e-01 9.73077369e-01 -3.42312833e-03 -1.35154389e+01] [-1.49927624e-02 -3.32838086e-05 9.99887602e-01 -1.99854044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.35862385300001 meters 0.015828345453595235 Centerline is valid? [True, True] Translation: X:80.41, Y:-13.52, Z:-2.00 [[ 9.72570392e-01 2.32113135e-01 1.51764497e-02 8.04123222e+01] [-2.32085869e-01 9.72688793e-01 -3.55818777e-03 -1.35174728e+01] [-1.55878647e-02 -6.16514501e-05 9.99878500e-01 -1.99679958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38862385300001 meters 0.016456615929199697 Centerline is valid? [True, True] Translation: X:80.44, Y:-13.52, Z:-2.00 [[ 9.72381725e-01 2.32858658e-01 1.58311884e-02 8.04390772e+01] [-2.32829101e-01 9.72510586e-01 -3.71083746e-03 -1.35201946e+01] [-1.62600990e-02 -7.76108432e-05 9.99867793e-01 -1.99778414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.418623853 meters 0.01648948025715422 Centerline is valid? [True, True] Translation: X:80.47, Y:-13.52, Z:-2.00 [[ 9.72171600e-01 2.33705678e-01 1.62491751e-02 8.04673100e+01] [-2.33674696e-01 9.72307383e-01 -3.80651640e-03 -1.35239795e+01] [-1.66887974e-02 -9.64339132e-05 9.99860728e-01 -1.99639095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.448623853 meters 0.027744251983515652 Centerline is valid? [True, True] Translation: X:80.50, Y:-13.53, Z:-1.99 [[ 9.71846224e-01 2.35020336e-01 1.67439080e-02 8.04955280e+01] [-2.34987657e-01 9.71990446e-01 -3.92106314e-03 -1.35252308e+01] [-1.71964482e-02 -1.23941295e-04 9.99852122e-01 -1.98953348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.478623853 meters 0.018220502649040637 Centerline is valid? [True, True] Translation: X:80.52, Y:-13.53, Z:-2.00 [[ 9.71662586e-01 2.35705510e-01 1.77407001e-02 8.05226706e+01] [-2.35668956e-01 9.71824517e-01 -4.15350331e-03 -1.35276547e+01] [-1.82198509e-02 -1.45128502e-04 9.99833994e-01 -1.99605828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.508623853 meters 0.018302305984033346 Centerline is valid? [True, True] Translation: X:80.55, Y:-13.53, Z:-2.00 [[ 9.71637305e-01 2.35800652e-01 1.78605934e-02 8.05501891e+01] [-2.35763648e-01 9.71801436e-01 -4.17998270e-03 -1.35317739e+01] [-1.83425930e-02 -1.49451533e-04 9.99831749e-01 -1.99613175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.538623853 meters 0.01781416350886059 Centerline is valid? [True, True] Translation: X:80.58, Y:-13.54, Z:-2.00 [[ 9.71633657e-01 2.35785429e-01 1.82556185e-02 8.05784563e+01] [-2.35746791e-01 9.71805129e-01 -4.27116520e-03 -1.35351521e+01] [-1.87479822e-02 -1.53695606e-04 9.99824229e-01 -1.99565901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.568623853 meters 0.026383565054864458 Centerline is valid? [True, True] Translation: X:80.61, Y:-13.54, Z:-1.99 [[ 9.71845004e-01 2.34955507e-01 1.76974181e-02 8.06062315e+01] [-2.34919079e-01 9.72006117e-01 -4.13938144e-03 -1.35416392e+01] [-1.81745691e-02 -1.34623999e-04 9.99834820e-01 -1.99065409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.598623853 meters 0.02260114076399491 Centerline is valid? [True, True] Translation: X:80.63, Y:-13.55, Z:-1.99 [[ 9.72442826e-01 2.32491109e-01 1.74021368e-02 8.06332390e+01] [-2.32455516e-01 9.72598518e-01 -4.06894422e-03 -1.35501536e+01] [-1.78712858e-02 -8.84070898e-05 9.99840292e-01 -1.99410665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62862385300001 meters 0.02260114076399491 Centerline is valid? [True, True] Translation: X:80.66, Y:-13.56, Z:-1.99 [[ 9.72458100e-01 2.32427201e-01 1.74022842e-02 8.06600378e+01] [-2.32391609e-01 9.72613792e-01 -4.06831387e-03 -1.35562723e+01] [-1.78712884e-02 -8.78800520e-05 9.99840292e-01 -1.99479814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.65862385300001 meters 0.015314123420941022 Centerline is valid? [True, True] Translation: X:80.69, Y:-13.56, Z:-2.00 [[ 9.72823337e-01 2.30889613e-01 1.74568754e-02 8.06880570e+01] [-2.30853575e-01 9.72979950e-01 -4.07969767e-03 -1.35642297e+01] [-1.79271495e-02 -6.11569846e-05 9.99839294e-01 -2.00127143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68862385300001 meters 0.014916454423311323 Centerline is valid? [True, True] Translation: X:80.71, Y:-13.57, Z:-2.00 [[ 9.73270832e-01 2.29038223e-01 1.68932142e-02 8.07146220e+01] [-2.29004206e-01 9.73417429e-01 -3.94740151e-03 -1.35727193e+01] [-1.73482550e-02 -2.67263586e-05 9.99849507e-01 -2.00333549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.71862385300001 meters 0.015475817332760045 Centerline is valid? [True, True] Translation: X:80.74, Y:-13.58, Z:-2.01 [[ 9.74160448e-01 2.25291271e-01 1.59769994e-02 8.07403858e+01] [-2.25260358e-01 9.74291456e-01 -3.73219862e-03 -1.35841114e+01] [-1.64070858e-02 3.67756653e-05 9.99865394e-01 -2.00710246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74862385300001 meters 0.022720338685433373 Centerline is valid? [True, True] Translation: X:80.77, Y:-13.59, Z:-2.00 [[ 9.74671887e-01 2.23090549e-01 1.56627097e-02 8.07677005e+01] [-2.23060572e-01 9.74797723e-01 -3.65780948e-03 -1.35929336e+01] [-1.60839965e-02 7.14310857e-05 9.99870642e-01 -2.00231481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.778623853 meters 0.016874760435808503 Centerline is valid? [True, True] Translation: X:80.80, Y:-13.60, Z:-2.01 [[ 9.74988668e-01 2.21668853e-01 1.61250309e-02 8.07952225e+01] [-2.21636898e-01 9.75121998e-01 -3.76501600e-03 -1.36009505e+01] [-1.65584591e-02 9.69461120e-05 9.99862895e-01 -2.00749512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.808623853 meters 0.017497474251881258 Centerline is valid? [True, True] Translation: X:80.82, Y:-13.61, Z:-2.01 [[ 9.75641316e-01 2.18780714e-01 1.60941580e-02 8.08229659e+01] [-2.18748500e-01 9.75774040e-01 -3.75711743e-03 -1.36101240e+01] [-1.65262464e-02 1.45026083e-04 9.99863422e-01 -2.00573236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.838623853 meters 0.018258758351108784 Centerline is valid? [True, True] Translation: X:80.85, Y:-13.62, Z:-2.01 [[ 9.75841418e-01 2.17866814e-01 1.63578401e-02 8.08499878e+01] [-2.17833418e-01 9.75978496e-01 -3.81797335e-03 -1.36185027e+01] [-1.67967099e-02 1.62452297e-04 9.99858912e-01 -2.00558113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.868623853 meters 0.018940005341224548 Centerline is valid? [True, True] Translation: X:80.88, Y:-13.63, Z:-2.01 [[ 9.76100763e-01 2.16672810e-01 1.67389820e-02 8.08774971e+01] [-2.16637687e-01 9.76244262e-01 -3.90560130e-03 -1.36266277e+01] [-1.71875728e-02 1.85966058e-04 9.99852265e-01 -2.00560806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.898623853 meters 0.02623177805780547 Centerline is valid? [True, True] Translation: X:80.90, Y:-13.64, Z:-2.00 [[ 9.76513138e-01 2.14785922e-01 1.70029115e-02 8.09042860e+01] [-2.14749410e-01 9.76661128e-01 -3.96640645e-03 -1.36363722e+01] [-1.74580110e-02 2.21882805e-04 9.99847573e-01 -2.00024928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.928623853 meters 0.02898621805618424 Centerline is valid? [True, True] Translation: X:80.93, Y:-13.64, Z:-2.00 [[ 9.76633943e-01 2.14220777e-01 1.71930165e-02 8.09323142e+01] [-2.14183377e-01 9.76785240e-01 -4.00959195e-03 -1.36433510e+01] [-1.76528227e-02 2.33445258e-04 9.99844150e-01 -1.99948485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.958623853 meters 0.0231593632752068 Centerline is valid? [True, True] Translation: X:80.96, Y:-13.65, Z:-2.01 [[ 9.76518894e-01 2.14715331e-01 1.75549533e-02 8.09587640e+01] [-2.14676434e-01 9.76676648e-01 -4.09319138e-03 -1.36535262e+01] [-1.80243839e-02 2.28443940e-04 9.99837521e-01 -2.00801003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.988623853 meters 0.018800407730123665 Centerline is valid? [True, True] Translation: X:80.99, Y:-13.65, Z:-2.01 [[ 9.76354746e-01 2.15455372e-01 1.76179767e-02 8.09882469e+01] [-2.15416336e-01 9.76513664e-01 -4.10672968e-03 -1.36534960e+01] [-1.80890119e-02 2.14425022e-04 9.99836357e-01 -2.00524385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.01862385300001 meters 0.01826595128884895 Centerline is valid? [True, True] Translation: X:81.02, Y:-13.66, Z:-2.01 [[ 9.76140834e-01 2.16418038e-01 1.76721628e-02 8.10153032e+01] [-2.16378934e-01 9.76300770e-01 -4.11855236e-03 -1.36586460e+01] [-1.81446752e-02 1.96403380e-04 9.99835353e-01 -2.00601174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04862385300001 meters 0.017320422755076705 Centerline is valid? [True, True] Translation: X:81.04, Y:-13.66, Z:-2.01 [[ 9.75872593e-01 2.17627735e-01 1.76309818e-02 8.10437242e+01] [-2.17589035e-01 9.76031833e-01 -4.10765050e-03 -1.36632881e+01] [-1.81023381e-02 1.72235243e-04 9.99836124e-01 -2.00700858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.07862385300001 meters 0.016937012237210704 Centerline is valid? [True, True] Translation: X:81.07, Y:-13.67, Z:-2.01 [[ 9.75334155e-01 2.20111984e-01 1.65529532e-02 8.10713810e+01] [-2.20078241e-01 9.75474603e-01 -3.85582077e-03 -1.36662459e+01] [-1.69956978e-02 1.17768879e-04 9.99855556e-01 -2.01113069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10862385300001 meters 0.015858551766353656 Centerline is valid? [True, True] Translation: X:81.10, Y:-13.67, Z:-2.01 [[ 9.74976824e-01 2.21720941e-01 1.61250273e-02 8.11004399e+01] [-2.21689159e-01 9.75110156e-01 -3.75502259e-03 -1.36695259e+01] [-1.65562451e-02 8.63162640e-05 9.99862932e-01 -2.01209500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.13862385300001 meters 0.015059906220784484 Centerline is valid? [True, True] Translation: X:81.13, Y:-13.67, Z:-2.01 [[ 9.74656299e-01 2.23129290e-01 1.60753938e-02 8.11294117e+01] [-2.23097906e-01 9.74788857e-01 -3.74269644e-03 -1.36732996e+01] [-1.65052199e-02 6.14559677e-05 9.99863778e-01 -2.01180880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.168623853 meters 0.020440742808515197 Centerline is valid? [True, True] Translation: X:81.16, Y:-13.68, Z:-2.01 [[ 9.74043676e-01 2.25787195e-01 1.60953332e-02 8.11579847e+01] [-2.25756109e-01 9.74176648e-01 -3.74661237e-03 -1.36756165e+01] [-1.65256348e-02 1.57442998e-05 9.99863442e-01 -2.00759241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.198623853 meters 0.014804184096140184 Centerline is valid? [True, True] Translation: X:81.18, Y:-13.68, Z:-2.01 [[ 9.73709059e-01 2.27207391e-01 1.63544980e-02 8.11842684e+01] [-2.27175510e-01 9.73846395e-01 -3.80606243e-03 -1.36788890e+01] [-1.67915345e-02 -9.34395995e-06 9.99859012e-01 -2.01470720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.228623853 meters 0.02360381061015557 Centerline is valid? [True, True] Translation: X:81.21, Y:-13.68, Z:-2.01 [[ 9.73439823e-01 2.28374745e-01 1.61210045e-02 8.12133847e+01] [-2.28343957e-01 9.73573302e-01 -3.74998455e-03 -1.36828988e+01] [-1.65513813e-02 -3.07496635e-05 9.99863016e-01 -2.00990717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.258623853 meters 0.01607133289528716 Centerline is valid? [True, True] Translation: X:81.24, Y:-13.68, Z:-2.02 [[ 9.72750115e-01 2.31261537e-01 1.65926261e-02 8.12421289e+01] [-2.31229353e-01 9.72891615e-01 -3.85895679e-03 -1.36821557e+01] [-1.70352550e-02 -8.29015207e-05 9.99854886e-01 -2.01512828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.288623853 meters 0.01684404541292272 Centerline is valid? [True, True] Translation: X:81.27, Y:-13.68, Z:-2.02 [[ 9.72421064e-01 2.32636045e-01 1.66656772e-02 8.12710175e+01] [-2.32603798e-01 9.72563858e-01 -3.87485377e-03 -1.36849310e+01] [-1.71098660e-02 -1.08510390e-04 9.99853610e-01 -2.01631310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.318623853 meters 0.01806790762645068 Centerline is valid? [True, True] Translation: X:81.30, Y:-13.69, Z:-2.02 [[ 9.72108141e-01 2.33965304e-01 1.63094373e-02 8.12992309e+01] [-2.33934619e-01 9.72244938e-01 -3.79137914e-03 -1.36876000e+01] [-1.67438190e-02 -1.29711467e-04 9.99859804e-01 -2.01758450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.348623853 meters 0.01924999361353572 Centerline is valid? [True, True] Translation: X:81.33, Y:-13.69, Z:-2.02 [[ 9.71542831e-01 2.36338341e-01 1.57707247e-02 8.13280289e+01] [-2.36309975e-01 9.71670809e-01 -3.66530148e-03 -1.36886697e+01] [-1.61902041e-02 -1.65782176e-04 9.99868916e-01 -2.01819633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.37862385300001 meters 0.02151523327236877 Centerline is valid? [True, True] Translation: X:81.36, Y:-13.69, Z:-2.02 [[ 9.71321791e-01 2.37258710e-01 1.55654073e-02 8.13559688e+01] [-2.37231211e-01 9.71446484e-01 -3.61664622e-03 -1.36891035e+01] [-1.59790410e-02 -1.79673147e-04 9.99872311e-01 -2.02097580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40862385300001 meters 0.022319460304321703 Centerline is valid? [True, True] Translation: X:81.38, Y:-13.69, Z:-2.02 [[ 9.71119331e-01 2.38073599e-01 1.57545587e-02 8.13846214e+01] [-2.38045553e-01 9.71247097e-01 -3.65947946e-03 -1.36925320e+01] [-1.61727949e-02 -1.96511406e-04 9.99869192e-01 -2.02134487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.43862385300001 meters 0.020480633793562936 Centerline is valid? [True, True] Translation: X:81.41, Y:-13.70, Z:-2.02 [[ 9.70830159e-01 2.39163644e-01 1.70162669e-02 8.14132511e+01] [-2.39131108e-01 9.70979247e-01 -3.95172481e-03 -1.36968639e+01] [-1.74675509e-02 -2.32665133e-04 9.99847404e-01 -2.01584041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46862385300001 meters 0.021225388261679315 Centerline is valid? [True, True] Translation: X:81.44, Y:-13.70, Z:-2.02 [[ 9.70761681e-01 2.39374416e-01 1.79345133e-02 8.14402066e+01] [-2.39338323e-01 9.70927302e-01 -4.16423752e-03 -1.36982221e+01] [-1.84099206e-02 -2.49934126e-04 9.99830492e-01 -2.01529113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.49862385300001 meters 0.02396239366903836 Centerline is valid? [True, True] Translation: X:81.47, Y:-13.70, Z:-2.02 [[ 9.70708264e-01 2.39546454e-01 1.85192324e-02 8.14684546e+01] [-2.39508033e-01 9.70884868e-01 -4.29826776e-03 -1.36969660e+01] [-1.90096773e-02 -2.63140883e-04 9.99819265e-01 -2.01641015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.528623853 meters 0.021407558952709804 Centerline is valid? [True, True] Translation: X:81.50, Y:-13.70, Z:-2.02 [[ 9.70694773e-01 2.39559675e-01 1.90478478e-02 8.14959646e+01] [-2.39519066e-01 9.70881603e-01 -4.41919086e-03 -1.37040202e+01] [-1.95518650e-02 -2.72637259e-04 9.99808807e-01 -2.01502216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.558623853 meters 0.020950815497250766 Centerline is valid? [True, True] Translation: X:81.52, Y:-13.71, Z:-2.02 [[ 9.70911455e-01 2.38647246e-01 1.94534888e-02 8.15238690e+01] [-2.38604734e-01 9.71106289e-01 -4.51190542e-03 -1.37055736e+01] [-1.99681591e-02 -2.61033869e-04 9.99800582e-01 -2.01524294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.588623853 meters 0.020365939169618055 Centerline is valid? [True, True] Translation: X:81.55, Y:-13.71, Z:-2.02 [[ 9.71114306e-01 2.37827454e-01 1.93676905e-02 8.15520439e+01] [-2.37785192e-01 9.71307388e-01 -4.49001879e-03 -1.37108646e+01] [-1.98798306e-02 -2.45028529e-04 9.99802347e-01 -2.01649443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.618623853 meters 0.019055563858457702 Centerline is valid? [True, True] Translation: X:81.58, Y:-13.72, Z:-2.02 [[ 9.71455940e-01 2.36474112e-01 1.87976560e-02 8.15805868e+01] [-2.36434060e-01 9.71637767e-01 -4.35724572e-03 -1.37174451e+01] [-1.92948883e-02 -2.11533894e-04 9.99813814e-01 -2.01830076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.648623853 meters 0.017036706575424946 Centerline is valid? [True, True] Translation: X:81.61, Y:-13.72, Z:-2.02 [[ 9.72223008e-01 2.33432787e-01 1.70750205e-02 8.16086292e+01] [-2.33399301e-01 9.72372930e-01 -3.95619625e-03 -1.37240633e+01] [-1.75267936e-02 -1.38992835e-04 9.99846384e-01 -2.02145601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.678623853 meters 0.016129210617070178 Centerline is valid? [True, True] Translation: X:81.64, Y:-13.73, Z:-2.02 [[ 9.72659103e-01 2.31647035e-01 1.65505516e-02 8.16367638e+01] [-2.31615330e-01 9.72799897e-01 -3.83387831e-03 -1.37301971e+01] [-1.69884814e-02 -1.04304823e-04 9.99855680e-01 -2.02292717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.708623853 meters 0.018777170572554697 Centerline is valid? [True, True] Translation: X:81.67, Y:-13.74, Z:-2.02 [[ 9.73560720e-01 2.27835407e-01 1.64484439e-02 8.16657246e+01] [-2.27803546e-01 9.73699659e-01 -3.81031862e-03 -1.37353597e+01] [-1.68839697e-02 -3.74372972e-05 9.99857455e-01 -2.02087043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.738623853 meters 0.02644757047974656 Centerline is valid? [True, True] Translation: X:81.69, Y:-13.74, Z:-2.02 [[ 9.73985792e-01 2.25996082e-01 1.66567324e-02 8.16924062e+01] [-2.25963202e-01 9.74128211e-01 -3.85495290e-03 -1.37415418e+01] [-1.70969972e-02 -9.13924041e-06 9.99853836e-01 -2.01960774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76862385300001 meters 0.014406826967388034 Centerline is valid? [True, True] Translation: X:81.72, Y:-13.75, Z:-2.02 [[ 9.74416128e-01 2.24075863e-01 1.74131539e-02 8.17198574e+01] [-2.24039644e-01 9.74571704e-01 -4.02874809e-03 -1.37483731e+01] [-1.78731123e-02 2.44402975e-05 9.99840263e-01 -2.02396527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.79862385300001 meters 0.015458200247226961 Centerline is valid? [True, True] Translation: X:81.75, Y:-13.76, Z:-2.02 [[ 9.75308080e-01 2.20071545e-01 1.85111953e-02 8.17464145e+01] [-2.20029910e-01 9.75483728e-01 -4.28185802e-03 -1.37579141e+01] [-1.89996849e-02 1.03114092e-04 9.99819484e-01 -2.02269883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82862385300001 meters 0.016453045964178178 Centerline is valid? [True, True] Translation: X:81.77, Y:-13.77, Z:-2.02 [[ 9.75821619e-01 2.17761136e-01 1.87684432e-02 8.17741173e+01] [-2.17717933e-01 9.76002083e-01 -4.34009794e-03 -1.37654648e+01] [-1.92631443e-02 1.48934742e-04 9.99814437e-01 -2.02218211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.85862385300001 meters 0.017733293994348115 Centerline is valid? [True, True] Translation: X:81.80, Y:-13.77, Z:-2.02 [[ 9.76274759e-01 2.15682809e-01 1.91968832e-02 8.18019064e+01] [-2.15637228e-01 9.76463460e-01 -4.43818873e-03 -1.37728733e+01] [-1.97022960e-02 1.93328955e-04 9.99805872e-01 -2.02307648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88862385300001 meters 0.024664052084924202 Centerline is valid? [True, True] Translation: X:81.83, Y:-13.78, Z:-2.02 [[ 9.77181583e-01 2.11599319e-01 1.84900607e-02 8.18279203e+01] [-2.11556315e-01 9.77356464e-01 -4.27405345e-03 -1.37821893e+01] [-1.89757671e-02 2.64837217e-04 9.99819909e-01 -2.02240938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.918623853 meters 0.023385974563246106 Centerline is valid? [True, True] Translation: X:81.86, Y:-13.79, Z:-2.03 [[ 9.77591393e-01 2.09726365e-01 1.81636882e-02 8.18552538e+01] [-2.09684570e-01 9.77760075e-01 -4.19714399e-03 -1.37900153e+01] [-1.86399809e-02 2.94446680e-04 9.99826217e-01 -2.02727900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.948623853 meters 0.023166578628374377 Centerline is valid? [True, True] Translation: X:81.88, Y:-13.80, Z:-2.03 [[ 9.77982363e-01 2.07933080e-01 1.77294316e-02 8.18835859e+01] [-2.07892979e-01 9.78143002e-01 -4.09599386e-03 -1.37952334e+01] [-1.81936121e-02 3.19985394e-04 9.99834431e-01 -2.02768354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.978623853 meters 0.025260927482499414 Centerline is valid? [True, True] Translation: X:81.91, Y:-13.80, Z:-2.03 [[ 9.78579377e-01 2.05160412e-01 1.70765340e-02 8.19123454e+01] [-2.05122806e-01 9.78728296e-01 -3.94414948e-03 -1.38037800e+01] [-1.75224703e-02 3.56876783e-04 9.99846406e-01 -2.02959462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.008623853 meters 0.027581479895752044 Centerline is valid? [True, True] Translation: X:81.94, Y:-13.81, Z:-2.03 [[ 9.78770614e-01 2.04281533e-01 1.66475092e-02 8.19386190e+01] [-2.04245669e-01 9.78912112e-01 -3.84494693e-03 -1.38123960e+01] [-1.70819001e-02 3.63139418e-04 9.99854028e-01 -2.03168498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.038623853 meters 0.029083743044102654 Centerline is valid? [True, True] Translation: X:81.97, Y:-13.82, Z:-2.03 [[ 9.78901466e-01 2.03686018e-01 1.62457631e-02 8.19656261e+01] [-2.03651799e-01 9.79036196e-01 -3.75114632e-03 -1.38183425e+01] [-1.66692462e-02 3.63523753e-04 9.99860992e-01 -2.03320558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.068623853 meters 0.027251893672800308 Centerline is valid? [True, True] Translation: X:81.99, Y:-13.82, Z:-2.03 [[ 9.78892467e-01 2.03741591e-01 1.60904428e-02 8.19937941e+01] [-2.03708044e-01 9.79024635e-01 -3.71443861e-03 -1.38213159e+01] [-1.65097255e-02 3.58283344e-04 9.99863641e-01 -2.03304446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.098623853 meters 0.028948942424776053 Centerline is valid? [True, True] Translation: X:82.02, Y:-13.83, Z:-2.04 [[ 9.78845825e-01 2.03945276e-01 1.63455069e-02 8.20203038e+01] [-2.03910705e-01 9.78982224e-01 -3.77214328e-03 -1.38298471e+01] [-1.67712715e-02 3.59322869e-04 9.99859288e-01 -2.03521020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12862385300001 meters 0.02947075644663876 Centerline is valid? [True, True] Translation: X:82.05, Y:-13.84, Z:-2.04 [[ 9.78786737e-01 2.04213968e-01 1.65281067e-02 8.20468621e+01] [-2.04178685e-01 9.78926212e-01 -3.81270317e-03 -1.38366160e+01] [-1.69584042e-02 3.57136197e-04 9.99856132e-01 -2.03545815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.15862385300001 meters 0.025057792802410914 Centerline is valid? [True, True] Translation: X:82.08, Y:-13.84, Z:-2.03 [[ 9.78597720e-01 2.05036264e-01 1.75109602e-02 8.20769416e+01] [-2.04996813e-01 9.78754310e-01 -4.03823890e-03 -1.38361607e+01] [-1.79669132e-02 3.62120336e-04 9.99838516e-01 -2.03307876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18862385300001 meters 0.026843042817832886 Centerline is valid? [True, True] Translation: X:82.10, Y:-13.84, Z:-2.03 [[ 9.78618403e-01 2.04931059e-01 1.75864116e-02 8.21030479e+01] [-2.04891262e-01 9.78776342e-01 -4.05499922e-03 -1.38437124e+01] [-1.80441589e-02 3.64994808e-04 9.99837124e-01 -2.03449973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.21862385300001 meters 0.026585152101067187 Centerline is valid? [True, True] Translation: X:82.13, Y:-13.85, Z:-2.04 [[ 9.78583189e-01 2.05106816e-01 1.74967327e-02 8.21308882e+01] [-2.05067485e-01 9.78739529e-01 -4.03250390e-03 -1.38496168e+01] [-1.79518380e-02 3.58129569e-04 9.99838789e-01 -2.03561410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24862385300001 meters 0.02567152438679276 Centerline is valid? [True, True] Translation: X:82.16, Y:-13.85, Z:-2.04 [[ 9.78503703e-01 2.05480870e-01 1.75532027e-02 8.21596876e+01] [-2.05441359e-01 9.78661069e-01 -4.04466160e-03 -1.38548059e+01] [-1.80097367e-02 3.51562533e-04 9.99837750e-01 -2.03594596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.278623853 meters 0.0275048898255785 Centerline is valid? [True, True] Translation: X:82.19, Y:-13.86, Z:-2.04 [[ 9.78453093e-01 2.05728896e-01 1.74689791e-02 8.21863155e+01] [-2.05689817e-01 9.78608963e-01 -4.02448294e-03 -1.38637831e+01] [-1.79232519e-02 3.44576671e-04 9.99839306e-01 -2.03794840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.308623853 meters 0.024725514396896103 Centerline is valid? [True, True] Translation: X:82.22, Y:-13.87, Z:-2.04 [[ 9.78219184e-01 2.06766682e-01 1.82966256e-02 8.22152587e+01] [-2.06724018e-01 9.78390221e-01 -4.21388739e-03 -1.38662131e+01] [-1.87725311e-02 3.39753530e-04 9.99823723e-01 -2.03605040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.338623853 meters 0.024011106126964277 Centerline is valid? [True, True] Translation: X:82.24, Y:-13.87, Z:-2.04 [[ 9.78047761e-01 2.07531553e-01 1.87944435e-02 8.22439426e+01] [-2.07486695e-01 9.78228268e-01 -4.32758829e-03 -1.38707009e+01] [-1.92833670e-02 3.32991075e-04 9.99814003e-01 -2.03557537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.368623853 meters 0.023504696696965748 Centerline is valid? [True, True] Translation: X:82.27, Y:-13.88, Z:-2.04 [[ 9.77888410e-01 2.08250238e-01 1.91336402e-02 8.22724324e+01] [-2.08203901e-01 9.78075526e-01 -4.40473925e-03 -1.38756725e+01] [-1.96314332e-02 3.23644923e-04 9.99807232e-01 -2.03556289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.398623853 meters 0.02202138864782196 Centerline is valid? [True, True] Translation: X:82.30, Y:-13.88, Z:-2.04 [[ 9.77549493e-01 2.09750152e-01 2.00464906e-02 8.23010292e+01] [-2.09699625e-01 9.77754969e-01 -4.61386022e-03 -1.38803624e+01] [-2.05683137e-02 3.06535164e-04 9.99788403e-01 -2.03531440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.428623853 meters 0.02420983574384567 Centerline is valid? [True, True] Translation: X:82.33, Y:-13.89, Z:-2.04 [[ 9.77470588e-01 2.10099434e-01 2.02355629e-02 8.23277263e+01] [-2.10048044e-01 9.77679977e-01 -4.65637922e-03 -1.38904839e+01] [-2.07622074e-02 3.01033313e-04 9.99784397e-01 -2.03678747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.458623853 meters 0.02166808920735825 Centerline is valid? [True, True] Translation: X:82.36, Y:-13.89, Z:-2.04 [[ 9.77410164e-01 2.10360173e-01 2.04442959e-02 8.23569597e+01] [-2.10307796e-01 9.77623910e-01 -4.70340401e-03 -1.38935229e+01] [-2.09762414e-02 2.97560079e-04 9.99779930e-01 -2.03591092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.488623853 meters 0.021935293486396164 Centerline is valid? [True, True] Translation: X:82.38, Y:-13.90, Z:-2.04 [[ 9.77437500e-01 2.10218898e-01 2.05900048e-02 8.23844426e+01] [-2.10165759e-01 9.77654297e-01 -4.73602574e-03 -1.39000280e+01] [-2.11255088e-02 3.01855168e-04 9.99776786e-01 -2.03630160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.51862385300001 meters 0.021824548725695087 Centerline is valid? [True, True] Translation: X:82.41, Y:-13.91, Z:-2.04 [[ 9.77659601e-01 2.09176527e-01 2.06612151e-02 8.24121661e+01] [-2.09122820e-01 9.77877843e-01 -4.75083760e-03 -1.39075471e+01] [-2.11979082e-02 3.23970416e-04 9.99775247e-01 -2.03718498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54862385300001 meters 0.021824548725695087 Centerline is valid? [True, True] Translation: X:82.44, Y:-13.91, Z:-2.04 [[ 9.77674279e-01 2.09107891e-01 2.06614173e-02 8.24389838e+01] [-2.09054187e-01 9.77892522e-01 -4.74995799e-03 -1.39135790e+01] [-2.11978992e-02 3.24555950e-04 9.99775247e-01 -2.03787650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.57862385300001 meters 0.02356103338251249 Centerline is valid? [True, True] Translation: X:82.47, Y:-13.92, Z:-2.04 [[ 9.77786234e-01 2.08582064e-01 2.06785901e-02 8.24650339e+01] [-2.08528187e-01 9.78004811e-01 -4.75232768e-03 -1.39234376e+01] [-2.12150110e-02 3.34691677e-04 9.99774880e-01 -2.03907799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60862385300001 meters 0.02430087276577053 Centerline is valid? [True, True] Translation: X:82.49, Y:-13.93, Z:-2.04 [[ 9.77906820e-01 2.08036841e-01 2.04676388e-02 8.24920032e+01] [-2.07983965e-01 9.78120931e-01 -4.70259647e-03 -1.39320039e+01] [-2.09981392e-02 3.41760488e-04 9.99779456e-01 -2.04004004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.63862385300001 meters 0.03510127903287962 Centerline is valid? [True, True] Translation: X:82.52, Y:-13.94, Z:-2.04 [[ 9.77897212e-01 2.08109791e-01 2.01831228e-02 8.25189640e+01] [-2.08058413e-01 9.78105415e-01 -4.63611694e-03 -1.39388484e+01] [-2.07060430e-02 3.34377339e-04 9.99785551e-01 -2.03520445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.668623853 meters 0.024233725917301344 Centerline is valid? [True, True] Translation: X:82.55, Y:-13.95, Z:-2.04 [[ 9.77838610e-01 2.08357006e-01 2.04697491e-02 8.25457528e+01] [-2.08304244e-01 9.78052784e-01 -4.70045832e-03 -1.39462245e+01] [-2.09998685e-02 3.32354015e-04 9.99779423e-01 -2.04183802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.698623853 meters 0.02576095797232658 Centerline is valid? [True, True] Translation: X:82.57, Y:-13.96, Z:-2.04 [[ 9.77621811e-01 2.09388361e-01 2.03004585e-02 8.25721294e+01] [-2.09336713e-01 9.77832511e-01 -4.66051253e-03 -1.39564843e+01] [-2.08263054e-02 3.06587434e-04 9.99783062e-01 -2.04372146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.728623853 meters 0.022604210598181903 Centerline is valid? [True, True] Translation: X:82.60, Y:-13.96, Z:-2.04 [[ 9.77461555e-01 2.10152366e-01 2.01219105e-02 8.26010898e+01] [-2.10101820e-01 9.77668605e-01 -4.61778309e-03 -1.39581146e+01] [-2.06429982e-02 2.86055422e-04 9.99786870e-01 -2.04366921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.758623853 meters 0.019759494194657626 Centerline is valid? [True, True] Translation: X:82.63, Y:-13.96, Z:-2.04 [[ 9.77271411e-01 2.11058261e-01 1.98745836e-02 8.26299564e+01] [-2.11009156e-01 9.77473448e-01 -4.56014992e-03 -1.39596212e+01] [-2.03893351e-02 2.62785036e-04 9.99792081e-01 -2.04406994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.788623853 meters 0.018470982711705015 Centerline is valid? [True, True] Translation: X:82.66, Y:-13.96, Z:-2.05 [[ 9.76806063e-01 2.13205608e-01 1.98313845e-02 8.26570286e+01] [-2.13157177e-01 9.77007329e-01 -4.54931186e-03 -1.39641635e+01] [-2.03453468e-02 2.16593485e-04 9.99792989e-01 -2.04534754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.818623853 meters 0.017365722709866003 Centerline is valid? [True, True] Translation: X:82.69, Y:-13.97, Z:-2.05 [[ 9.76556505e-01 2.14331564e-01 1.99843397e-02 8.26853105e+01] [-2.14282645e-01 9.76760945e-01 -4.58310047e-03 -1.39687405e+01] [-2.05022256e-02 1.93359404e-04 9.99789789e-01 -2.04528537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.848623853 meters 0.016541478339980112 Centerline is valid? [True, True] Translation: X:82.71, Y:-13.97, Z:-2.05 [[ 9.76240633e-01 2.15725363e-01 2.04155256e-02 8.27128937e+01] [-2.15674635e-01 9.76454064e-01 -4.68098487e-03 -1.39737319e+01] [-2.09446302e-02 1.66656584e-04 9.99780623e-01 -2.04572266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.87862385300001 meters 0.015644492651430492 Centerline is valid? [True, True] Translation: X:82.74, Y:-13.98, Z:-2.05 [[ 9.75619959e-01 2.18446686e-01 2.11362543e-02 8.27398389e+01] [-2.18392981e-01 9.75848878e-01 -4.84486291e-03 -1.39788400e+01] [-2.16841343e-02 1.10735369e-04 9.99764865e-01 -2.04658169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90862385300001 meters 0.01498010040702883 Centerline is valid? [True, True] Translation: X:82.77, Y:-13.98, Z:-2.05 [[ 9.75345255e-01 2.19674039e-01 2.10938260e-02 8.27680903e+01] [-2.19620866e-01 9.75573324e-01 -4.83377424e-03 -1.39833078e+01] [-2.16404287e-02 8.19544344e-05 9.99765815e-01 -2.04744967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.93862385300001 meters 0.014379508381091309 Centerline is valid? [True, True] Translation: X:82.80, Y:-13.99, Z:-2.05 [[ 9.75129996e-01 2.20652013e-01 2.08369715e-02 8.27964043e+01] [-2.20600368e-01 9.75352596e-01 -4.77410295e-03 -1.39872251e+01] [-2.13768097e-02 5.87274147e-05 9.99771488e-01 -2.04763935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96862385300001 meters 0.014171639863720394 Centerline is valid? [True, True] Translation: X:82.82, Y:-13.99, Z:-2.05 [[ 9.74696719e-01 2.22577515e-01 2.06290180e-02 8.28242185e+01] [-2.22527358e-01 9.74914996e-01 -4.72496315e-03 -1.39899696e+01] [-2.11632096e-02 1.48851910e-05 9.99776034e-01 -2.04926353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.99862385300001 meters 0.014185791107721751 Centerline is valid? [True, True] Translation: X:82.85, Y:-13.99, Z:-2.05 [[ 9.74514533e-01 2.23369426e-01 2.06766663e-02 8.28507673e+01] [-2.23319246e-01 9.74733861e-01 -4.73440463e-03 -1.39946186e+01] [-2.12117680e-02 -3.75141399e-06 9.99775005e-01 -2.05118287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.028623853 meters 0.014123279216914362 Centerline is valid? [True, True] Translation: X:82.88, Y:-14.00, Z:-2.05 [[ 9.74361026e-01 2.24003403e-01 2.10491404e-02 8.28780868e+01] [-2.23951588e-01 9.74588362e-01 -4.81781542e-03 -1.40014251e+01] [-2.15934543e-02 -1.96968457e-05 9.99766834e-01 -2.05088613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.058623853 meters 0.01421128566905225 Centerline is valid? [True, True] Translation: X:82.90, Y:-14.01, Z:-2.05 [[ 9.74404115e-01 2.23817895e-01 2.10278482e-02 8.29048857e+01] [-2.23766173e-01 9.74630981e-01 -4.81144273e-03 -1.40079376e+01] [-2.15712793e-02 -1.70315216e-05 9.99767313e-01 -2.05142604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.088623853 meters 0.014186154686209424 Centerline is valid? [True, True] Translation: X:82.93, Y:-14.01, Z:-2.05 [[ 9.74490089e-01 2.23462552e-01 2.08219740e-02 8.29317282e+01] [-2.23411786e-01 9.74712515e-01 -4.76303408e-03 -1.40135616e+01] [-2.13597984e-02 -1.03448898e-05 9.99771853e-01 -2.05257230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.118623853 meters 0.02955338200736204 Centerline is valid? [True, True] Translation: X:82.96, Y:-14.02, Z:-2.05 [[ 9.74619168e-01 2.22983008e-01 1.99011570e-02 8.29597288e+01] [-2.22936592e-01 9.74822332e-01 -4.54945960e-03 -1.40200254e+01] [-2.04145445e-02 -2.70559863e-06 9.99791601e-01 -2.04747738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.148623853 meters 0.014198451176397963 Centerline is valid? [True, True] Translation: X:82.99, Y:-14.03, Z:-2.05 [[ 9.74927208e-01 2.21549598e-01 2.08017872e-02 8.29858440e+01] [-2.21498581e-01 9.75149104e-01 -4.75430943e-03 -1.40291482e+01] [-2.13381595e-02 2.75392599e-05 9.99772315e-01 -2.05428435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.178623853 meters 0.014434444727485013 Centerline is valid? [True, True] Translation: X:83.01, Y:-14.04, Z:-2.05 [[ 9.75169511e-01 2.20455906e-01 2.10622476e-02 8.30119905e+01] [-2.20403375e-01 9.75396940e-01 -4.81260493e-03 -1.40374927e+01] [-2.16050190e-02 5.09151434e-05 9.99766583e-01 -2.05458500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.208623853 meters 0.014809486564079644 Centerline is valid? [True, True] Translation: X:83.04, Y:-14.05, Z:-2.06 [[ 9.75488588e-01 2.19024949e-01 2.12152396e-02 8.30381087e+01] [-2.18971350e-01 9.75719255e-01 -4.84589106e-03 -1.40463652e+01] [-2.17614889e-02 8.15817639e-05 9.99763187e-01 -2.05566281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.238623853 meters 0.0161860090621005 Centerline is valid? [True, True] Translation: X:83.06, Y:-14.06, Z:-2.06 [[ 9.76145424e-01 2.16039261e-01 2.16136124e-02 8.30643419e+01] [-2.15982966e-01 9.76384666e-01 -4.93382645e-03 -1.40587986e+01] [-2.21691000e-02 1.47960002e-04 9.99754224e-01 -2.05563232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26862385300001 meters 0.016877371496899902 Centerline is valid? [True, True] Translation: X:83.09, Y:-14.07, Z:-2.06 [[ 9.76417956e-01 2.14773487e-01 2.19162837e-02 8.30914019e+01] [-2.14715316e-01 9.76663871e-01 -5.00153740e-03 -1.40679385e+01] [-2.24790401e-02 1.77829140e-04 9.99747299e-01 -2.05616488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.29862385300001 meters 0.017497517871212346 Centerline is valid? [True, True] Translation: X:83.12, Y:-14.08, Z:-2.06 [[ 9.76771404e-01 2.13127891e-01 2.22289681e-02 8.31183020e+01] [-2.13067646e-01 9.77024286e-01 -5.07184251e-03 -1.40774776e+01] [-2.27991928e-02 2.17756827e-04 9.99740041e-01 -2.05591621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32862385300001 meters 0.017092776832464608 Centerline is valid? [True, True] Translation: X:83.15, Y:-14.08, Z:-2.06 [[ 9.76852526e-01 2.12724417e-01 2.25269823e-02 8.31464521e+01] [-2.12662472e-01 9.77112209e-01 -5.13837896e-03 -1.40843123e+01] [-2.31044481e-02 2.28794721e-04 9.99733030e-01 -2.05590947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.35862385300001 meters 0.018819088103433735 Centerline is valid? [True, True] Translation: X:83.17, Y:-14.10, Z:-2.06 [[ 9.76871619e-01 2.12644424e-01 2.24541688e-02 8.31715682e+01] [-2.12582875e-01 9.77129621e-01 -5.12100703e-03 -1.40950253e+01] [-2.30295871e-02 2.29194663e-04 9.99734758e-01 -2.05719449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38862385300001 meters 0.01784740089053503 Centerline is valid? [True, True] Translation: X:83.20, Y:-14.10, Z:-2.06 [[ 9.76710324e-01 2.13392205e-01 2.23765311e-02 8.31991141e+01] [-2.13331326e-01 9.76966593e-01 -5.10118171e-03 -1.41023518e+01] [-2.29496758e-02 2.08761800e-04 9.99736600e-01 -2.05833695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.418623853 meters 0.0167613628096337 Centerline is valid? [True, True] Translation: X:83.23, Y:-14.11, Z:-2.06 [[ 9.76545685e-01 2.14132869e-01 2.24864272e-02 8.32272105e+01] [-2.14071611e-01 9.76804524e-01 -5.12518307e-03 -1.41076246e+01] [-2.30623140e-02 1.91269717e-04 9.99734011e-01 -2.05901567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.448623853 meters 0.016006866676203733 Centerline is valid? [True, True] Translation: X:83.26, Y:-14.11, Z:-2.06 [[ 9.76359312e-01 2.14991277e-01 2.23884883e-02 8.32550643e+01] [-2.14930803e-01 9.76615954e-01 -5.10176406e-03 -1.41133939e+01] [-2.29617896e-02 1.69179093e-04 9.99736329e-01 -2.05967121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.478623853 meters 0.01574224102182906 Centerline is valid? [True, True] Translation: X:83.28, Y:-14.12, Z:-2.06 [[ 9.76146952e-01 2.15977018e-01 2.21597841e-02 8.32823268e+01] [-2.15918050e-01 9.76398437e-01 -5.04862095e-03 -1.41192746e+01] [-2.27271646e-02 1.43498592e-04 9.99741694e-01 -2.06120081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.508623853 meters 0.014582419984637662 Centerline is valid? [True, True] Translation: X:83.31, Y:-14.12, Z:-2.06 [[ 9.75611260e-01 2.18430427e-01 2.16983520e-02 8.33109396e+01] [-2.18374537e-01 9.75852520e-01 -4.94163375e-03 -1.41221797e+01] [-2.22537946e-02 8.27459546e-05 9.99752350e-01 -2.06238960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.538623853 meters 0.014400045263674985 Centerline is valid? [True, True] Translation: X:83.34, Y:-14.13, Z:-2.06 [[ 9.75379634e-01 2.19457663e-01 2.17463473e-02 8.33382880e+01] [-2.19401805e-01 9.75622022e-01 -4.95149079e-03 -1.41280274e+01] [-2.23028579e-02 5.83954189e-05 9.99751259e-01 -2.06379496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.568623853 meters 0.014157984272664117 Centerline is valid? [True, True] Translation: X:83.37, Y:-14.14, Z:-2.06 [[ 9.75174870e-01 2.20314507e-01 2.22596427e-02 8.33658936e+01] [-2.20256238e-01 9.75428888e-01 -5.06688577e-03 -1.41352148e+01] [-2.28290070e-02 3.82745152e-05 9.99739384e-01 -2.06372911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.598623853 meters 0.014040493498913191 Centerline is valid? [True, True] Translation: X:83.39, Y:-14.14, Z:-2.06 [[ 9.75104205e-01 2.20582937e-01 2.26926906e-02 8.33922008e+01] [-2.20522476e-01 9.75368221e-01 -5.16433493e-03 -1.41417469e+01] [-2.32728935e-02 3.15163746e-05 9.99729149e-01 -2.06419743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62862385300001 meters 0.0140067315575219 Centerline is valid? [True, True] Translation: X:83.42, Y:-14.15, Z:-2.06 [[ 9.75062895e-01 2.20724005e-01 2.30925027e-02 8.34195989e+01] [-2.20661476e-01 9.75336308e-01 -5.25355030e-03 -1.41482523e+01] [-2.36825410e-02 2.69162266e-05 9.99719529e-01 -2.06408171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.65862385300001 meters 0.013916160504766633 Centerline is valid? [True, True] Translation: X:83.45, Y:-14.15, Z:-2.06 [[ 9.74934416e-01 2.21284130e-01 2.31563793e-02 8.34472620e+01] [-2.21221454e-01 9.75209379e-01 -5.26635532e-03 -1.41548198e+01] [-2.37476791e-02 1.16631431e-05 9.99717984e-01 -2.06441252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68862385300001 meters 0.02357375958411897 Centerline is valid? [True, True] Translation: X:83.47, Y:-14.16, Z:-2.06 [[ 9.74895207e-01 2.21542261e-01 2.23240319e-02 8.34744172e+01] [-2.21484115e-01 9.75150771e-01 -5.07547362e-03 -1.41606911e+01] [-2.28937288e-02 3.63646004e-06 9.99737904e-01 -2.05994399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.71862385300001 meters 0.01384833098027704 Centerline is valid? [True, True] Translation: X:83.50, Y:-14.17, Z:-2.07 [[ 9.74751678e-01 2.22105951e-01 2.29807225e-02 8.35003169e+01] [-2.22044531e-01 9.75022536e-01 -5.22300946e-03 -1.41665460e+01] [-2.35667839e-02 -1.16065412e-05 9.99722265e-01 -2.06656183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74862385300001 meters 0.014178018651918745 Centerline is valid? [True, True] Translation: X:83.53, Y:-14.17, Z:-2.07 [[ 9.74416144e-01 2.23627133e-01 2.24518189e-02 8.35282267e+01] [-2.23568957e-01 9.74674768e-01 -5.10081448e-03 -1.41721421e+01] [-2.30239019e-02 -4.92137752e-05 9.99734914e-01 -2.06841258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.778623853 meters 0.014412328750855746 Centerline is valid? [True, True] Translation: X:83.55, Y:-14.18, Z:-2.07 [[ 9.74269731e-01 2.24289061e-01 2.22015434e-02 8.35548968e+01] [-2.24232368e-01 9.74522659e-01 -5.04301954e-03 -1.41773281e+01] [-2.27670012e-02 -6.50433773e-05 9.99740796e-01 -2.06939280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.808623853 meters 0.014533339060890167 Centerline is valid? [True, True] Translation: X:83.58, Y:-14.18, Z:-2.07 [[ 9.74146798e-01 2.24799559e-01 2.24315517e-02 8.35822836e+01] [-2.24741887e-01 9.74405024e-01 -5.09239145e-03 -1.41834586e+01] [-2.30021840e-02 -8.05724447e-05 9.99735412e-01 -2.06992388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.838623853 meters 0.014982283370984015 Centerline is valid? [True, True] Translation: X:83.61, Y:-14.19, Z:-2.07 [[ 9.73883015e-01 2.26007062e-01 2.17412194e-02 8.36103646e+01] [-2.25953224e-01 9.74125657e-01 -4.93400759e-03 -1.41883007e+01] [-2.22938002e-02 -1.07352432e-04 9.99751457e-01 -2.07131430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.868623853 meters 0.015482937495779902 Centerline is valid? [True, True] Translation: X:83.64, Y:-14.19, Z:-2.07 [[ 9.73769282e-01 2.26511569e-01 2.15846118e-02 8.36383743e+01] [-2.26458650e-01 9.74008468e-01 -4.89741006e-03 -1.41925646e+01] [-2.21329147e-02 -1.19074582e-04 9.99755030e-01 -2.07336577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.898623853 meters 0.015761954402212806 Centerline is valid? [True, True] Translation: X:83.67, Y:-14.20, Z:-2.07 [[ 9.73541778e-01 2.27498992e-01 2.14619294e-02 8.36664553e+01] [-2.27446944e-01 9.73778306e-01 -4.86818166e-03 -1.41973360e+01] [-2.20066677e-02 -1.42072027e-04 9.99757814e-01 -2.07458434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.928623853 meters 0.015917891079725566 Centerline is valid? [True, True] Translation: X:83.69, Y:-14.20, Z:-2.08 [[ 9.73512538e-01 2.27626926e-01 2.14317688e-02 8.36939965e+01] [-2.27575078e-01 9.73748408e-01 -4.86032987e-03 -1.42033933e+01] [-2.19754927e-02 -1.45744380e-04 9.99758499e-01 -2.07540765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.958623853 meters 0.01609616812443078 Centerline is valid? [True, True] Translation: X:83.72, Y:-14.21, Z:-2.08 [[ 9.73455197e-01 2.27838890e-01 2.17811624e-02 8.37214869e+01] [-2.27785428e-01 9.73698832e-01 -4.93787612e-03 -1.42094562e+01] [-2.23333326e-02 -1.54630212e-04 9.99750568e-01 -2.07599856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.988623853 meters 0.016737889609011364 Centerline is valid? [True, True] Translation: X:83.75, Y:-14.21, Z:-2.08 [[ 9.73503904e-01 2.27647638e-01 2.16032674e-02 8.37482432e+01] [-2.27595034e-01 9.73743565e-01 -4.89596406e-03 -1.42141346e+01] [-2.21505973e-02 -1.50556259e-04 9.99754634e-01 -2.07777200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.01862385300001 meters 0.015962283119137843 Centerline is valid? [True, True] Translation: X:83.77, Y:-14.22, Z:-2.08 [[ 9.73594246e-01 2.27252495e-01 2.16920975e-02 8.37749121e+01] [-2.27199402e-01 9.73835860e-01 -4.91414482e-03 -1.42222220e+01] [-2.22412941e-02 -1.44048473e-04 9.99752621e-01 -2.07851782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04862385300001 meters 0.01596486767985495 Centerline is valid? [True, True] Translation: X:83.80, Y:-14.23, Z:-2.08 [[ 9.73708635e-01 2.26785865e-01 2.14398310e-02 8.38009453e+01] [-2.26733921e-01 9.73944636e-01 -4.85544849e-03 -1.42286073e+01] [-2.19823555e-02 -1.33344829e-04 9.99758350e-01 -2.07965499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.07862385300001 meters 0.015596163621295532 Centerline is valid? [True, True] Translation: X:83.83, Y:-14.24, Z:-2.08 [[ 9.73858275e-01 2.26124818e-01 2.16246799e-02 8.38284745e+01] [-2.26071856e-01 9.74098328e-01 -4.89530242e-03 -1.42362986e+01] [-2.21715139e-02 -1.21400754e-04 9.99754174e-01 -2.08072616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10862385300001 meters 0.014997345213852653 Centerline is valid? [True, True] Translation: X:83.85, Y:-14.25, Z:-2.08 [[ 9.74219214e-01 2.24613821e-01 2.11081852e-02 8.38548605e+01] [-2.24563023e-01 9.74447856e-01 -4.77749832e-03 -1.42458488e+01] [-2.16419180e-02 -8.57872153e-05 9.99765783e-01 -2.08242843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.13862385300001 meters 0.014843633283426418 Centerline is valid? [True, True] Translation: X:83.88, Y:-14.25, Z:-2.08 [[ 9.74425074e-01 2.23769789e-01 2.05634619e-02 8.38810983e+01] [-2.23721429e-01 9.74642025e-01 -4.65244986e-03 -1.42532425e+01] [-2.10830919e-02 -6.70232645e-05 9.99777725e-01 -2.08419585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.168623853 meters 0.014486548905651892 Centerline is valid? [True, True] Translation: X:83.91, Y:-14.26, Z:-2.09 [[ 9.74646925e-01 2.22835559e-01 2.01912061e-02 8.39080887e+01] [-2.22788769e-01 9.74856046e-01 -4.56650062e-03 -1.42616095e+01] [-2.07010980e-02 -4.76481661e-05 9.99785708e-01 -2.08563323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.198623853 meters 0.014621926288895616 Centerline is valid? [True, True] Translation: X:83.93, Y:-14.27, Z:-2.09 [[ 9.74708158e-01 2.22581651e-01 2.00353571e-02 8.39342428e+01] [-2.22535557e-01 9.74914051e-01 -4.52980309e-03 -1.42678117e+01] [-2.05410022e-02 -4.33433112e-05 9.99789010e-01 -2.08722686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.228623853 meters 0.014820255414421888 Centerline is valid? [True, True] Translation: X:83.96, Y:-14.27, Z:-2.09 [[ 9.74698993e-01 2.22686195e-01 1.93062593e-02 8.39626401e+01] [-2.22643451e-01 9.74890177e-01 -4.36312479e-03 -1.42749207e+01] [-1.97930902e-02 -4.56788706e-05 9.99804097e-01 -2.08886526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.258623853 meters 0.015057131160400548 Centerline is valid? [True, True] Translation: X:83.99, Y:-14.28, Z:-2.09 [[ 9.74596918e-01 2.23150392e-01 1.90984296e-02 8.39912984e+01] [-2.23108671e-01 9.74784027e-01 -4.31522856e-03 -1.42807588e+01] [-1.95797891e-02 -5.54167980e-05 9.99808296e-01 -2.08988002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.288623853 meters 0.01498134198986162 Centerline is valid? [True, True] Translation: X:84.02, Y:-14.29, Z:-2.09 [[ 9.74495796e-01 2.23587965e-01 1.91406856e-02 8.40190905e+01] [-2.23546160e-01 9.74683753e-01 -4.32396823e-03 -1.42861958e+01] [-1.96229025e-02 -6.51378873e-05 9.99807450e-01 -2.08980363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.318623853 meters 0.02242268665461827 Centerline is valid? [True, True] Translation: X:84.05, Y:-14.29, Z:-2.09 [[ 9.74457608e-01 2.23750398e-01 1.91866990e-02 8.40463562e+01] [-2.23708447e-01 9.74646477e-01 -4.33313930e-03 -1.42898988e+01] [-1.96697902e-02 -6.97660756e-05 9.99806529e-01 -2.08572791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.348623853 meters 0.015663475452699523 Centerline is valid? [True, True] Translation: X:84.07, Y:-14.29, Z:-2.09 [[ 9.74285593e-01 2.24447370e-01 1.97727361e-02 8.40729860e+01] [-2.24403017e-01 9.74486208e-01 -4.46270852e-03 -1.42945657e+01] [-2.02699018e-02 -8.91090171e-05 9.99794540e-01 -2.09194123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.37862385300001 meters 0.0157954633051847 Centerline is valid? [True, True] Translation: X:84.10, Y:-14.30, Z:-2.09 [[ 9.74094176e-01 2.25253327e-01 2.00368593e-02 8.41014273e+01] [-2.25207989e-01 9.74300224e-01 -4.52049899e-03 -1.42990124e+01] [-2.05401739e-02 -1.09069039e-04 9.99789022e-01 -2.09162719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40862385300001 meters 0.0157852406899708 Centerline is valid? [True, True] Translation: X:84.13, Y:-14.30, Z:-2.09 [[ 9.74086605e-01 2.25280467e-01 2.00996724e-02 8.41291396e+01] [-2.25234868e-01 9.74293949e-01 -4.53378071e-03 -1.43044401e+01] [-2.06043614e-02 -1.10851989e-04 9.99787701e-01 -2.09212177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.43862385300001 meters 0.0157852406899708 Centerline is valid? [True, True] Translation: X:84.16, Y:-14.31, Z:-2.09 [[ 9.74102367e-01 2.25212274e-01 2.00999894e-02 8.41559818e+01] [-2.25166690e-01 9.74309714e-01 -4.53237483e-03 -1.43103542e+01] [-2.06043613e-02 -1.10851022e-04 9.99787701e-01 -2.09281324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46862385300001 meters 0.015208556622199682 Centerline is valid? [True, True] Translation: X:84.18, Y:-14.32, Z:-2.09 [[ 9.74250723e-01 2.24482065e-01 2.10554207e-02 8.41838807e+01] [-2.24431910e-01 9.74478215e-01 -4.74610145e-03 -1.43181291e+01] [-2.15834634e-02 -1.01615514e-04 9.99767045e-01 -2.09173564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.49862385300001 meters 0.01502762075822029 Centerline is valid? [True, True] Translation: X:84.21, Y:-14.33, Z:-2.09 [[ 9.74383440e-01 2.23878664e-01 2.13367410e-02 8.42116521e+01] [-2.23827039e-01 9.74617020e-01 -4.80842151e-03 -1.43253421e+01] [-2.18716540e-02 -9.04932808e-05 9.99760783e-01 -2.09233540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.528623853 meters 0.014592829292849451 Centerline is valid? [True, True] Translation: X:84.24, Y:-14.33, Z:-2.09 [[ 9.74770379e-01 2.22208974e-01 2.11158848e-02 8.42380337e+01] [-2.22158042e-01 9.74999061e-01 -4.75764752e-03 -1.43341255e+01] [-2.16451598e-02 -5.34497468e-05 9.99765715e-01 -2.09395188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.558623853 meters 0.01435184837214357 Centerline is valid? [True, True] Translation: X:84.27, Y:-14.34, Z:-2.09 [[ 9.74946142e-01 2.21402189e-01 2.14730314e-02 8.42655457e+01] [-2.21349355e-01 9.75182583e-01 -4.83670924e-03 -1.43414271e+01] [-2.20109843e-02 -3.75106368e-05 9.99757728e-01 -2.09394529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.588623853 meters 0.014187694131997995 Centerline is valid? [True, True] Translation: X:84.29, Y:-14.35, Z:-2.09 [[ 9.75130857e-01 2.20563160e-01 2.17187380e-02 8.42913615e+01] [-2.20508924e-01 9.75372694e-01 -4.89106972e-03 -1.43482191e+01] [-2.22626538e-02 -1.97425238e-05 9.99752156e-01 -2.09436610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.618623853 meters 0.01432926613320292 Centerline is valid? [True, True] Translation: X:84.32, Y:-14.36, Z:-2.10 [[ 9.75405022e-01 2.19435441e-01 2.08117939e-02 8.43181425e+01] [-2.19385422e-01 9.75627023e-01 -4.68502745e-03 -1.43564132e+01] [-2.13326096e-02 3.99511403e-06 9.99772434e-01 -2.09706125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.648623853 meters 0.014331934102972673 Centerline is valid? [True, True] Translation: X:84.34, Y:-14.36, Z:-2.10 [[ 9.75525653e-01 2.18882283e-01 2.09820771e-02 8.43449576e+01] [-2.18831340e-01 9.75751273e-01 -4.72211201e-03 -1.43635267e+01] [-2.15068751e-02 1.50053519e-05 9.99768700e-01 -2.09731193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.678623853 meters 0.01435611873327167 Centerline is valid? [True, True] Translation: X:84.37, Y:-14.37, Z:-2.10 [[ 9.75651245e-01 2.18356283e-01 2.06199212e-02 8.43726874e+01] [-2.18307000e-01 9.75869117e-01 -4.63903594e-03 -1.43707577e+01] [-2.11353069e-02 2.46080533e-05 9.99776624e-01 -2.09854312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.708623853 meters 0.014403356918372214 Centerline is valid? [True, True] Translation: X:84.40, Y:-14.38, Z:-2.10 [[ 9.75756461e-01 2.17906413e-01 2.03991127e-02 8.43994895e+01] [-2.17858100e-01 9.75969669e-01 -4.58847364e-03 -1.43782092e+01] [-2.09087731e-02 3.31208710e-05 9.99781387e-01 -2.09923960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.738623853 meters 0.014537961729882039 Centerline is valid? [True, True] Translation: X:84.43, Y:-14.39, Z:-2.10 [[ 9.75965841e-01 2.16964218e-01 2.04256013e-02 8.44265828e+01] [-2.16915604e-01 9.76179556e-01 -4.59295771e-03 -1.43869562e+01] [-2.09355619e-02 5.19381765e-05 9.99780826e-01 -2.10026727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76862385300001 meters 0.014749244871033752 Centerline is valid? [True, True] Translation: X:84.45, Y:-14.39, Z:-2.10 [[ 9.76090800e-01 2.16421673e-01 2.02091264e-02 8.44529487e+01] [-2.16373998e-01 9.76299982e-01 -4.54281788e-03 -1.43948544e+01] [-2.07133340e-02 6.14732673e-05 9.99785454e-01 -2.10144711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.79862385300001 meters 0.014936301150013293 Centerline is valid? [True, True] Translation: X:84.48, Y:-14.40, Z:-2.10 [[ 9.76213762e-01 2.15898347e-01 1.98644084e-02 8.44806516e+01] [-2.15852215e-01 9.76415843e-01 -4.46342521e-03 -1.44034100e+01] [-2.03595692e-02 6.94805519e-05 9.99792720e-01 -2.10281872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82862385300001 meters 0.02914976532816387 Centerline is valid? [True, True] Translation: X:84.51, Y:-14.41, Z:-2.10 [[ 9.76271529e-01 2.15678818e-01 1.94048751e-02 8.45088546e+01] [-2.15634771e-01 9.76464358e-01 -4.35927148e-03 -1.44109433e+01] [-1.98883714e-02 7.14668455e-05 9.99802204e-01 -2.09755377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.85862385300001 meters 0.015019986960146166 Centerline is valid? [True, True] Translation: X:84.54, Y:-14.42, Z:-2.11 [[ 9.76249740e-01 2.15715601e-01 2.00804573e-02 8.45351015e+01] [-2.15668460e-01 9.76456233e-01 -4.51009847e-03 -1.44192735e+01] [-2.05805863e-02 7.22611553e-05 9.99788195e-01 -2.10531106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88862385300001 meters 0.0169623097183691 Centerline is valid? [True, True] Translation: X:84.56, Y:-14.43, Z:-2.10 [[ 9.76206535e-01 2.15954745e-01 1.96048310e-02 8.45623911e+01] [-2.15909881e-01 9.76403371e-01 -4.40220288e-03 -1.44260130e+01] [-2.00928996e-02 6.45824942e-05 9.99798115e-01 -2.10373315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.918623853 meters 0.021971419948638715 Centerline is valid? [True, True] Translation: X:84.59, Y:-14.43, Z:-2.10 [[ 9.75818626e-01 2.17772043e-01 1.87975145e-02 8.45899409e+01] [-2.17731160e-01 9.75999660e-01 -4.21966866e-03 -1.44300760e+01] [-1.92652936e-02 2.48266389e-05 9.99814407e-01 -2.10283256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.948623853 meters 0.014513037399596116 Centerline is valid? [True, True] Translation: X:84.62, Y:-14.43, Z:-2.11 [[ 9.75508354e-01 2.19126764e-01 1.91549451e-02 8.46163255e+01] [-2.19084597e-01 9.75696398e-01 -4.29857149e-03 -1.44343424e+01] [-1.96313430e-02 -3.26104668e-06 9.99807287e-01 -2.10908203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.978623853 meters 0.023033483301477243 Centerline is valid? [True, True] Translation: X:84.65, Y:-14.44, Z:-2.10 [[ 9.74566630e-01 2.23291404e-01 1.89955921e-02 8.46461707e+01] [-2.23250761e-01 9.74751733e-01 -4.26106743e-03 -1.44354457e+01] [-1.94674460e-02 -8.80862623e-05 9.99810487e-01 -2.10362505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.008623853 meters 0.016540836565808355 Centerline is valid? [True, True] Translation: X:84.67, Y:-14.44, Z:-2.11 [[ 9.73980905e-01 2.25826031e-01 1.90735408e-02 8.46745924e+01] [-2.25785557e-01 9.74167636e-01 -4.27767669e-03 -1.44399280e+01] [-1.95468369e-02 -1.40154603e-04 9.99808933e-01 -2.10978817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.038623853 meters 0.018289284967359685 Centerline is valid? [True, True] Translation: X:84.70, Y:-14.44, Z:-2.11 [[ 9.73389501e-01 2.28384901e-01 1.87940692e-02 8.47036537e+01] [-2.28346098e-01 9.73570902e-01 -4.21408593e-03 -1.44427550e+01] [-1.92597925e-02 -1.89605362e-04 9.99814495e-01 -2.11064173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.068623853 meters 0.02241723392410736 Centerline is valid? [True, True] Translation: X:84.73, Y:-14.44, Z:-2.11 [[ 9.72301232e-01 2.32972669e-01 1.88162155e-02 8.47332552e+01] [-2.32934651e-01 9.72483242e-01 -4.21804371e-03 -1.44409289e+01] [-1.92811432e-02 -2.81739510e-04 9.99814062e-01 -2.11232631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.098623853 meters 0.026194593522340187 Centerline is valid? [True, True] Translation: X:84.76, Y:-14.44, Z:-2.11 [[ 9.71906736e-01 2.34625972e-01 1.86533853e-02 8.47613508e+01] [-2.34588920e-01 9.72085673e-01 -4.18127232e-03 -1.44407328e+01] [-1.91137236e-02 -3.12070758e-04 9.99817267e-01 -2.11439322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12862385300001 meters 0.03560984817951978 Centerline is valid? [True, True] Translation: X:84.79, Y:-14.44, Z:-2.11 [[ 9.71577750e-01 2.36005228e-01 1.83904528e-02 8.47898176e+01] [-2.35969503e-01 9.71751727e-01 -4.12003265e-03 -1.44449114e+01] [-1.88433035e-02 -3.36653959e-04 9.99822393e-01 -2.10746085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.15862385300001 meters 0.029794953430412843 Centerline is valid? [True, True] Translation: X:84.82, Y:-14.45, Z:-2.12 [[ 9.71246390e-01 2.37308098e-01 1.91132822e-02 8.48175233e+01] [-2.37269773e-01 9.71434365e-01 -4.28133149e-03 -1.44454872e+01] [-1.95832937e-02 -3.76776379e-04 9.99808158e-01 -2.11598699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18862385300001 meters 0.02680339096424486 Centerline is valid? [True, True] Translation: X:84.84, Y:-14.46, Z:-2.12 [[ 9.71286065e-01 2.37135304e-01 1.92413084e-02 8.48446230e+01] [-2.37096475e-01 9.71476559e-01 -4.30774630e-03 -1.44559060e+01] [-1.97139988e-02 -3.77992450e-04 9.99805589e-01 -2.11516700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.21862385300001 meters 0.026304178131478367 Centerline is valid? [True, True] Translation: X:84.87, Y:-14.46, Z:-2.12 [[ 9.71476266e-01 2.36353095e-01 1.92633998e-02 8.48724316e+01] [-2.36314041e-01 9.71667167e-01 -4.31176013e-03 -1.44631376e+01] [-1.97367110e-02 -3.63439235e-04 9.99805146e-01 -2.11648009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24862385300001 meters 0.026681533743649528 Centerline is valid? [True, True] Translation: X:84.90, Y:-14.47, Z:-2.12 [[ 9.72026795e-01 2.34076834e-01 1.92858976e-02 8.49001693e+01] [-2.34037259e-01 9.72218049e-01 -4.31592920e-03 -1.44675848e+01] [-1.97603568e-02 -3.18419793e-04 9.99804694e-01 -2.11817977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.278623853 meters 0.025578534493650967 Centerline is valid? [True, True] Translation: X:84.93, Y:-14.47, Z:-2.12 [[ 9.72313444e-01 2.32892560e-01 1.91734669e-02 8.49271659e+01] [-2.32853237e-01 9.72502426e-01 -4.28960275e-03 -1.44739589e+01] [-1.96452596e-02 -2.93765413e-04 9.99806970e-01 -2.11927461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.308623853 meters 0.023962239381083245 Centerline is valid? [True, True] Translation: X:84.96, Y:-14.48, Z:-2.12 [[ 9.72688330e-01 2.31340074e-01 1.89521444e-02 8.49552126e+01] [-2.31301380e-01 9.72872912e-01 -4.23899179e-03 -1.44820539e+01] [-1.94186765e-02 -2.60439307e-04 9.99811406e-01 -2.12053301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.338623853 meters 0.017751256620276434 Centerline is valid? [True, True] Translation: X:84.98, Y:-14.50, Z:-2.12 [[ 9.73598680e-01 2.27433262e-01 1.94864765e-02 8.49809760e+01] [-2.27391589e-01 9.73793652e-01 -4.35764580e-03 -1.44992284e+01] [-1.99668807e-02 -1.88462654e-04 9.99800624e-01 -2.11919635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.368623853 meters 0.022996805608806015 Centerline is valid? [True, True] Translation: X:85.01, Y:-14.51, Z:-2.12 [[ 9.74201172e-01 2.24864686e-01 1.91819887e-02 8.50078326e+01] [-2.24823826e-01 9.74389991e-01 -4.28866554e-03 -1.45054176e+01] [-1.96551072e-02 -1.34545081e-04 9.99806811e-01 -2.11675747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.398623853 meters 0.015925441176746012 Centerline is valid? [True, True] Translation: X:85.04, Y:-14.52, Z:-2.12 [[ 9.74809253e-01 2.22194937e-01 1.93992526e-02 8.50350736e+01] [-2.22152645e-01 9.75002258e-01 -4.33583637e-03 -1.45173605e+01] [-1.98777160e-02 -8.29818686e-05 9.99802415e-01 -2.12327889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.428623853 meters 0.014933775282801284 Centerline is valid? [True, True] Translation: X:85.06, Y:-14.54, Z:-2.12 [[ 9.76049751e-01 2.16697448e-01 1.92119802e-02 8.50604850e+01] [-2.16654914e-01 9.76238810e-01 -4.29341505e-03 -1.45354392e+01] [-1.96858528e-02 2.82167803e-05 9.99806214e-01 -2.12498609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.458623853 meters 0.025363571537795386 Centerline is valid? [True, True] Translation: X:85.09, Y:-14.55, Z:-2.12 [[ 9.76560602e-01 2.14418503e-01 1.88174403e-02 8.50873823e+01] [-2.14377289e-01 9.76741880e-01 -4.20444643e-03 -1.45464827e+01] [-1.92812931e-02 7.18648954e-05 9.99814096e-01 -2.11872424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.488623853 meters 0.017059608191427364 Centerline is valid? [True, True] Translation: X:85.11, Y:-14.56, Z:-2.13 [[ 9.76984315e-01 2.12447663e-01 1.91738965e-02 8.51136327e+01] [-2.12404510e-01 9.77172440e-01 -4.28323099e-03 -1.45586305e+01] [-1.96461657e-02 1.12027398e-04 9.99806989e-01 -2.12671493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.51862385300001 meters 0.017889399872816167 Centerline is valid? [True, True] Translation: X:85.14, Y:-14.57, Z:-2.13 [[ 9.77497661e-01 2.10152660e-01 1.82806410e-02 8.51402941e+01] [-2.10113046e-01 9.77668572e-01 -4.08295902e-03 -1.45700134e+01] [-1.87304529e-02 1.50081718e-04 9.99824558e-01 -2.12716551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54862385300001 meters 0.018186336507059232 Centerline is valid? [True, True] Translation: X:85.17, Y:-14.58, Z:-2.13 [[ 9.77554472e-01 2.09904892e-01 1.80884118e-02 8.51674804e+01] [-2.09866079e-01 9.77721797e-01 -4.03926451e-03 -1.45775533e+01] [-1.85332959e-02 1.52457021e-04 9.99828232e-01 -2.12854686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.57862385300001 meters 0.017801822380999123 Centerline is valid? [True, True] Translation: X:85.20, Y:-14.58, Z:-2.13 [[ 9.77454175e-01 2.10388227e-01 1.78921633e-02 8.51950499e+01] [-2.10350353e-01 9.77617908e-01 -3.99433617e-03 -1.45841155e+01] [-1.83320606e-02 1.40657689e-04 9.99831944e-01 -2.12968402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60862385300001 meters 0.01630340219853439 Centerline is valid? [True, True] Translation: X:85.22, Y:-14.59, Z:-2.13 [[ 9.76901463e-01 2.12950995e-01 1.77596603e-02 8.52219683e+01] [-2.12914116e-01 9.77062877e-01 -3.96406648e-03 -1.45892049e+01] [-1.81964567e-02 9.12199680e-05 9.99834427e-01 -2.13045723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.63862385300001 meters 0.025045660939371158 Centerline is valid? [True, True] Translation: X:85.25, Y:-14.59, Z:-2.12 [[ 9.76466443e-01 2.14970401e-01 1.73497108e-02 8.52509368e+01] [-2.14935545e-01 9.76620563e-01 -3.87135808e-03 -1.45920791e+01] [-1.77763117e-02 5.11817189e-05 9.99841988e-01 -2.12275755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.668623853 meters 0.01591657478130426 Centerline is valid? [True, True] Translation: X:85.28, Y:-14.59, Z:-2.13 [[ 9.75332952e-01 2.20056018e-01 1.73488056e-02 8.52782115e+01] [-2.20021980e-01 9.75487236e-01 -3.87055216e-03 -1.45905429e+01] [-1.77752768e-02 -4.20415017e-05 9.99842006e-01 -2.13424387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.698623853 meters 0.01618770496049283 Centerline is valid? [True, True] Translation: X:85.31, Y:-14.59, Z:-2.13 [[ 9.74721246e-01 2.22761693e-01 1.71965540e-02 8.53071571e+01] [-2.22728702e-01 9.74872925e-01 -3.83481237e-03 -1.45938424e+01] [-1.76187042e-02 -9.22930691e-05 9.99844774e-01 -2.13161410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.728623853 meters 0.018238714677498498 Centerline is valid? [True, True] Translation: X:85.34, Y:-14.59, Z:-2.13 [[ 9.74100826e-01 2.25462415e-01 1.71545999e-02 8.53355990e+01] [-2.25430016e-01 9.74251856e-01 -3.82470418e-03 -1.45944122e+01] [-1.75752278e-02 -1.41514235e-04 9.99845534e-01 -2.13376397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.758623853 meters 0.023773390876190945 Centerline is valid? [True, True] Translation: X:85.37, Y:-14.59, Z:-2.14 [[ 9.72875045e-01 2.30713606e-01 1.68931457e-02 8.53663733e+01] [-2.30682999e-01 9.73021674e-01 -3.76519468e-03 -1.45882736e+01] [-1.73060785e-02 -2.33897564e-04 9.99850211e-01 -2.13540462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.788623853 meters 0.02402439126414669 Centerline is valid? [True, True] Translation: X:85.39, Y:-14.59, Z:-2.14 [[ 9.72333152e-01 2.32989164e-01 1.68609320e-02 8.53945239e+01] [-2.32959023e-01 9.72479292e-01 -3.75761993e-03 -1.45922305e+01] [-1.72723920e-02 -2.74247815e-04 9.99850783e-01 -2.13500850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.818623853 meters 0.025966131707870044 Centerline is valid? [True, True] Translation: X:85.42, Y:-14.59, Z:-2.14 [[ 9.71821753e-01 2.35130510e-01 1.66169683e-02 8.54239556e+01] [-2.35101566e-01 9.71963759e-01 -3.70216207e-03 -1.45944003e+01] [-1.70215822e-02 -3.08833634e-04 9.99855075e-01 -2.13621463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.848623853 meters 0.033042627809710144 Centerline is valid? [True, True] Translation: X:85.45, Y:-14.59, Z:-2.14 [[ 9.71088646e-01 2.38148860e-01 1.64912717e-02 8.54547193e+01] [-2.38120802e-01 9.71228599e-01 -3.67325463e-03 -1.45889226e+01] [-1.68915761e-02 -3.59858983e-04 9.99857262e-01 -2.13980524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.87862385300001 meters 0.030886752027804144 Centerline is valid? [True, True] Translation: X:85.48, Y:-14.60, Z:-2.14 [[ 9.70798833e-01 2.39329421e-01 1.64637437e-02 8.54822936e+01] [-2.39301635e-01 9.70938352e-01 -3.66662050e-03 -1.45969897e+01] [-1.68628103e-02 -3.80249879e-04 9.99857740e-01 -2.13823294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90862385300001 meters 0.036440541996317785 Centerline is valid? [True, True] Translation: X:85.51, Y:-14.59, Z:-2.14 [[ 9.70509566e-01 2.40510456e-01 1.63065302e-02 8.55111357e+01] [-2.40483376e-01 9.70646466e-01 -3.63093168e-03 -1.45939315e+01] [-1.67011530e-02 -3.97595505e-04 9.99860447e-01 -2.14106834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.93862385300001 meters 0.034143020700517654 Centerline is valid? [True, True] Translation: X:85.54, Y:-14.60, Z:-2.14 [[ 9.70133943e-01 2.42064080e-01 1.56561323e-02 8.55393136e+01] [-2.42039328e-01 9.70260179e-01 -3.48549191e-03 -1.45976351e+01] [-1.60342341e-02 -4.08005741e-04 9.99871360e-01 -2.14178130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96862385300001 meters 0.039864109262853144 Centerline is valid? [True, True] Translation: X:85.57, Y:-14.59, Z:-2.14 [[ 9.70039825e-01 2.42445714e-01 1.55824981e-02 8.55682524e+01] [-2.42421271e-01 9.70164885e-01 -3.46742993e-03 -1.45933049e+01] [-1.59582560e-02 -4.13983888e-04 9.99872573e-01 -2.14480015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.99862385300001 meters 0.03288793333661285 Centerline is valid? [True, True] Translation: X:85.60, Y:-14.60, Z:-2.14 [[ 9.70092177e-01 2.42249322e-01 1.53764404e-02 8.55952335e+01] [-2.42225509e-01 9.70213946e-01 -3.42081831e-03 -1.46033826e+01] [-1.57471278e-02 -4.06057009e-04 9.99875924e-01 -2.14257509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.028623853 meters 0.035127059564473866 Centerline is valid? [True, True] Translation: X:85.62, Y:-14.60, Z:-2.14 [[ 9.70233774e-01 2.41668104e-01 1.55869178e-02 8.56232396e+01] [-2.41643580e-01 9.70358884e-01 -3.46635260e-03 -1.46036891e+01] [-1.59626110e-02 -4.03306249e-04 9.99872508e-01 -2.14420012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.058623853 meters 0.034482257672669304 Centerline is valid? [True, True] Translation: X:85.65, Y:-14.61, Z:-2.15 [[ 9.70437452e-01 2.40857328e-01 1.54563936e-02 8.56518556e+01] [-2.40833109e-01 9.70560456e-01 -3.43732680e-03 -1.46088628e+01] [-1.58292698e-02 -3.86700671e-04 9.99874634e-01 -2.14549581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.088623853 meters 0.032947602996451775 Centerline is valid? [True, True] Translation: X:85.68, Y:-14.62, Z:-2.15 [[ 9.70813870e-01 2.39333974e-01 1.54815469e-02 8.56797973e+01] [-2.39309524e-01 9.70937236e-01 -3.44037091e-03 -1.46153058e+01] [-1.58550080e-02 -3.64921810e-04 9.99874235e-01 -2.14636200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.118623853 meters 0.02919256444510442 Centerline is valid? [True, True] Translation: X:85.71, Y:-14.62, Z:-2.15 [[ 9.71698085e-01 2.35694749e-01 1.58372110e-02 8.57076779e+01] [-2.35668741e-01 9.71827086e-01 -3.51559721e-03 -1.46217741e+01] [-1.62196384e-02 -3.16236498e-04 9.99868403e-01 -2.14612811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.148623853 meters 0.02520222953990856 Centerline is valid? [True, True] Translation: X:85.74, Y:-14.63, Z:-2.15 [[ 9.72224793e-01 2.33479609e-01 1.63163676e-02 8.57357590e+01] [-2.33451694e-01 9.72361656e-01 -3.62179296e-03 -1.46306805e+01] [-1.67110250e-02 -2.87886741e-04 9.99860320e-01 -2.14525971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.178623853 meters 0.021266097623415643 Centerline is valid? [True, True] Translation: X:85.76, Y:-14.64, Z:-2.15 [[ 9.73300047e-01 2.28963485e-01 1.62093063e-02 8.57637469e+01] [-2.28935336e-01 9.73434989e-01 -3.59632335e-03 -1.46378510e+01] [-1.66021326e-02 -2.10581303e-04 9.99862153e-01 -2.14635333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.208623853 meters 0.020835113935228154 Centerline is valid? [True, True] Translation: X:85.79, Y:-14.64, Z:-2.15 [[ 9.73772612e-01 2.26956286e-01 1.60544374e-02 8.57906562e+01] [-2.26928411e-01 9.73904930e-01 -3.56128946e-03 -1.46429036e+01] [-1.64437527e-02 -1.75321824e-04 9.99864777e-01 -2.14854842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.238623853 meters 0.018600450478204352 Centerline is valid? [True, True] Translation: X:85.82, Y:-14.65, Z:-2.15 [[ 9.74177128e-01 2.25208906e-01 1.61205206e-02 8.58179835e+01] [-2.25180580e-01 9.74310488e-01 -3.57484997e-03 -1.46509004e+01] [-1.65114804e-02 -1.47491115e-04 9.99863665e-01 -2.14821271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26862385300001 meters 0.016639874990832446 Centerline is valid? [True, True] Translation: X:85.85, Y:-14.66, Z:-2.15 [[ 9.74951540e-01 2.21802988e-01 1.65205671e-02 8.58452709e+01] [-2.21772761e-01 9.75091496e-01 -3.66282294e-03 -1.46575786e+01] [-1.69214896e-02 -9.27369244e-05 9.99856817e-01 -2.14807789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.29862385300001 meters 0.01585758256914358 Centerline is valid? [True, True] Translation: X:85.87, Y:-14.66, Z:-2.15 [[ 9.75258606e-01 2.20433035e-01 1.67310443e-02 8.58738052e+01] [-2.20401851e-01 9.75402108e-01 -3.70836999e-03 -1.46639586e+01] [-1.71369431e-02 -7.09333927e-05 9.99853149e-01 -2.14782600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32862385300001 meters 0.015336133817757744 Centerline is valid? [True, True] Translation: X:85.90, Y:-14.67, Z:-2.15 [[ 9.75616872e-01 2.18842382e-01 1.67251485e-02 8.59023609e+01] [-2.18811001e-01 9.75760221e-01 -3.70624694e-03 -1.46704920e+01] [-1.71308185e-02 -4.37694271e-05 9.99853256e-01 -2.14814678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.35862385300001 meters 0.015336133817757744 Centerline is valid? [True, True] Translation: X:85.93, Y:-14.68, Z:-2.15 [[ 9.75632373e-01 2.18773258e-01 1.67252822e-02 8.59292236e+01] [-2.18741877e-01 9.75775722e-01 -3.70564348e-03 -1.46763051e+01] [-1.71308200e-02 -4.31738663e-05 9.99853256e-01 -2.14883823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38862385300001 meters 0.014999191675895649 Centerline is valid? [True, True] Translation: X:85.96, Y:-14.68, Z:-2.15 [[ 9.76430712e-01 2.15100607e-01 1.77424222e-02 8.59555923e+01] [-2.15064713e-01 9.76591894e-01 -3.92948409e-03 -1.46848874e+01] [-1.81723401e-02 2.11000190e-05 9.99834869e-01 -2.14782602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.418623853 meters 0.015076446082428602 Centerline is valid? [True, True] Translation: X:85.98, Y:-14.69, Z:-2.15 [[ 9.76834155e-01 2.13176498e-01 1.87300214e-02 8.59836646e+01] [-2.13136167e-01 9.77013704e-01 -4.14689868e-03 -1.46925875e+01] [-1.91835089e-02 5.87873004e-05 9.99815978e-01 -2.14689224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.448623853 meters 0.015838413085190226 Centerline is valid? [True, True] Translation: X:86.01, Y:-14.70, Z:-2.15 [[ 9.77292183e-01 2.11035500e-01 1.90789811e-02 8.60107189e+01] [-2.10993262e-01 9.77478392e-01 -4.22327101e-03 -1.47004095e+01] [-1.95405518e-02 1.01833287e-04 9.99809060e-01 -2.14705216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.478623853 meters 0.01825904032794646 Centerline is valid? [True, True] Translation: X:86.04, Y:-14.71, Z:-2.15 [[ 9.78237605e-01 2.06661960e-01 1.84938544e-02 8.60378773e+01] [-2.06621512e-01 9.78412388e-01 -4.09260074e-03 -1.47105890e+01] [-1.89404011e-02 1.82307782e-04 9.99820598e-01 -2.14855150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.508623853 meters 0.020096316191484914 Centerline is valid? [True, True] Translation: X:86.06, Y:-14.72, Z:-2.15 [[ 9.78684938e-01 2.04513797e-01 1.87055765e-02 8.60645711e+01] [-2.04472042e-01 9.78863655e-01 -4.13858406e-03 -1.47204004e+01] [-1.91566066e-02 2.25602443e-04 9.99816470e-01 -2.14932913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.538623853 meters 0.02190485755487359 Centerline is valid? [True, True] Translation: X:86.09, Y:-14.73, Z:-2.15 [[ 9.79359996e-01 2.01308262e-01 1.81378325e-02 8.60915553e+01] [-2.01268474e-01 9.79527900e-01 -4.01191602e-03 -1.47293633e+01] [-1.85741449e-02 2.78536182e-04 9.99827447e-01 -2.15029443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.568623853 meters 0.022985031174470767 Centerline is valid? [True, True] Translation: X:86.12, Y:-14.74, Z:-2.15 [[ 9.79632460e-01 2.00067068e-01 1.71292827e-02 8.61196993e+01] [-2.00031411e-01 9.79782163e-01 -3.78776359e-03 -1.47370269e+01] [-1.75407724e-02 2.84221593e-04 9.99846108e-01 -2.15280674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.598623853 meters 0.023654399906279027 Centerline is valid? [True, True] Translation: X:86.15, Y:-14.74, Z:-2.16 [[ 9.79783496e-01 1.99387943e-01 1.63935557e-02 8.61472552e+01] [-1.99355201e-01 9.79920593e-01 -3.62431254e-03 -1.47444556e+01] [-1.67870270e-02 2.82901027e-04 9.99859048e-01 -2.15505045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62862385300001 meters 0.024156787597090997 Centerline is valid? [True, True] Translation: X:86.18, Y:-14.75, Z:-2.16 [[ 9.79888832e-01 1.98876559e-01 1.63092118e-02 8.61751935e+01] [-1.98844096e-01 9.80024505e-01 -3.60485996e-03 -1.47520890e+01] [-1.67003493e-02 2.89371551e-04 9.99860498e-01 -2.15630100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.65862385300001 meters 0.024462821281187867 Centerline is valid? [True, True] Translation: X:86.20, Y:-14.76, Z:-2.16 [[ 9.79904102e-01 1.98807256e-01 1.62365927e-02 8.62018142e+01] [-1.98775081e-01 9.80038566e-01 -3.58821632e-03 -1.47598529e+01] [-1.66258505e-02 2.88677859e-04 9.99861739e-01 -2.15775476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68862385300001 meters 0.02328594640828886 Centerline is valid? [True, True] Translation: X:86.23, Y:-14.76, Z:-2.16 [[ 9.79866827e-01 1.99032107e-01 1.57233051e-02 8.62291286e+01] [-1.99001981e-01 9.79992931e-01 -3.47370721e-03 -1.47637583e+01] [-1.61001071e-02 2.74801590e-04 9.99870347e-01 -2.15805548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.71862385300001 meters 0.03215850421825336 Centerline is valid? [True, True] Translation: X:86.26, Y:-14.77, Z:-2.15 [[ 9.79714242e-01 1.99860298e-01 1.46923288e-02 8.62562889e+01] [-1.99834104e-01 9.79824373e-01 -3.24481098e-03 -1.47711260e+01] [-1.50444107e-02 2.42959175e-04 9.99886797e-01 -2.15360370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74862385300001 meters 0.023061048873515032 Centerline is valid? [True, True] Translation: X:86.28, Y:-14.78, Z:-2.16 [[ 9.79606883e-01 2.00338116e-01 1.53295006e-02 8.62844772e+01] [-2.00309677e-01 9.79726788e-01 -3.38436774e-03 -1.47780802e+01] [-1.56967403e-02 2.44702619e-04 9.99876769e-01 -2.16118504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.77862385300001 meters 0.021395165861962433 Centerline is valid? [True, True] Translation: X:86.31, Y:-14.78, Z:-2.16 [[ 9.79165593e-01 2.02493816e-01 1.51985735e-02 8.63118627e+01] [-2.02466127e-01 9.79283519e-01 -3.35500340e-03 -1.47827678e+01] [-1.55630800e-02 2.07907570e-04 9.99878866e-01 -2.16194329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.808623853 meters 0.020588823660776502 Centerline is valid? [True, True] Translation: X:86.34, Y:-14.79, Z:-2.16 [[ 9.78944581e-01 2.03576058e-01 1.49765107e-02 8.63399416e+01] [-2.03549323e-01 9.79059117e-01 -3.30442193e-03 -1.47873630e+01] [-1.53355905e-02 1.86387332e-04 9.99882386e-01 -2.16310236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.838623853 meters 0.02003740464516015 Centerline is valid? [True, True] Translation: X:86.37, Y:-14.79, Z:-2.16 [[ 9.78752884e-01 2.04495620e-01 1.49777933e-02 8.63677609e+01] [-2.04468993e-01 9.78867464e-01 -3.30438869e-03 -1.47920253e+01] [-1.53370075e-02 1.71685656e-04 9.99882366e-01 -2.16412988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.868623853 meters 0.019420749205340943 Centerline is valid? [True, True] Translation: X:86.40, Y:-14.80, Z:-2.16 [[ 9.78634977e-01 2.05041753e-01 1.52138660e-02 8.63960555e+01] [-2.05014363e-01 9.78753213e-01 -3.35539796e-03 -1.47970978e+01] [-1.55786169e-02 1.64648761e-04 9.99878632e-01 -2.16451347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.898623853 meters 0.019050331619850407 Centerline is valid? [True, True] Translation: X:86.42, Y:-14.80, Z:-2.17 [[ 9.78445382e-01 2.05946313e-01 1.51904924e-02 8.64227175e+01] [-2.05919122e-01 9.78563280e-01 -3.34985532e-03 -1.48033845e+01] [-1.55547484e-02 1.49637617e-04 9.99879006e-01 -2.16530627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.928623853 meters 0.018676889845029677 Centerline is valid? [True, True] Translation: X:86.45, Y:-14.81, Z:-2.17 [[ 9.78367082e-01 2.06309834e-01 1.53005210e-02 8.64506071e+01] [-2.06282318e-01 9.78486705e-01 -3.37241455e-03 -1.48094068e+01] [-1.56671187e-02 1.43232437e-04 9.99877253e-01 -2.16601793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.958623853 meters 0.017835508814962573 Centerline is valid? [True, True] Translation: X:86.48, Y:-14.81, Z:-2.17 [[ 9.78060147e-01 2.07764001e-01 1.52468982e-02 8.64784794e+01] [-2.07736866e-01 9.78178974e-01 -3.35985492e-03 -1.48146714e+01] [-1.56122522e-02 1.18797340e-04 9.99878114e-01 -2.16693730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.988623853 meters 0.01705410810786979 Centerline is valid? [True, True] Translation: X:86.51, Y:-14.82, Z:-2.17 [[ 9.77905166e-01 2.08474597e-01 1.54864063e-02 8.65072040e+01] [-2.08446704e-01 9.78027776e-01 -3.41187973e-03 -1.48193182e+01] [-1.58574257e-02 1.08404468e-04 9.99874257e-01 -2.16660315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.01862385300001 meters 0.01704983450759456 Centerline is valid? [True, True] Translation: X:86.53, Y:-14.82, Z:-2.17 [[ 9.77638123e-01 2.09718581e-01 1.55504997e-02 8.65340663e+01] [-2.09690627e-01 9.77761785e-01 -3.42521946e-03 -1.48243665e+01] [-1.59230165e-02 8.78310926e-05 9.99873217e-01 -2.16899323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04862385300001 meters 0.015680760500097007 Centerline is valid? [True, True] Translation: X:86.56, Y:-14.83, Z:-2.17 [[ 9.77173412e-01 2.11840975e-01 1.59851155e-02 8.65635555e+01] [-2.11811733e-01 9.77304148e-01 -3.52013763e-03 -1.48259260e+01] [-1.63680291e-02 5.39498790e-05 9.99866033e-01 -2.16677051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.07862385300001 meters 0.015762842547812322 Centerline is valid? [True, True] Translation: X:86.59, Y:-14.83, Z:-2.17 [[ 9.76939133e-01 2.12933045e-01 1.57939457e-02 8.65896783e+01] [-2.12904649e-01 9.77066793e-01 -3.47758300e-03 -1.48308093e+01] [-1.61722322e-02 3.47824558e-05 9.99869220e-01 -2.16934997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10862385300001 meters 0.015420225881125765 Centerline is valid? [True, True] Translation: X:86.62, Y:-14.84, Z:-2.17 [[ 9.76744268e-01 2.13823302e-01 1.58186962e-02 8.66171145e+01] [-2.13794958e-01 9.76872353e-01 -3.48153214e-03 -1.48350722e+01] [-1.61972796e-02 1.86090814e-05 9.99868815e-01 -2.16932986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.13862385300001 meters 0.0153404877233911 Centerline is valid? [True, True] Translation: X:86.65, Y:-14.84, Z:-2.17 [[ 9.76382472e-01 2.15462123e-01 1.59167337e-02 8.66453901e+01] [-2.15433663e-01 9.76512198e-01 -3.50190885e-03 -1.48377027e+01] [-1.62974133e-02 -9.79782264e-06 9.99867188e-01 -2.17003714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.168623853 meters 0.015446112016546653 Centerline is valid? [True, True] Translation: X:86.67, Y:-14.84, Z:-2.17 [[ 9.76273108e-01 2.15954109e-01 1.59574662e-02 8.66723072e+01] [-2.15925587e-01 9.76403514e-01 -3.50978987e-03 -1.48420515e+01] [-1.63388796e-02 -1.91117895e-05 9.99866511e-01 -2.17082170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.198623853 meters 0.0153532703243774 Centerline is valid? [True, True] Translation: X:86.70, Y:-14.85, Z:-2.17 [[ 9.76213423e-01 2.16231129e-01 1.58572484e-02 8.67001046e+01] [-2.16203024e-01 9.76342203e-01 -3.48629852e-03 -1.48468670e+01] [-1.62359471e-02 -2.50136423e-05 9.99868188e-01 -2.17155246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.228623853 meters 0.01548947585695397 Centerline is valid? [True, True] Translation: X:86.73, Y:-14.85, Z:-2.17 [[ 9.76205630e-01 2.16310307e-01 1.52452848e-02 8.67282789e+01] [-2.16284360e-01 9.76324664e-01 -3.35044657e-03 -1.48525083e+01] [-1.56090837e-02 -2.65918590e-05 9.99878170e-01 -2.17237535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.258623853 meters 0.015566227277966959 Centerline is valid? [True, True] Translation: X:86.76, Y:-14.86, Z:-2.17 [[ 9.76186384e-01 2.16425580e-01 1.48361428e-02 8.67562566e+01] [-2.16401031e-01 9.76299118e-01 -3.25981466e-03 -1.48578358e+01] [-1.51900204e-02 -2.83699152e-05 9.99884625e-01 -2.17401420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.288623853 meters 0.015735630411222515 Centerline is valid? [True, True] Translation: X:86.78, Y:-14.86, Z:-2.18 [[ 9.76090684e-01 2.16855113e-01 1.48605811e-02 8.67828110e+01] [-2.16830532e-01 9.76203800e-01 -3.26526345e-03 -1.48614673e+01] [-1.52150448e-02 -3.50344687e-05 9.99884244e-01 -2.17516725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.318623853 meters 0.015785947456805005 Centerline is valid? [True, True] Translation: X:86.81, Y:-14.87, Z:-2.18 [[ 9.76034867e-01 2.17113242e-01 1.47572915e-02 8.68116454e+01] [-2.17089073e-01 9.76146423e-01 -3.23973740e-03 -1.48664823e+01] [-1.51086672e-02 -4.15500736e-05 9.99885857e-01 -2.17558553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.348623853 meters 0.016022424590756514 Centerline is valid? [True, True] Translation: X:86.84, Y:-14.87, Z:-2.18 [[ 9.75932464e-01 2.17588696e-01 1.45253097e-02 8.68401703e+01] [-2.17565345e-01 9.76040551e-01 -3.18810056e-03 -1.48711584e+01] [-1.48709859e-02 -4.88331635e-05 9.99889420e-01 -2.17702966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.37862385300001 meters 0.025731444768353103 Centerline is valid? [True, True] Translation: X:86.87, Y:-14.87, Z:-2.17 [[ 9.75841246e-01 2.18061623e-01 1.35274123e-02 8.68682149e+01] [-2.18041422e-01 9.75935001e-01 -2.96861625e-03 -1.48735867e+01] [-1.38492164e-02 -5.26380355e-05 9.99904094e-01 -2.17311129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40862385300001 meters 0.01724321816848986 Centerline is valid? [True, True] Translation: X:86.90, Y:-14.88, Z:-2.18 [[ 9.75752113e-01 2.18464875e-01 1.34503618e-02 8.68959027e+01] [-2.18444953e-01 9.75844811e-01 -2.95086414e-03 -1.48776481e+01] [-1.37701259e-02 -5.88517296e-05 9.99905186e-01 -2.18369018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.43862385300001 meters 0.025498181903973804 Centerline is valid? [True, True] Translation: X:86.92, Y:-14.88, Z:-2.18 [[ 9.75777093e-01 2.18405712e-01 1.25702287e-02 8.69242274e+01] [-2.18388298e-01 9.75858054e-01 -2.75845280e-03 -1.48832801e+01] [-1.28692208e-02 -5.35558122e-05 9.99917187e-01 -2.17684481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46862385300001 meters 0.01690987019295344 Centerline is valid? [True, True] Translation: X:86.95, Y:-14.89, Z:-2.18 [[ 9.75678306e-01 2.18755092e-01 1.40731634e-02 8.69510501e+01] [-2.18733361e-01 9.75779793e-01 -3.08415048e-03 -1.48880310e+01] [-1.44069821e-02 -6.91316188e-05 9.99896212e-01 -2.18334499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.49862385300001 meters 0.016645824512593065 Centerline is valid? [True, True] Translation: X:86.98, Y:-14.89, Z:-2.18 [[ 9.75748065e-01 2.18406911e-01 1.46333171e-02 8.69779054e+01] [-2.18383391e-01 9.75857785e-01 -3.20593371e-03 -1.48935294e+01] [-1.49802345e-02 -6.74897939e-05 9.99887788e-01 -2.18291384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52862385300001 meters 0.015830869481284683 Centerline is valid? [True, True] Translation: X:87.01, Y:-14.90, Z:-2.18 [[ 9.76060116e-01 2.16976410e-01 1.50959363e-02 8.70062933e+01] [-2.16951224e-01 9.76176846e-01 -3.30623513e-03 -1.49001714e+01] [-1.54536786e-02 -4.79976198e-05 9.99880584e-01 -2.18102513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.558623853 meters 0.015525345905888888 Centerline is valid? [True, True] Translation: X:87.03, Y:-14.91, Z:-2.18 [[ 9.76328974e-01 2.15775142e-01 1.49272340e-02 8.70334841e+01] [-2.15750382e-01 9.76443079e-01 -3.26879923e-03 -1.49065407e+01] [-1.52809200e-02 -2.91330520e-05 9.99883239e-01 -2.18187411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.588623853 meters 0.015379588480682752 Centerline is valid? [True, True] Translation: X:87.06, Y:-14.91, Z:-2.18 [[ 9.76612861e-01 2.14499162e-01 1.47455091e-02 8.70610158e+01] [-2.14474873e-01 9.76724173e-01 -3.22790343e-03 -1.49134754e+01] [-1.50946778e-02 -1.01291973e-05 9.99886069e-01 -2.18247707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.618623853 meters 0.015511693791794148 Centerline is valid? [True, True] Translation: X:87.09, Y:-14.92, Z:-2.18 [[ 9.76948562e-01 2.12973375e-01 1.46235543e-02 8.70866311e+01] [-2.12949331e-01 9.77058003e-01 -3.20021961e-03 -1.49205894e+01] [-1.49696223e-02 1.23738546e-05 9.99887949e-01 -2.18461196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.648623853 meters 0.01603100435096833 Centerline is valid? [True, True] Translation: X:87.11, Y:-14.93, Z:-2.18 [[ 9.77611703e-01 2.09886833e-01 1.49290065e-02 8.71133837e+01] [-2.09861440e-01 9.77725684e-01 -3.26529712e-03 -1.49314109e+01] [-1.52818159e-02 5.91698800e-05 9.99883224e-01 -2.18497260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.678623853 meters 0.016408817429457788 Centerline is valid? [True, True] Translation: X:87.14, Y:-14.94, Z:-2.19 [[ 9.77911068e-01 2.08472129e-01 1.51431020e-02 8.71414069e+01] [-2.08445845e-01 9.78028305e-01 -3.31135466e-03 -1.49402825e+01] [-1.55007076e-02 8.16936738e-05 9.99879853e-01 -2.18502194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.708623853 meters 0.01696215758363681 Centerline is valid? [True, True] Translation: X:87.17, Y:-14.95, Z:-2.19 [[ 9.78116540e-01 2.07493487e-01 1.53129807e-02 8.71681617e+01] [-2.07466500e-01 9.78236394e-01 -3.34783839e-03 -1.49487365e+01] [-1.56743697e-02 9.76456003e-05 9.99877145e-01 -2.18595097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.738623853 meters 0.016936177968477347 Centerline is valid? [True, True] Translation: X:87.20, Y:-14.95, Z:-2.19 [[ 9.78137902e-01 2.07400138e-01 1.52127428e-02 8.71959842e+01] [-2.07373505e-01 9.78256190e-01 -3.32510189e-03 -1.49545605e+01] [-1.55715864e-02 9.76883808e-05 9.99878751e-01 -2.18641937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76862385300001 meters 0.01640987271234516 Centerline is valid? [True, True] Translation: X:87.23, Y:-14.96, Z:-2.19 [[ 9.78002630e-01 2.08023599e-01 1.53960334e-02 8.72250620e+01] [-2.07996420e-01 9.78123803e-01 -3.36368405e-03 -1.49589824e+01] [-1.57589524e-02 8.73720141e-05 9.99875816e-01 -2.18610811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.79862385300001 meters 0.015726133910501174 Centerline is valid? [True, True] Translation: X:87.25, Y:-14.96, Z:-2.19 [[ 9.77583227e-01 2.09916540e-01 1.63119541e-02 8.72530337e+01] [-2.09886302e-01 9.77719307e-01 -3.56332807e-03 -1.49630215e+01] [-1.66965140e-02 5.97940216e-05 9.99860602e-01 -2.18579380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82862385300001 meters 0.015301862443898284 Centerline is valid? [True, True] Translation: X:87.28, Y:-14.97, Z:-2.19 [[ 9.77392462e-01 2.10771414e-01 1.67148355e-02 8.72813777e+01] [-2.10739809e-01 9.77535375e-01 -3.65014992e-03 -1.49684506e+01] [-1.71086902e-02 4.51477778e-05 9.99853635e-01 -2.18563596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.85862385300001 meters 0.01513310039983909 Centerline is valid? [True, True] Translation: X:87.31, Y:-14.97, Z:-2.18 [[ 9.77266957e-01 2.11327061e-01 1.70343319e-02 8.73095683e+01] [-2.11294336e-01 9.77415404e-01 -3.71907188e-03 -1.49742025e+01] [-1.74355590e-02 3.52682012e-05 9.99847988e-01 -2.18428768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88862385300001 meters 0.014624801653998133 Centerline is valid? [True, True] Translation: X:87.34, Y:-14.98, Z:-2.18 [[ 9.77062137e-01 2.12153413e-01 1.84528937e-02 8.73373811e+01] [-2.12115177e-01 9.77236373e-01 -4.02774097e-03 -1.49805836e+01] [-1.88873379e-02 2.12143853e-05 9.99821618e-01 -2.18306200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.918623853 meters 0.014609771935615213 Centerline is valid? [True, True] Translation: X:87.36, Y:-14.99, Z:-2.18 [[ 9.76962054e-01 2.12544138e-01 1.92388613e-02 8.73644889e+01] [-2.12502670e-01 9.77151467e-01 -4.19833584e-03 -1.49871578e+01] [-1.96916132e-02 1.33054111e-05 9.99806101e-01 -2.18326613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.948623853 meters 0.014507986854251967 Centerline is valid? [True, True] Translation: X:87.39, Y:-14.99, Z:-2.18 [[ 9.76846125e-01 2.13072548e-01 1.92805140e-02 8.73919536e+01] [-2.13031025e-01 9.77036381e-01 -4.20627718e-03 -1.49936015e+01] [-1.97340058e-02 1.53789968e-06 9.99805266e-01 -2.18319596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.978623853 meters 0.01476634190557147 Centerline is valid? [True, True] Translation: X:87.42, Y:-15.00, Z:-2.19 [[ 9.76555261e-01 2.14481662e-01 1.83695158e-02 8.74196698e+01] [-2.14444243e-01 9.76728015e-01 -4.00633247e-03 -1.49987123e+01] [-1.88013055e-02 -2.68318522e-05 9.99823239e-01 -2.18619044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.008623853 meters 0.01496356313143775 Centerline is valid? [True, True] Translation: X:87.45, Y:-15.00, Z:-2.19 [[ 9.76367737e-01 2.15364710e-01 1.80023544e-02 8.74480537e+01] [-2.15328957e-01 9.76533686e-01 -3.92432028e-03 -1.50039445e+01] [-1.84250656e-02 -4.48484957e-05 9.99830243e-01 -2.18678224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.038623853 meters 0.015325949043226357 Centerline is valid? [True, True] Translation: X:87.48, Y:-15.01, Z:-2.19 [[ 9.76120494e-01 2.16508632e-01 1.76859538e-02 8.74755575e+01] [-2.16474328e-01 9.76280701e-01 -3.85456222e-03 -1.50085621e+01] [-1.81010014e-02 -6.60377866e-05 9.99836161e-01 -2.18812445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.068623853 meters 0.016860435056563955 Centerline is valid? [True, True] Translation: X:87.50, Y:-15.01, Z:-2.19 [[ 9.75488604e-01 2.19390070e-01 1.70288468e-02 8.75036872e+01] [-2.19358723e-01 9.75637219e-01 -3.71033544e-03 -1.50096318e+01] [-1.74279875e-02 -1.16036162e-04 9.99848114e-01 -2.19018951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.098623853 meters 0.017991617608172708 Centerline is valid? [True, True] Translation: X:87.53, Y:-15.01, Z:-2.19 [[ 9.75151320e-01 2.20905242e-01 1.67564005e-02 8.75310372e+01] [-2.20875132e-01 9.75295265e-01 -3.64994410e-03 -1.50130524e+01] [-1.71487298e-02 -1.41824354e-04 9.99852940e-01 -2.19173769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12862385300001 meters 0.01929368515600764 Centerline is valid? [True, True] Translation: X:87.56, Y:-15.02, Z:-2.19 [[ 9.74793734e-01 2.22502766e-01 1.64223990e-02 8.75588573e+01] [-2.22474088e-01 9.74932044e-01 -3.57620423e-03 -1.50166111e+01] [-1.68064384e-02 -1.67496772e-04 9.99858748e-01 -2.19283152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.15862385300001 meters 0.021153847064953636 Centerline is valid? [True, True] Translation: X:87.59, Y:-15.02, Z:-2.19 [[ 9.74080936e-01 2.25581769e-01 1.67091716e-02 8.75876914e+01] [-2.25552535e-01 9.74224212e-01 -3.63851491e-03 -1.50185712e+01] [-1.70992622e-02 -2.24588011e-04 9.99853772e-01 -2.19179319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18862385300001 meters 0.023006034914467507 Centerline is valid? [True, True] Translation: X:87.62, Y:-15.02, Z:-2.19 [[ 9.73738508e-01 2.27050646e-01 1.67726703e-02 8.76156049e+01] [-2.27021473e-01 9.73882919e-01 -3.64850208e-03 -1.50207768e+01] [-1.71630119e-02 -2.55069354e-04 9.99852672e-01 -2.19306911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.21862385300001 meters 0.02453441185582998 Centerline is valid? [True, True] Translation: X:87.64, Y:-15.02, Z:-2.19 [[ 9.73425997e-01 2.28418983e-01 1.63277878e-02 8.76446320e+01] [-2.28391532e-01 9.73562887e-01 -3.55164983e-03 -1.50237538e+01] [-1.67073924e-02 -2.71860182e-04 9.99860385e-01 -2.19464438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24862385300001 meters 0.02453441185582998 Centerline is valid? [True, True] Translation: X:87.67, Y:-15.03, Z:-2.20 [[ 9.73441976e-01 2.28350821e-01 1.63285350e-02 8.76715201e+01] [-2.28323418e-01 9.73578876e-01 -3.54821075e-03 -1.50294587e+01] [-1.67073536e-02 -2.74209625e-04 9.99860385e-01 -2.19533608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.27862385300001 meters 0.027216224401092132 Centerline is valid? [True, True] Translation: X:87.70, Y:-15.03, Z:-2.20 [[ 9.72909216e-01 2.30670977e-01 1.54453202e-02 8.77012955e+01] [-2.30646752e-01 9.73031763e-01 -3.35613958e-03 -1.50288818e+01] [-1.58029511e-02 -2.97193799e-04 9.99875081e-01 -2.19810379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.308623853 meters 0.025984515171726848 Centerline is valid? [True, True] Translation: X:87.73, Y:-15.03, Z:-2.20 [[ 9.72832839e-01 2.31014092e-01 1.51246880e-02 8.77293996e+01] [-2.30990941e-01 9.72950358e-01 -3.28405813e-03 -1.50348474e+01] [-1.54742343e-02 -2.98826328e-04 9.99880222e-01 -2.19832467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.338623853 meters 0.028133083639574192 Centerline is valid? [True, True] Translation: X:87.76, Y:-15.04, Z:-2.20 [[ 9.72854270e-01 2.30935443e-01 1.49462443e-02 8.77566283e+01] [-2.30912879e-01 9.72969030e-01 -3.24182885e-03 -1.50361998e+01] [-1.52908860e-02 -2.97453276e-04 9.99883043e-01 -2.20078829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.368623853 meters 0.025543493534213434 Centerline is valid? [True, True] Translation: X:87.78, Y:-15.04, Z:-2.20 [[ 9.73281036e-01 2.29140565e-01 1.47860291e-02 8.77845072e+01] [-2.29118282e-01 9.73393307e-01 -3.20662797e-03 -1.50438503e+01] [-1.51273904e-02 -2.66799401e-04 9.99885539e-01 -2.20182639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.398623853 meters 0.026144365438191392 Centerline is valid? [True, True] Translation: X:87.81, Y:-15.05, Z:-2.20 [[ 9.73558922e-01 2.27967713e-01 1.46200878e-02 8.78118744e+01] [-2.27945849e-01 9.73668660e-01 -3.16701110e-03 -1.50492371e+01] [-1.49570975e-02 -2.49316407e-04 9.99888105e-01 -2.19984976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.428623853 meters 0.022870415398118838 Centerline is valid? [True, True] Translation: X:87.84, Y:-15.06, Z:-2.20 [[ 9.74093479e-01 2.25628370e-01 1.52883300e-02 8.78388013e+01] [-2.25604190e-01 9.74213420e-01 -3.31073627e-03 -1.50552608e+01] [-1.56410922e-02 -2.24144683e-04 9.99877646e-01 -2.20213523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.458623853 meters 0.02149775684316337 Centerline is valid? [True, True] Translation: X:87.87, Y:-15.06, Z:-2.20 [[ 9.74382332e-01 2.24389289e-01 1.51168213e-02 8.78666349e+01] [-2.24365516e-01 9.74499567e-01 -3.27257469e-03 -1.50620029e+01] [-1.54656665e-02 -2.02954456e-04 9.99880379e-01 -2.20258989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.488623853 meters 0.020823447945495174 Centerline is valid? [True, True] Translation: X:87.89, Y:-15.07, Z:-2.20 [[ 9.74717058e-01 2.22932021e-01 1.50987002e-02 8.78942928e+01] [-2.22908141e-01 9.74833976e-01 -3.26790091e-03 -1.50678590e+01] [-1.54472457e-02 -1.80344429e-04 9.99880668e-01 -2.20364617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.51862385300001 meters 0.017507866038869852 Centerline is valid? [True, True] Translation: X:87.92, Y:-15.08, Z:-2.20 [[ 9.75599777e-01 2.19051597e-01 1.48819812e-02 8.79213516e+01] [-2.19027938e-01 9.75713269e-01 -3.22154551e-03 -1.50786342e+01] [-1.52262312e-02 -1.16630566e-04 9.99884067e-01 -2.20391339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54862385300001 meters 0.01688844691043312 Centerline is valid? [True, True] Translation: X:87.95, Y:-15.09, Z:-2.21 [[ 9.76159199e-01 2.16581029e-01 1.43484125e-02 8.79486867e+01] [-2.16558817e-01 9.76264642e-01 -3.10274808e-03 -1.50857704e+01] [-1.46798442e-02 -7.84991687e-05 9.99892242e-01 -2.20656891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.57862385300001 meters 0.015404467843106017 Centerline is valid? [True, True] Translation: X:87.98, Y:-15.10, Z:-2.21 [[ 9.77145018e-01 2.12061210e-01 1.47532156e-02 8.79764509e+01] [-2.12037240e-01 9.77256386e-01 -3.18836383e-03 -1.50954060e+01] [-1.50938024e-02 -1.27372835e-05 9.99886082e-01 -2.20514734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60862385300001 meters 0.01541326212984862 Centerline is valid? [True, True] Translation: X:88.00, Y:-15.10, Z:-2.21 [[ 9.77708983e-01 2.09411167e-01 1.52350593e-02 8.80033098e+01] [-2.09385295e-01 9.77827675e-01 -3.29179440e-03 -1.51037312e+01] [-1.55866011e-02 2.84195809e-05 9.99878521e-01 -2.20582907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.63862385300001 meters 0.016129244851240274 Centerline is valid? [True, True] Translation: X:88.03, Y:-15.11, Z:-2.21 [[ 9.78345723e-01 2.06389705e-01 1.55864351e-02 8.80308797e+01] [-2.06362260e-01 9.78469869e-01 -3.36657621e-03 -1.51134798e+01] [-1.59456838e-02 7.72234651e-05 9.99872857e-01 -2.20594621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.668623853 meters 0.01974210265769319 Centerline is valid? [True, True] Translation: X:88.06, Y:-15.13, Z:-2.20 [[ 9.79755929e-01 1.99454513e-01 1.72109307e-02 8.80566513e+01] [-1.99419994e-01 9.79907064e-01 -3.71656675e-03 -1.51283887e+01] [-1.76063986e-02 2.09124620e-04 9.99844973e-01 -2.20279418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.698623853 meters 0.022324150857706133 Centerline is valid? [True, True] Translation: X:88.08, Y:-15.14, Z:-2.20 [[ 9.80471847e-01 1.95849212e-01 1.78337939e-02 8.80837652e+01] [-1.95811574e-01 9.80633982e-01 -3.84981244e-03 -1.51395821e+01] [-1.82424071e-02 2.82569452e-04 9.99833554e-01 -2.20257749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.728623853 meters 0.02545843658500924 Centerline is valid? [True, True] Translation: X:88.11, Y:-15.15, Z:-2.20 [[ 9.81186963e-01 1.92215989e-01 1.80320899e-02 8.81111515e+01] [-1.92176914e-01 9.81352581e-01 -3.89163418e-03 -1.51515966e+01] [-1.84438723e-02 3.53069336e-04 9.99829835e-01 -2.20303487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.758623853 meters 0.03001941813409371 Centerline is valid? [True, True] Translation: X:88.14, Y:-15.17, Z:-2.20 [[ 9.82348421e-01 1.86243138e-01 1.74663269e-02 8.81382529e+01] [-1.86205546e-01 9.82503583e-01 -3.76874161e-03 -1.51677906e+01] [-1.78626310e-02 4.49890436e-04 9.99840349e-01 -2.20472965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.788623853 meters 0.033704899915156225 Centerline is valid? [True, True] Translation: X:88.17, Y:-15.18, Z:-2.21 [[ 9.82860277e-01 1.83554661e-01 1.71278208e-02 8.81650086e+01] [-1.83518105e-01 9.83009383e-01 -3.69567622e-03 -1.51809922e+01] [-1.75151671e-02 4.89068146e-04 9.99846478e-01 -2.20655028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.818623853 meters 0.03724562075763465 Centerline is valid? [True, True] Translation: X:88.19, Y:-15.19, Z:-2.21 [[ 9.83263867e-01 1.81381184e-01 1.71182249e-02 8.81917192e+01] [-1.81344351e-01 9.83412725e-01 -3.69296457e-03 -1.51940888e+01] [-1.75041144e-02 5.26865246e-04 9.99846652e-01 -2.20802752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.848623853 meters 0.04000355210641312 Centerline is valid? [True, True] Translation: X:88.22, Y:-15.21, Z:-2.20 [[ 9.83818812e-01 1.78398872e-01 1.65646540e-02 8.82192140e+01] [-1.78363970e-01 9.83958093e-01 -3.57297153e-03 -1.52051051e+01] [-1.69363395e-02 5.60619162e-04 9.99856413e-01 -2.20311282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.87862385300001 meters 0.03751986671409753 Centerline is valid? [True, True] Translation: X:88.25, Y:-15.21, Z:-2.21 [[ 9.83996782e-01 1.77416301e-01 1.65465479e-02 8.82464543e+01] [-1.77381345e-01 9.84135724e-01 -3.56856034e-03 -1.52137864e+01] [-1.69171697e-02 5.76402976e-04 9.99856728e-01 -2.20836577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90862385300001 meters 0.04131973425744805 Centerline is valid? [True, True] Translation: X:88.27, Y:-15.23, Z:-2.21 [[ 9.84038967e-01 1.77180575e-01 1.65636528e-02 8.82721064e+01] [-1.77145529e-01 9.84178189e-01 -3.57131138e-03 -1.52303604e+01] [-1.69343528e-02 5.80132538e-04 9.99856435e-01 -2.21029109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.93862385300001 meters 0.04092655878059771 Centerline is valid? [True, True] Translation: X:88.30, Y:-15.24, Z:-2.21 [[ 9.83974301e-01 1.77526331e-01 1.67025881e-02 8.83009918e+01] [-1.77490757e-01 9.84115881e-01 -3.60052386e-03 -1.52390269e+01] [-1.70764700e-02 5.78267940e-04 9.99854019e-01 -2.21068248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96862385300001 meters 0.03692497826316839 Centerline is valid? [True, True] Translation: X:88.33, Y:-15.24, Z:-2.21 [[ 9.83813699e-01 1.78391148e-01 1.69470939e-02 8.83306905e+01] [-1.78354660e-01 9.83959487e-01 -3.65282808e-03 -1.52432948e+01] [-1.73268860e-02 5.71109130e-04 9.99849715e-01 -2.20954303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.99862385300001 meters 0.035120906504601423 Centerline is valid? [True, True] Translation: X:88.36, Y:-15.25, Z:-2.21 [[ 9.83435207e-01 1.80419170e-01 1.74389483e-02 8.83594447e+01] [-1.80380861e-01 9.83589660e-01 -3.75829975e-03 -1.52533272e+01] [-1.78308385e-02 5.50391780e-04 9.99840866e-01 -2.20941432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02862385300001 meters 0.03848943776166291 Centerline is valid? [True, True] Translation: X:88.39, Y:-15.26, Z:-2.21 [[ 9.83171803e-01 1.81888529e-01 1.70225720e-02 8.83869025e+01] [-1.81852252e-01 9.83319023e-01 -3.66836007e-03 -1.52643013e+01] [-1.74058515e-02 5.11035146e-04 9.99848376e-01 -2.20698654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.058623853 meters 0.03167740229767897 Centerline is valid? [True, True] Translation: X:88.42, Y:-15.27, Z:-2.21 [[ 9.82348789e-01 1.86251749e-01 1.73534666e-02 8.84161116e+01] [-1.86214729e-01 9.82501954e-01 -3.73953208e-03 -1.52693261e+01] [-1.77463093e-02 4.42053718e-04 9.99842424e-01 -2.21109198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.088623853 meters 0.02725394855348419 Centerline is valid? [True, True] Translation: X:88.45, Y:-15.27, Z:-2.21 [[ 9.81859016e-01 1.88806846e-01 1.74598815e-02 8.84462651e+01] [-1.88769783e-01 9.82014163e-01 -3.76195117e-03 -1.52721095e+01] [-1.78561330e-02 3.97807638e-04 9.99840487e-01 -2.21073066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.118623853 meters 0.027956456942686607 Centerline is valid? [True, True] Translation: X:88.47, Y:-15.28, Z:-2.21 [[ 9.81283728e-01 1.91794500e-01 1.72370118e-02 8.84731926e+01] [-1.91758838e-01 9.81435049e-01 -3.71390151e-03 -1.52816197e+01] [-1.76293134e-02 3.39041756e-04 9.99844534e-01 -2.21334059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.148623853 meters 0.020379305578932094 Centerline is valid? [True, True] Translation: X:88.50, Y:-15.28, Z:-2.21 [[ 9.79918410e-01 1.98714344e-01 1.65081705e-02 8.85037464e+01] [-1.98682629e-01 9.80057431e-01 -3.55606577e-03 -1.52810394e+01] [-1.68855965e-02 2.04767592e-04 9.99857407e-01 -2.21392014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.178623853 meters 0.024188065519572803 Centerline is valid? [True, True] Translation: X:88.53, Y:-15.28, Z:-2.21 [[ 9.79170074e-01 2.02405389e-01 1.60631397e-02 8.85325206e+01] [-2.02375855e-01 9.79301812e-01 -3.46032822e-03 -1.52831139e+01] [-1.64310509e-02 1.37458220e-04 9.99864992e-01 -2.20895928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.208623853 meters 0.015341864070874624 Centerline is valid? [True, True] Translation: X:88.56, Y:-15.28, Z:-2.22 [[ 9.77400668e-01 2.10807869e-01 1.57472628e-02 8.85613412e+01] [-2.10780584e-01 9.77527515e-01 -3.39163892e-03 -1.52813774e+01] [-1.61083668e-02 -4.22709052e-06 9.99870252e-01 -2.21683071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.238623853 meters 0.016281799740188025 Centerline is valid? [True, True] Translation: X:88.59, Y:-15.28, Z:-2.22 [[ 9.76476777e-01 2.15050088e-01 1.57023386e-02 8.85906833e+01] [-2.15023523e-01 9.76603018e-01 -3.38089120e-03 -1.52820037e+01] [-1.60620122e-02 -7.50104262e-05 9.99870995e-01 -2.21767060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26862385300001 meters 0.018479553814134412 Centerline is valid? [True, True] Translation: X:88.62, Y:-15.28, Z:-2.22 [[ 9.75547227e-01 2.19208026e-01 1.59827713e-02 8.86198517e+01] [-2.19181075e-01 9.75678133e-01 -3.44047423e-03 -1.52819361e+01] [-1.63482200e-02 -1.46775893e-04 9.99866348e-01 -2.21708378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.29862385300001 meters 0.02066508312860491 Centerline is valid? [True, True] Translation: X:88.65, Y:-15.28, Z:-2.22 [[ 9.74673736e-01 2.23035497e-01 1.63179550e-02 8.86489839e+01] [-2.23007953e-01 9.74810300e-01 -3.51180961e-03 -1.52831916e+01] [-1.66901688e-02 -2.16165141e-04 9.99860686e-01 -2.21637751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32862385300001 meters 0.02810699676943562 Centerline is valid? [True, True] Translation: X:88.68, Y:-15.28, Z:-2.22 [[ 9.72995732e-01 2.30247491e-01 1.62910621e-02 8.86797114e+01] [-2.30221063e-01 9.73132045e-01 -3.50499037e-03 -1.52791304e+01] [-1.66603698e-02 -3.40204954e-04 9.99861149e-01 -2.21798859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.35862385300001 meters 0.03011719781260625 Centerline is valid? [True, True] Translation: X:88.71, Y:-15.28, Z:-2.22 [[ 9.72351023e-01 2.32987585e-01 1.58200525e-02 8.87092879e+01] [-2.32963032e-01 9.72479637e-01 -3.40327137e-03 -1.52828078e+01] [-1.61775989e-02 -3.76312995e-04 9.99869063e-01 -2.21859381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38862385300001 meters 0.03524612958182988 Centerline is valid? [True, True] Translation: X:88.74, Y:-15.28, Z:-2.22 [[ 9.71238842e-01 2.37618107e-01 1.52560257e-02 8.87396215e+01] [-2.37595851e-01 9.71358556e-01 -3.28146531e-03 -1.52817294e+01] [-1.55988067e-02 -4.37681839e-04 9.99878235e-01 -2.22063231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.418623853 meters 0.03711882692799192 Centerline is valid? [True, True] Translation: X:88.77, Y:-15.29, Z:-2.22 [[ 9.70793439e-01 2.39454400e-01 1.48891986e-02 8.87690648e+01] [-2.39433418e-01 9.70907505e-01 -3.20250600e-03 -1.52856159e+01] [-1.52228888e-02 -4.55999896e-04 9.99884021e-01 -2.22216395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.448623853 meters 0.04260780910367207 Centerline is valid? [True, True] Translation: X:88.80, Y:-15.28, Z:-2.22 [[ 9.70443668e-01 2.40872073e-01 1.48233124e-02 8.87975572e+01] [-2.40851442e-01 9.70556756e-01 -3.18832990e-03 -1.52836365e+01] [-1.51548457e-02 -4.76121612e-04 9.99885045e-01 -2.22462649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.478623853 meters 0.042043515901827956 Centerline is valid? [True, True] Translation: X:88.83, Y:-15.29, Z:-2.22 [[ 9.69912949e-01 2.42949398e-01 1.56352314e-02 8.88264873e+01] [-2.42926734e-01 9.70038814e-01 -3.36171135e-03 -1.52887988e+01] [-1.59835071e-02 -5.37648336e-04 9.99872111e-01 -2.22222535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.508623853 meters 0.04231218551388369 Centerline is valid? [True, True] Translation: X:88.85, Y:-15.29, Z:-2.22 [[ 9.69790006e-01 2.43416135e-01 1.59978109e-02 8.88547113e+01] [-2.43392462e-01 9.69921788e-01 -3.44020898e-03 -1.52934634e+01] [-1.63540277e-02 -5.57466299e-04 9.99866109e-01 -2.22216133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.538623853 meters 0.04223136045865527 Centerline is valid? [True, True] Translation: X:88.88, Y:-15.30, Z:-2.22 [[ 9.69741745e-01 2.43617107e-01 1.58635918e-02 8.88826693e+01] [-2.43593899e-01 9.69871328e-01 -3.40874693e-03 -1.52996416e+01] [-1.62160719e-02 -5.58669973e-04 9.99868355e-01 -2.21981978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.568623853 meters 0.043624700164891804 Centerline is valid? [True, True] Translation: X:88.91, Y:-15.30, Z:-2.22 [[ 9.69901626e-01 2.42962783e-01 1.61220789e-02 8.89107944e+01] [-2.42938784e-01 9.70035449e-01 -3.46050249e-03 -1.53006985e+01] [-1.64797614e-02 -5.60331259e-04 9.99864043e-01 -2.22437647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.598623853 meters 0.04306614700175142 Centerline is valid? [True, True] Translation: X:88.94, Y:-15.31, Z:-2.23 [[ 9.70170765e-01 2.41905266e-01 1.58281111e-02 8.89389089e+01] [-2.41881994e-01 9.70299726e-01 -3.39737048e-03 -1.53064161e+01] [-1.61798537e-02 -5.32505564e-04 9.99868956e-01 -2.22563102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62862385300001 meters 0.041528387941212656 Centerline is valid? [True, True] Translation: X:88.97, Y:-15.31, Z:-2.23 [[ 9.70563350e-01 2.40337801e-01 1.56372783e-02 8.89663079e+01] [-2.40314941e-01 9.70689182e-01 -3.35282023e-03 -1.53132304e+01] [-1.59847463e-02 -5.03747178e-04 9.99872109e-01 -2.22664677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.65862385300001 meters 0.037186618988423896 Centerline is valid? [True, True] Translation: X:88.99, Y:-15.32, Z:-2.23 [[ 9.71617918e-01 2.36043289e-01 1.55623500e-02 8.89934114e+01] [-2.36020112e-01 9.71742445e-01 -3.33581464e-03 -1.53238258e+01] [-1.59099927e-02 -4.31890321e-04 9.99873335e-01 -2.22792686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68862385300001 meters 0.034266308432020325 Centerline is valid? [True, True] Translation: X:89.02, Y:-15.33, Z:-2.23 [[ 9.72289495e-01 2.33255874e-01 1.56472332e-02 8.90213175e+01] [-2.33232069e-01 9.72415316e-01 -3.35478700e-03 -1.53333703e+01] [-1.59981330e-02 -3.87612413e-04 9.99871947e-01 -2.22864830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.71862385300001 meters 0.02765324274548598 Centerline is valid? [True, True] Translation: X:89.05, Y:-15.35, Z:-2.23 [[ 9.73795835e-01 2.26884582e-01 1.56543414e-02 8.90483406e+01] [-2.26859988e-01 9.73921611e-01 -3.35279271e-03 -1.53467853e+01] [-1.60067984e-02 -2.86408123e-04 9.99871842e-01 -2.22929603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74862385300001 meters 0.023183526725137772 Centerline is valid? [True, True] Translation: X:89.08, Y:-15.36, Z:-2.23 [[ 9.74603077e-01 2.23413176e-01 1.53425617e-02 8.90750256e+01] [-2.23389124e-01 9.74723808e-01 -3.28590629e-03 -1.53586557e+01] [-1.56888749e-02 -2.24907032e-04 9.99876897e-01 -2.22945304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.77862385300001 meters 0.020158252889664965 Centerline is valid? [True, True] Translation: X:89.10, Y:-15.37, Z:-2.23 [[ 9.75429122e-01 2.19811747e-01 1.48601752e-02 8.91018821e+01] [-2.19788775e-01 9.75542295e-01 -3.18191903e-03 -1.53698152e+01] [-1.51961526e-02 -1.62363222e-04 9.99884519e-01 -2.23098299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.808623853 meters 0.01751757215133971 Centerline is valid? [True, True] Translation: X:89.13, Y:-15.38, Z:-2.23 [[ 9.76320118e-01 2.15843256e-01 1.45160742e-02 8.91291424e+01] [-2.15820908e-01 9.76428020e-01 -3.10756502e-03 -1.53814706e+01] [-1.48446486e-02 -9.88940718e-05 9.99889807e-01 -2.23190778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.838623853 meters 0.01573636355481571 Centerline is valid? [True, True] Translation: X:89.15, Y:-15.40, Z:-2.23 [[ 9.78019696e-01 2.08022664e-01 1.42844255e-02 8.91549998e+01] [-2.08000198e-01 9.78124006e-01 -3.05730269e-03 -1.53990069e+01] [-1.46079277e-02 1.89389250e-05 9.99893298e-01 -2.23204482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.868623853 meters 0.016744133472614133 Centerline is valid? [True, True] Translation: X:89.18, Y:-15.41, Z:-2.23 [[ 9.78786654e-01 2.04371682e-01 1.44533970e-02 8.91813301e+01] [-2.04348291e-01 9.78893360e-01 -3.09284316e-03 -1.54108694e+01] [-1.47804239e-02 7.37066364e-05 9.99890761e-01 -2.23345280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.898623853 meters 0.020420502716339762 Centerline is valid? [True, True] Translation: X:89.21, Y:-15.43, Z:-2.23 [[ 9.80186417e-01 1.97500182e-01 1.51084588e-02 8.92074403e+01] [-1.97473824e-01 9.80302833e-01 -3.23187563e-03 -1.54270919e+01] [-1.54491610e-02 1.84315463e-04 9.99880638e-01 -2.23231071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.928623853 meters 0.022158130649528308 Centerline is valid? [True, True] Translation: X:89.23, Y:-15.44, Z:-2.23 [[ 9.80768932e-01 1.94583425e-01 1.51523059e-02 8.92345525e+01] [-1.94556577e-01 9.80885945e-01 -3.24049574e-03 -1.54367518e+01] [-1.54932307e-02 2.30196771e-04 9.99879946e-01 -2.23212129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.958623853 meters 0.025800370446412407 Centerline is valid? [True, True] Translation: X:89.26, Y:-15.45, Z:-2.23 [[ 9.81298957e-01 1.91904274e-01 1.50035831e-02 8.92611656e+01] [-1.91877650e-01 9.81413612e-01 -3.20781638e-03 -1.54489742e+01] [-1.53403143e-02 2.68974610e-04 9.99882294e-01 -2.23391180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.988623853 meters 0.029378041158678772 Centerline is valid? [True, True] Translation: X:89.29, Y:-15.46, Z:-2.23 [[ 9.81979357e-01 1.88354741e-01 1.54607164e-02 8.92877620e+01] [-1.88326039e-01 9.82101003e-01 -3.30492759e-03 -1.54613904e+01] [-1.58064838e-02 3.33715189e-04 9.99875014e-01 -2.23306869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.01862385300001 meters 0.029082577961491864 Centerline is valid? [True, True] Translation: X:89.32, Y:-15.47, Z:-2.23 [[ 9.82046282e-01 1.88007883e-01 1.54316310e-02 8.93158057e+01] [-1.87979254e-01 9.82167461e-01 -3.29826516e-03 -1.54675841e+01] [-1.57765457e-02 3.38222553e-04 9.99875485e-01 -2.23299633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04862385300001 meters 0.030869052773577335 Centerline is valid? [True, True] Translation: X:89.34, Y:-15.48, Z:-2.23 [[ 9.82057994e-01 1.87959144e-01 1.52793162e-02 8.93433164e+01] [-1.87931086e-01 9.82176791e-01 -3.26476616e-03 -1.54767971e+01] [-1.56206324e-02 3.34731220e-04 9.99877934e-01 -2.23486109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.07862385300001 meters 0.026482186101760213 Centerline is valid? [True, True] Translation: X:89.37, Y:-15.48, Z:-2.23 [[ 9.81757078e-01 1.89523392e-01 1.52945939e-02 8.93725622e+01] [-1.89495470e-01 9.81876157e-01 -3.26788897e-03 -1.54783732e+01] [-1.56367385e-02 3.10016872e-04 9.99877691e-01 -2.23323541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10862385300001 meters 0.025418539300687028 Centerline is valid? [True, True] Translation: X:89.40, Y:-15.48, Z:-2.23 [[ 9.81550224e-01 1.90603881e-01 1.51432787e-02 8.94012334e+01] [-1.90576649e-01 9.81666989e-01 -3.23481657e-03 -1.54828647e+01] [-1.54822254e-02 2.89179621e-04 9.99880101e-01 -2.23392811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.13862385300001 meters 0.023259029138535513 Centerline is valid? [True, True] Translation: X:89.43, Y:-15.49, Z:-2.23 [[ 9.81021726e-01 1.93300895e-01 1.52031877e-02 8.94300705e+01] [-1.93273783e-01 9.81139492e-01 -3.24684730e-03 -1.54855809e+01] [-1.55440664e-02 2.46850139e-04 9.99879153e-01 -2.23486180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.168623853 meters 0.023259029138535513 Centerline is valid? [True, True] Translation: X:89.46, Y:-15.49, Z:-2.24 [[ 9.81030918e-01 1.93254229e-01 1.52033419e-02 8.94577910e+01] [-1.93227122e-01 9.81148685e-01 -3.24612524e-03 -1.54914097e+01] [-1.55440663e-02 2.46851223e-04 9.99879153e-01 -2.23557438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.198623853 meters 0.02247777133410428 Centerline is valid? [True, True] Translation: X:89.49, Y:-15.50, Z:-2.24 [[ 9.80770150e-01 1.94578040e-01 1.51426056e-02 8.94855171e+01] [-1.94551316e-01 9.80887015e-01 -3.23254015e-03 -1.54963769e+01] [-1.54821666e-02 2.24365027e-04 9.99880119e-01 -2.23661072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.228623853 meters 0.02061681304373737 Centerline is valid? [True, True] Translation: X:89.51, Y:-15.50, Z:-2.24 [[ 9.80310826e-01 1.96872061e-01 1.52340410e-02 8.95139408e+01] [-1.96845308e-01 9.80429169e-01 -3.25094503e-03 -1.54996653e+01] [-1.55759184e-02 1.88187122e-04 9.99878670e-01 -2.23659974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.258623853 meters 0.019493593013998146 Centerline is valid? [True, True] Translation: X:89.54, Y:-15.50, Z:-2.24 [[ 9.80041987e-01 1.98201627e-01 1.52911456e-02 8.95429273e+01] [-1.98174846e-01 9.80161256e-01 -3.26237781e-03 -1.55035261e+01] [-1.56343971e-02 1.66946795e-04 9.99877761e-01 -2.23748682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.288623853 meters 0.019027828111211714 Centerline is valid? [True, True] Translation: X:89.57, Y:-15.51, Z:-2.24 [[ 9.79818572e-01 1.99332530e-01 1.49033351e-02 8.95700544e+01] [-1.99307230e-01 9.79931896e-01 -3.17904956e-03 -1.55079307e+01] [-1.52379414e-02 1.44549358e-04 9.99883885e-01 -2.23929583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.318623853 meters 0.018254289271527536 Centerline is valid? [True, True] Translation: X:89.60, Y:-15.51, Z:-2.24 [[ 9.79557934e-01 2.00611988e-01 1.48689191e-02 8.95989386e+01] [-2.00586968e-01 9.79670769e-01 -3.17068015e-03 -1.55124169e+01] [-1.52027218e-02 1.23353494e-04 9.99884424e-01 -2.24031321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.348623853 meters 0.03088452824378038 Centerline is valid? [True, True] Translation: X:89.63, Y:-15.51, Z:-2.23 [[ 9.78916400e-01 2.03772753e-01 1.41190416e-02 8.96280210e+01] [-2.03750530e-01 9.79018212e-01 -3.01016599e-03 -1.55140898e+01] [-1.44361887e-02 6.99386472e-05 9.99895790e-01 -2.23287377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.37862385300001 meters 0.01570949767829221 Centerline is valid? [True, True] Translation: X:89.66, Y:-15.52, Z:-2.24 [[ 9.78515932e-01 2.05607513e-01 1.52355187e-02 8.96553407e+01] [-2.05581871e-01 9.78634533e-01 -3.24745034e-03 -1.55180170e+01] [-1.55777049e-02 4.55354544e-05 9.99878659e-01 -2.23996015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40862385300001 meters 0.01528379000370037 Centerline is valid? [True, True] Translation: X:89.68, Y:-15.52, Z:-2.24 [[ 9.77545416e-01 2.10071744e-01 1.65777630e-02 8.96847873e+01] [-2.10042047e-01 9.77685973e-01 -3.53226550e-03 -1.55157817e+01] [-1.69498755e-02 -2.90773250e-05 9.99856340e-01 -2.23856367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43862385300001 meters 0.015575620641984159 Centerline is valid? [True, True] Translation: X:89.71, Y:-15.52, Z:-2.24 [[ 9.77103161e-01 2.12093842e-01 1.69001251e-02 8.97140811e+01] [-2.12063295e-01 9.77249302e-01 -3.60010494e-03 -1.55183204e+01] [-1.72791955e-02 -6.62222962e-05 9.99850701e-01 -2.23738081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46862385300001 meters 0.016467768131817072 Centerline is valid? [True, True] Translation: X:89.74, Y:-15.52, Z:-2.24 [[ 9.76705911e-01 2.13924713e-01 1.67863372e-02 8.97416811e+01] [-2.13894859e-01 9.76850146e-01 -3.57513962e-03 -1.55209123e+01] [-1.71625467e-02 -9.86512314e-05 9.99852708e-01 -2.23866424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.49862385300001 meters 0.017571840068568774 Centerline is valid? [True, True] Translation: X:89.77, Y:-15.52, Z:-2.24 [[ 9.76327693e-01 2.15686745e-01 1.62315380e-02 8.97703401e+01] [-2.15659094e-01 9.76462601e-01 -3.45592490e-03 -1.55236756e+01] [-1.65948870e-02 -1.26363579e-04 9.99862287e-01 -2.24018507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52862385300001 meters 0.019821622796855867 Centerline is valid? [True, True] Translation: X:89.80, Y:-15.52, Z:-2.24 [[ 9.75718507e-01 2.18501587e-01 1.51805998e-02 8.97988995e+01] [-2.18477750e-01 9.75836579e-01 -3.23160885e-03 -1.55217690e+01] [-1.55198963e-02 -1.63482728e-04 9.99879546e-01 -2.24423321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.558623853 meters 0.02103349588785136 Centerline is valid? [True, True] Translation: X:89.83, Y:-15.52, Z:-2.25 [[ 9.75451701e-01 2.19728384e-01 1.46088070e-02 8.98275926e+01] [-2.19706460e-01 9.75561072e-01 -3.10892332e-03 -1.55243011e+01] [-1.49349021e-02 -1.77044734e-04 9.99888452e-01 -2.24622202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.588623853 meters 0.023525835138344785 Centerline is valid? [True, True] Translation: X:89.86, Y:-15.52, Z:-2.25 [[ 9.75164435e-01 2.21092703e-01 1.31279307e-02 8.98561712e+01] [-2.21075127e-01 9.75252780e-01 -2.79339402e-03 -1.55246088e+01] [-1.34206500e-02 -1.78240457e-04 9.99909923e-01 -2.25123837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.618623853 meters 0.023005648499648305 Centerline is valid? [True, True] Translation: X:89.88, Y:-15.53, Z:-2.25 [[ 9.75156678e-01 2.21142934e-01 1.28552248e-02 8.98848147e+01] [-2.21126098e-01 9.75241391e-01 -2.73447038e-03 -1.55300926e+01] [-1.31416561e-02 -1.76088636e-04 9.99913629e-01 -2.25185706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.648623853 meters 0.022790810355288346 Centerline is valid? [True, True] Translation: X:89.91, Y:-15.53, Z:-2.25 [[ 9.75245370e-01 2.20757522e-01 1.27508824e-02 8.99131037e+01] [-2.20740933e-01 9.75328707e-01 -2.71167323e-03 -1.55347198e+01] [-1.30349239e-02 -1.70094914e-04 9.99915027e-01 -2.25244782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.678623853 meters 0.021311421950765613 Centerline is valid? [True, True] Translation: X:89.94, Y:-15.54, Z:-2.25 [[ 9.75664789e-01 2.18860288e-01 1.33564250e-02 8.99401650e+01] [-2.18841915e-01 9.75756195e-01 -2.83988392e-03 -1.55407816e+01] [-1.36541523e-02 -1.52170888e-04 9.99906766e-01 -2.25272567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.708623853 meters 0.02009565863737821 Centerline is valid? [True, True] Translation: X:89.97, Y:-15.55, Z:-2.25 [[ 9.76019111e-01 2.17254762e-01 1.36770965e-02 8.99679846e+01] [-2.17235352e-01 9.76114927e-01 -2.90707839e-03 -1.55486483e+01] [-1.39819947e-02 -1.33784817e-04 9.99902238e-01 -2.25300386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.738623853 meters 0.017306168586478404 Centerline is valid? [True, True] Translation: X:89.99, Y:-15.56, Z:-2.25 [[ 9.76938353e-01 2.13031219e-01 1.44621723e-02 8.99944086e+01] [-2.13009060e-01 9.77045390e-01 -3.07358614e-03 -1.55594816e+01] [-1.47849686e-02 -7.78695481e-05 9.99890693e-01 -2.25247938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76862385300001 meters 0.016513574802498893 Centerline is valid? [True, True] Translation: X:90.02, Y:-15.57, Z:-2.25 [[ 9.77416086e-01 2.10828847e-01 1.44565301e-02 9.00216058e+01] [-2.10806488e-01 9.77522990e-01 -3.07072188e-03 -1.55678941e+01] [-1.47789873e-02 -4.61573788e-05 9.99890784e-01 -2.25323604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.79862385300001 meters 0.01598081628982735 Centerline is valid? [True, True] Translation: X:90.05, Y:-15.58, Z:-2.25 [[ 9.77896629e-01 2.08574301e-01 1.46609929e-02 9.00494283e+01] [-2.08551062e-01 9.78006524e-01 -3.11344963e-03 -1.55766663e+01] [-1.49879322e-02 -1.29337348e-05 9.99887675e-01 -2.25425544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82862385300001 meters 0.016191457742824607 Centerline is valid? [True, True] Translation: X:90.08, Y:-15.59, Z:-2.26 [[ 9.78439035e-01 2.06035342e-01 1.43698159e-02 9.00761815e+01] [-2.06012747e-01 9.78544550e-01 -3.05137342e-03 -1.55856378e+01] [-1.46901958e-02 2.52176108e-05 9.99892093e-01 -2.25547763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.85862385300001 meters 0.01854321211759717 Centerline is valid? [True, True] Translation: X:90.10, Y:-15.60, Z:-2.26 [[ 9.79545943e-01 2.00746105e-01 1.38111007e-02 9.01019775e+01] [-2.00724726e-01 9.79643298e-01 -2.93130299e-03 -1.56003415e+01] [-1.41183999e-02 9.91165388e-05 9.99900326e-01 -2.25733153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88862385300001 meters 0.02053594661542329 Centerline is valid? [True, True] Translation: X:90.13, Y:-15.61, Z:-2.26 [[ 9.80140397e-01 1.97823006e-01 1.38152002e-02 9.01292261e+01] [-1.97801338e-01 9.80237746e-01 -2.93124650e-03 -1.56115774e+01] [-1.41220487e-02 1.40368022e-04 9.99900269e-01 -2.25824537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.918623853 meters 0.02541373230390424 Centerline is valid? [True, True] Translation: X:90.16, Y:-15.63, Z:-2.26 [[ 9.81197915e-01 1.92490133e-01 1.40783592e-02 9.01552280e+01] [-1.92467091e-01 9.81298884e-01 -2.98641989e-03 -1.56268833e+01] [-1.43899346e-02 2.20648122e-04 9.99896435e-01 -2.25817378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.948623853 meters 0.027921011894493468 Centerline is valid? [True, True] Translation: X:90.18, Y:-15.64, Z:-2.26 [[ 9.81655317e-01 1.90154825e-01 1.39277039e-02 9.01814326e+01] [-1.90132047e-01 9.81754083e-01 -2.95392577e-03 -1.56373827e+01] [-1.42352834e-02 2.51634093e-04 9.99898642e-01 -2.25923061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.978623853 meters 0.036824325691331136 Centerline is valid? [True, True] Translation: X:90.21, Y:-15.65, Z:-2.25 [[ 9.82026210e-01 1.88271964e-01 1.33488188e-02 9.02084501e+01] [-1.88250875e-01 9.82116896e-01 -2.83044277e-03 -1.56474911e+01] [-1.36429935e-02 2.66642168e-04 9.99906894e-01 -2.25283604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.008623853 meters 0.03465724933775301 Centerline is valid? [True, True] Translation: X:90.23, Y:-15.66, Z:-2.26 [[ 9.82722761e-01 1.84526984e-01 1.43445896e-02 9.02343886e+01] [-1.84502249e-01 9.82827389e-01 -3.04043866e-03 -1.56631608e+01] [-1.46592985e-02 3.41299237e-04 9.99892488e-01 -2.25962273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.038623853 meters 0.03625302012461493 Centerline is valid? [True, True] Translation: X:90.26, Y:-15.67, Z:-2.26 [[ 9.82945755e-01 1.83334681e-01 1.43540326e-02 9.02606910e+01] [-1.83309791e-01 9.83050490e-01 -3.04217868e-03 -1.56729373e+01] [-1.46684756e-02 3.59061918e-04 9.99892348e-01 -2.26065773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.068623853 meters 0.03752680787573931 Centerline is valid? [True, True] Translation: X:90.29, Y:-15.68, Z:-2.26 [[ 9.83136471e-01 1.82310847e-01 1.43329534e-02 9.02888875e+01] [-1.82285937e-01 9.83240874e-01 -3.03657248e-03 -1.56826110e+01] [-1.46463457e-02 3.72669305e-04 9.99892667e-01 -2.26108423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.098623853 meters 0.03965777404597968 Centerline is valid? [True, True] Translation: X:90.32, Y:-15.69, Z:-2.26 [[ 9.83340165e-01 1.81131458e-01 1.52812181e-02 9.03158200e+01] [-1.81103005e-01 9.83458805e-01 -3.23719825e-03 -1.56949988e+01] [-1.56148069e-02 4.15792541e-04 9.99877995e-01 -2.26019019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12862385300001 meters 0.03995770613444317 Centerline is valid? [True, True] Translation: X:90.34, Y:-15.70, Z:-2.26 [[ 9.83378960e-01 1.80881211e-01 1.57419093e-02 9.03439964e+01] [-1.80850995e-01 9.83504856e-01 -3.33414716e-03 -1.57034647e+01] [-1.60853288e-02 4.31790198e-04 9.99870529e-01 -2.25979806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.15862385300001 meters 0.0396199014586936 Centerline is valid? [True, True] Translation: X:90.37, Y:-15.71, Z:-2.26 [[ 9.83297833e-01 1.81359225e-01 1.53036853e-02 9.03713524e+01] [-1.81330730e-01 9.83416830e-01 -3.24111075e-03 -1.57128606e+01] [-1.56377070e-02 4.11948753e-04 9.99877639e-01 -2.26113092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18862385300001 meters 0.03535293050964683 Centerline is valid? [True, True] Translation: X:90.40, Y:-15.72, Z:-2.26 [[ 9.83192253e-01 1.81931872e-01 1.52901010e-02 9.04014544e+01] [-1.81903505e-01 9.83311056e-01 -3.23764193e-03 -1.57158025e+01] [-1.56239556e-02 4.01901499e-04 9.99877858e-01 -2.26056652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.21862385300001 meters 0.03797848702411221 Centerline is valid? [True, True] Translation: X:90.43, Y:-15.73, Z:-2.26 [[ 9.82993647e-01 1.83022318e-01 1.50440020e-02 9.04293201e+01] [-1.82994996e-01 9.83108686e-01 -3.18479176e-03 -1.57274427e+01] [-1.53727770e-02 3.77652989e-04 9.99881761e-01 -2.26351785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24862385300001 meters 0.03508454347322879 Centerline is valid? [True, True] Translation: X:90.46, Y:-15.73, Z:-2.27 [[ 9.82438763e-01 1.86035603e-01 1.43119242e-02 9.04577211e+01] [-1.86011185e-01 9.82542953e-01 -3.03047022e-03 -1.57334204e+01] [-1.46258556e-02 3.15073440e-04 9.99892987e-01 -2.26509850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.27862385300001 meters 0.033021526586370635 Centerline is valid? [True, True] Translation: X:90.49, Y:-15.74, Z:-2.27 [[ 9.82122801e-01 1.87708996e-01 1.41469781e-02 9.04862364e+01] [-1.87685312e-01 9.82224644e-01 -2.99546939e-03 -1.57383338e+01] [-1.44577871e-02 2.86738785e-04 9.99895440e-01 -2.26628836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.308623853 meters 0.030958915648063117 Centerline is valid? [True, True] Translation: X:90.51, Y:-15.74, Z:-2.27 [[ 9.81783129e-01 1.89516228e-01 1.36193221e-02 9.05147868e+01] [-1.89494460e-01 9.81877557e-01 -2.88319417e-03 -1.57433167e+01] [-1.39189188e-02 2.49885303e-04 9.99903096e-01 -2.26828498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.338623853 meters 0.02682048956055322 Centerline is valid? [True, True] Translation: X:90.54, Y:-15.75, Z:-2.27 [[ 9.81067127e-01 1.93190219e-01 1.35952934e-02 9.05434348e+01] [-1.93168890e-01 9.81161302e-01 -2.87740227e-03 -1.57473125e+01] [-1.38950618e-02 1.96737042e-04 9.99903440e-01 -2.26875668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.368623853 meters 0.02064905210677019 Centerline is valid? [True, True] Translation: X:90.57, Y:-15.75, Z:-2.26 [[ 9.80732896e-01 1.94845817e-01 1.40745901e-02 9.05744418e+01] [-1.94823135e-01 9.80833868e-01 -2.97828316e-03 -1.57462165e+01] [-1.43851407e-02 1.78844497e-04 9.99896513e-01 -2.26294891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.398623853 meters 0.021241363427254786 Centerline is valid? [True, True] Translation: X:90.60, Y:-15.76, Z:-2.27 [[ 9.80071822e-01 1.98080368e-01 1.49462992e-02 9.06013614e+01] [-1.98055170e-01 9.80185773e-01 -3.16244745e-03 -1.57555768e+01] [-1.52765686e-02 1.39233807e-04 9.99883297e-01 -2.26688149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.428623853 meters 0.023653575055560632 Centerline is valid? [True, True] Translation: X:90.63, Y:-15.76, Z:-2.26 [[ 9.79659658e-01 2.00147165e-01 1.44245022e-02 9.06323639e+01] [-2.00123929e-01 9.79765840e-01 -3.05141358e-03 -1.57553456e+01] [-1.47433663e-02 1.02658737e-04 9.99891305e-01 -2.25617669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.458623853 meters 0.016266545728210458 Centerline is valid? [True, True] Translation: X:90.66, Y:-15.76, Z:-2.26 [[ 9.79272324e-01 2.02003111e-01 1.48478641e-02 9.06599346e+01] [-2.01978709e-01 9.79384877e-01 -3.14069576e-03 -1.57611316e+01] [-1.51762038e-02 7.66440198e-05 9.99884832e-01 -2.26309907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.488623853 meters 0.01669795875725982 Centerline is valid? [True, True] Translation: X:90.69, Y:-15.77, Z:-2.27 [[ 9.78828524e-01 2.04141945e-01 1.48589276e-02 9.06868836e+01] [-2.04117758e-01 9.78941298e-01 -3.14269824e-03 -1.57668788e+01] [-1.51875744e-02 4.31917029e-05 9.99884661e-01 -2.26956419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.51862385300001 meters 0.015220360516183066 Centerline is valid? [True, True] Translation: X:90.72, Y:-15.77, Z:-2.26 [[ 9.78107458e-01 2.07516175e-01 1.55832545e-02 9.07161636e+01] [-2.07490018e-01 9.78231587e-01 -3.29470867e-03 -1.57697708e+01] [-1.59277371e-02 -1.07906326e-05 9.99873145e-01 -2.26453792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54862385300001 meters 0.015275253443526328 Centerline is valid? [True, True] Translation: X:90.74, Y:-15.77, Z:-2.27 [[ 9.77843707e-01 2.08733409e-01 1.58760268e-02 9.07439853e+01] [-2.08706432e-01 9.77972578e-01 -3.35591300e-03 -1.57748086e+01] [-1.62268101e-02 -3.18705029e-05 9.99868336e-01 -2.26500070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.57862385300001 meters 0.017639062081411788 Centerline is valid? [True, True] Translation: X:90.77, Y:-15.78, Z:-2.27 [[ 9.77401220e-01 2.10872236e-01 1.48241554e-02 9.07714675e+01] [-2.10848974e-01 9.77513630e-01 -3.13275811e-03 -1.57777806e+01] [-1.51514257e-02 -6.36963617e-05 9.99885209e-01 -2.27229360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60862385300001 meters 0.016338807283776173 Centerline is valid? [True, True] Translation: X:90.80, Y:-15.79, Z:-2.27 [[ 9.77188950e-01 2.11893768e-01 1.42403298e-02 9.07995627e+01] [-2.11872423e-01 9.77292702e-01 -3.00847485e-03 -1.57862602e+01] [-1.45544474e-02 -7.72847955e-05 9.99894075e-01 -2.26748505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.63862385300001 meters 0.017512605506107993 Centerline is valid? [True, True] Translation: X:90.83, Y:-15.79, Z:-2.27 [[ 9.76918788e-01 2.13149776e-01 1.40304883e-02 9.08268273e+01] [-2.13129194e-01 9.77019531e-01 -2.96357828e-03 -1.57905171e+01] [-1.43397471e-02 -9.51313524e-05 9.99897176e-01 -2.27000543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.668623853 meters 0.020200296524240817 Centerline is valid? [True, True] Translation: X:90.86, Y:-15.79, Z:-2.27 [[ 9.76283433e-01 2.16055359e-01 1.38108516e-02 9.08551610e+01] [-2.16035719e-01 9.76381106e-01 -2.91631757e-03 -1.57921693e+01] [-1.41147406e-02 -1.36484715e-04 9.99900373e-01 -2.27190940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.698623853 meters 0.020710313543141123 Centerline is valid? [True, True] Translation: X:90.88, Y:-15.80, Z:-2.27 [[ 9.75798203e-01 2.18218427e-01 1.40920137e-02 9.08837596e+01] [-2.18198219e-01 9.75899938e-01 -2.97469434e-03 -1.57968956e+01] [-1.44015284e-02 -1.72150906e-04 9.99896278e-01 -2.27025006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.728623853 meters 0.023662031620801816 Centerline is valid? [True, True] Translation: X:90.91, Y:-15.80, Z:-2.27 [[ 9.74791393e-01 2.22655055e-01 1.43689757e-02 9.09134095e+01] [-2.22634537e-01 9.74897260e-01 -3.03243948e-03 -1.57973709e+01] [-1.46834630e-02 -2.43034354e-04 9.99892163e-01 -2.26948291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.758623853 meters 0.0262262043857378 Centerline is valid? [True, True] Translation: X:90.94, Y:-15.80, Z:-2.27 [[ 9.74247904e-01 2.25010201e-01 1.45406707e-02 9.09411817e+01] [-2.24989458e-01 9.74356367e-01 -3.06818900e-03 -1.57986440e+01] [-1.48581689e-02 -2.82320924e-04 9.99889571e-01 -2.27038801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.788623853 meters 0.028096112653718024 Centerline is valid? [True, True] Translation: X:90.97, Y:-15.80, Z:-2.27 [[ 9.73720183e-01 2.27273204e-01 1.46934152e-02 9.09698950e+01] [-2.27252302e-01 9.73830985e-01 -3.09904808e-03 -1.58012046e+01] [-1.50132336e-02 -3.21506762e-04 9.99887243e-01 -2.27036755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.818623853 meters 0.031552404587137886 Centerline is valid? [True, True] Translation: X:91.00, Y:-15.80, Z:-2.27 [[ 9.72801195e-01 2.31160967e-01 1.49145369e-02 9.10006934e+01] [-2.31139901e-01 9.72915442e-01 -3.14468885e-03 -1.58000443e+01] [-1.52375126e-02 -3.88187516e-04 9.99883827e-01 -2.27031411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.848623853 meters 0.033228287314260224 Centerline is valid? [True, True] Translation: X:91.03, Y:-15.80, Z:-2.27 [[ 9.72412810e-01 2.32788773e-01 1.49235868e-02 9.10293122e+01] [-2.32767876e-01 9.72527231e-01 -3.14646696e-03 -1.58024652e+01] [-1.52460567e-02 -4.14066819e-04 9.99883686e-01 -2.27069430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.87862385300001 meters 0.03777545992816401 Centerline is valid? [True, True] Translation: X:91.06, Y:-15.80, Z:-2.27 [[ 9.71791218e-01 2.35331650e-01 1.55191339e-02 9.10589589e+01] [-2.35309388e-01 9.71915012e-01 -3.27121278e-03 -1.57992415e+01] [-1.58530991e-02 -4.72862054e-04 9.99874220e-01 -2.27128500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90862385300001 meters 0.038918314993218066 Centerline is valid? [True, True] Translation: X:91.09, Y:-15.80, Z:-2.27 [[ 9.71601247e-01 2.36113986e-01 1.55306929e-02 9.10874921e+01] [-2.36091804e-01 9.71725243e-01 -3.27286377e-03 -1.58017566e+01] [-1.58643352e-02 -4.86750770e-04 9.99874035e-01 -2.27173895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.93862385300001 meters 0.037225846466831594 Centerline is valid? [True, True] Translation: X:91.12, Y:-15.81, Z:-2.27 [[ 9.71523791e-01 2.36419358e-01 1.57292589e-02 9.11160888e+01] [-2.36396657e-01 9.71650986e-01 -3.31395312e-03 -1.58080635e+01] [-1.60668326e-02 -4.98759932e-04 9.99870796e-01 -2.27177812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96862385300001 meters 0.04074359870298728 Centerline is valid? [True, True] Translation: X:91.14, Y:-15.81, Z:-2.27 [[ 9.71465753e-01 2.36664742e-01 1.56234104e-02 9.11448590e+01] [-2.36642387e-01 9.71591246e-01 -3.29099738e-03 -1.58070778e+01] [-1.59584319e-02 -5.00069895e-04 9.99872531e-01 -2.27376806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.99862385300001 meters 0.03819540723612126 Centerline is valid? [True, True] Translation: X:91.17, Y:-15.81, Z:-2.27 [[ 9.71425917e-01 2.36785394e-01 1.62592693e-02 9.11721614e+01] [-2.36761216e-01 9.71561837e-01 -3.42398886e-03 -1.58118917e+01] [-1.66076361e-02 -5.23412835e-04 9.99861947e-01 -2.27257880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02862385300001 meters 0.03860647383752978 Centerline is valid? [True, True] Translation: X:91.20, Y:-15.81, Z:-2.27 [[ 9.71523881e-01 2.36420810e-01 1.57018777e-02 9.11990184e+01] [-2.36398222e-01 9.71650632e-01 -3.30605625e-03 -1.58147170e+01] [-1.60383599e-02 -4.99983365e-04 9.99871252e-01 -2.27420694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.058623853 meters 0.03860647383752978 Centerline is valid? [True, True] Translation: X:91.23, Y:-15.82, Z:-2.27 [[ 9.71540313e-01 2.36353243e-01 1.57024072e-02 9.12259556e+01] [-2.36330687e-01 9.71667069e-01 -3.30353908e-03 -1.58202493e+01] [-1.60383141e-02 -5.01439281e-04 9.99871252e-01 -2.27489878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.088623853 meters 0.03519771769443698 Centerline is valid? [True, True] Translation: X:91.25, Y:-15.83, Z:-2.28 [[ 9.71692478e-01 2.35784378e-01 1.48140409e-02 9.12540874e+01] [-2.35764254e-01 9.71805284e-01 -3.11545288e-03 -1.58262111e+01] [-1.51309383e-02 -4.65359178e-04 9.99885413e-01 -2.27621631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.118623853 meters 0.036395247593955786 Centerline is valid? [True, True] Translation: X:91.28, Y:-15.83, Z:-2.28 [[ 9.71731629e-01 2.35641478e-01 1.45166896e-02 9.12814617e+01] [-2.35622135e-01 9.71839950e-01 -3.05309318e-03 -1.58275968e+01] [-1.48273343e-02 -4.53666191e-04 9.99889966e-01 -2.27846736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.148623853 meters 0.047135706186893465 Centerline is valid? [True, True] Translation: X:91.31, Y:-15.83, Z:-2.27 [[ 9.71736446e-01 2.35667231e-01 1.37563202e-02 9.13104347e+01] [-2.35649900e-01 9.71833715e-01 -2.89061669e-03 -1.58274344e+01] [-1.40500794e-02 -4.32757903e-04 9.99901199e-01 -2.27334224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.178623853 meters 0.03468313746634105 Centerline is valid? [True, True] Translation: X:91.34, Y:-15.84, Z:-2.28 [[ 9.71928805e-01 2.34821696e-01 1.46003162e-02 9.13374652e+01] [-2.34802094e-01 9.72038359e-01 -3.06685754e-03 -1.58367075e+01] [-1.49122321e-02 -4.47417636e-04 9.99888706e-01 -2.27904991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.208623853 meters 0.0374993445792533 Centerline is valid? [True, True] Translation: X:91.37, Y:-15.83, Z:-2.28 [[ 9.72253582e-01 2.33432853e-01 1.52340192e-02 9.13668630e+01] [-2.33411337e-01 9.72372823e-01 -3.20031667e-03 -1.58339730e+01] [-1.55602053e-02 -4.44273435e-04 9.99878834e-01 -2.27984133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.238623853 meters 0.036766361017530315 Centerline is valid? [True, True] Translation: X:91.40, Y:-15.84, Z:-2.28 [[ 9.72546891e-01 2.32210230e-01 1.51971912e-02 9.13959094e+01] [-2.32188713e-01 9.72665527e-01 -3.18969468e-03 -1.58380714e+01] [-1.55224637e-02 -4.26488633e-04 9.99879428e-01 -2.28074423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26862385300001 meters 0.0357363289618777 Centerline is valid? [True, True] Translation: X:91.42, Y:-15.84, Z:-2.28 [[ 9.73172259e-01 2.29622427e-01 1.44670673e-02 9.14242998e+01] [-2.29602687e-01 9.73279715e-01 -3.03345716e-03 -1.58391548e+01] [-1.47770530e-02 -3.69601179e-04 9.99890745e-01 -2.28403829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.29862385300001 meters 0.03226706869398605 Centerline is valid? [True, True] Translation: X:91.45, Y:-15.85, Z:-2.28 [[ 9.73524911e-01 2.28128318e-01 1.43777314e-02 9.14517045e+01] [-2.28108672e-01 9.73631014e-01 -3.01377677e-03 -1.58475117e+01] [-1.46861330e-02 -3.45698442e-04 9.99892093e-01 -2.28424018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32862385300001 meters 0.029309658985000684 Centerline is valid? [True, True] Translation: X:91.48, Y:-15.86, Z:-2.28 [[ 9.73919461e-01 2.26440510e-01 1.43380051e-02 9.14792151e+01] [-2.26420799e-01 9.74024945e-01 -3.00478138e-03 -1.58554327e+01] [-1.46459788e-02 -3.20007502e-04 9.99892691e-01 -2.28439724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.35862385300001 meters 0.02795601345247287 Centerline is valid? [True, True] Translation: X:91.51, Y:-15.86, Z:-2.28 [[ 9.74468219e-01 2.24062365e-01 1.44133887e-02 9.15075268e+01] [-2.24042197e-01 9.74574766e-01 -3.01986593e-03 -1.58585300e+01] [-1.47235633e-02 -2.86443905e-04 9.99891561e-01 -2.28470878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38862385300001 meters 0.027618595998996163 Centerline is valid? [True, True] Translation: X:91.53, Y:-15.86, Z:-2.29 [[ 9.74700716e-01 2.23044461e-01 1.44804359e-02 9.15349103e+01] [-2.23024002e-01 9.74808234e-01 -3.03331459e-03 -1.58615374e+01] [-1.47922122e-02 -2.72910862e-04 9.99890552e-01 -2.28569116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.418623853 meters 0.026623038011608306 Centerline is valid? [True, True] Translation: X:91.56, Y:-15.86, Z:-2.29 [[ 9.74955646e-01 2.21958840e-01 1.39914567e-02 9.15637105e+01] [-2.21939640e-01 9.75056004e-01 -2.92996888e-03 -1.58633780e+01] [-1.42927863e-02 -2.48669151e-04 9.99897822e-01 -2.28675735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.448623853 meters 0.02736777988743448 Centerline is valid? [True, True] Translation: X:91.59, Y:-15.87, Z:-2.29 [[ 9.75098750e-01 2.21328670e-01 1.40017272e-02 9.15917123e+01] [-2.21309384e-01 9.75199242e-01 -2.93157877e-03 -1.58659511e+01] [-1.43033162e-02 -2.40134844e-04 9.99897674e-01 -2.28916009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.478623853 meters 0.02859664511537947 Centerline is valid? [True, True] Translation: X:91.62, Y:-15.87, Z:-2.28 [[ 9.75199462e-01 2.20921284e-01 1.34087899e-02 9.16195111e+01] [-2.20903566e-01 9.75291616e-01 -2.80686536e-03 -1.58726110e+01] [-1.36975766e-02 -2.24795911e-04 9.99906159e-01 -2.28315892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.508623853 meters 0.02408187458598916 Centerline is valid? [True, True] Translation: X:91.65, Y:-15.88, Z:-2.29 [[ 9.75462921e-01 2.19722975e-01 1.39249174e-02 9.16475006e+01] [-2.19703764e-01 9.75562283e-01 -2.91355820e-03 -1.58773476e+01] [-1.42247998e-02 -2.17288761e-04 9.99898799e-01 -2.28901233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.538623853 meters 0.029645390458547475 Centerline is valid? [True, True] Translation: X:91.68, Y:-15.88, Z:-2.28 [[ 9.75932485e-01 2.17646451e-01 1.36311235e-02 9.16759694e+01] [-2.17627849e-01 9.76027658e-01 -2.85146258e-03 -1.58816830e+01] [-1.39249643e-02 -1.83677132e-04 9.99903026e-01 -2.28245488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.568623853 meters 0.02068388833784923 Centerline is valid? [True, True] Translation: X:91.70, Y:-15.89, Z:-2.29 [[ 9.76331283e-01 2.15845186e-01 1.37143117e-02 9.17028764e+01] [-2.15826182e-01 9.76427586e-01 -2.86863343e-03 -1.58875764e+01] [-1.40102130e-02 -1.59170977e-04 9.99901839e-01 -2.29052599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.598623853 meters 0.01786026819474791 Centerline is valid? [True, True] Translation: X:91.73, Y:-15.89, Z:-2.29 [[ 9.77171825e-01 2.12025470e-01 1.34322433e-02 9.17310553e+01] [-2.12006901e-01 9.77264135e-01 -2.80797672e-03 -1.58934606e+01] [-1.37222122e-02 -1.03852542e-04 9.99905841e-01 -2.29070445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62862385300001 meters 0.017031095999026816 Centerline is valid? [True, True] Translation: X:91.76, Y:-15.90, Z:-2.29 [[ 9.77605532e-01 2.10007952e-01 1.35677759e-02 9.17581406e+01] [-2.09988819e-01 9.77699675e-01 -2.83574849e-03 -1.58991179e+01] [-1.38607398e-02 -7.68378304e-05 9.99903932e-01 -2.29157780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.65862385300001 meters 0.021228519717036223 Centerline is valid? [True, True] Translation: X:91.79, Y:-15.91, Z:-2.29 [[ 9.78125685e-01 2.07592745e-01 1.32437263e-02 9.17851535e+01] [-2.07574305e-01 9.78215340e-01 -2.76722747e-03 -1.59067111e+01] [-1.35296726e-02 -4.23610102e-05 9.99908469e-01 -2.28733569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68862385300001 meters 0.015645380346965408 Centerline is valid? [True, True] Translation: X:91.81, Y:-15.92, Z:-2.29 [[ 9.79192525e-01 2.02430124e-01 1.42844086e-02 9.18121166e+01] [-2.02408138e-01 9.79296709e-01 -2.98355103e-03 -1.59183790e+01] [-1.45926350e-02 3.01903150e-05 9.99893521e-01 -2.29122733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.71862385300001 meters 0.016364194171818145 Centerline is valid? [True, True] Translation: X:91.84, Y:-15.93, Z:-2.29 [[ 9.79685805e-01 2.00002342e-01 1.46555791e-02 9.18392569e+01] [-1.99978937e-01 9.79795417e-01 -3.06042722e-03 -1.59260315e+01] [-1.49715618e-02 6.74499869e-05 9.99887918e-01 -2.29189919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74862385300001 meters 0.017458864004851932 Centerline is valid? [True, True] Translation: X:91.87, Y:-15.93, Z:-2.29 [[ 9.80120071e-01 1.97845616e-01 1.48915366e-02 9.18658100e+01] [-1.97821216e-01 9.80233188e-01 -3.10873533e-03 -1.59335974e+01] [-1.52122280e-02 1.01072019e-04 9.99884282e-01 -2.29240816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.77862385300001 meters 0.02641601267270797 Centerline is valid? [True, True] Translation: X:91.89, Y:-15.94, Z:-2.29 [[ 9.80924070e-01 1.93851919e-01 1.44707382e-02 9.18932843e+01] [-1.93828456e-01 9.81030789e-01 -3.02007410e-03 -1.59417835e+01] [-1.47816868e-02 1.57622543e-04 9.99890732e-01 -2.28631311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.808623853 meters 0.02107089815519389 Centerline is valid? [True, True] Translation: X:91.92, Y:-15.95, Z:-2.29 [[ 9.81302170e-01 1.91894284e-01 1.49209353e-02 9.19201517e+01] [-1.91869127e-01 9.81415583e-01 -3.11307078e-03 -1.59497907e+01] [-1.52410189e-02 1.91996272e-04 9.99883830e-01 -2.29321881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.838623853 meters 0.02315813492302183 Centerline is valid? [True, True] Translation: X:91.95, Y:-15.96, Z:-2.29 [[ 9.81812747e-01 1.89280824e-01 1.47138962e-02 9.19480824e+01] [-1.89256082e-01 9.81922969e-01 -3.06888422e-03 -1.59580989e+01] [-1.50287936e-02 2.28375305e-04 9.99887035e-01 -2.29400592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.868623853 meters 0.022798365142449303 Centerline is valid? [True, True] Translation: X:91.98, Y:-15.96, Z:-2.29 [[ 9.82009990e-01 1.88279896e-01 1.43895944e-02 9.19762837e+01] [-1.88256134e-01 9.82115382e-01 -3.00060008e-03 -1.59634333e+01] [-1.46971947e-02 2.37689840e-04 9.99891962e-01 -2.29388649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.898623853 meters 0.02438810071473488 Centerline is valid? [True, True] Translation: X:92.00, Y:-15.97, Z:-2.30 [[ 9.82230458e-01 1.87147029e-01 1.41179631e-02 9.20024983e+01] [-1.87124046e-01 9.82331883e-01 -2.94343221e-03 -1.59712001e+01] [-1.44193799e-02 2.49318378e-04 9.99896004e-01 -2.29558491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.928623853 meters 0.02593436805959956 Centerline is valid? [True, True] Translation: X:92.03, Y:-15.98, Z:-2.30 [[ 9.82536457e-01 1.85540217e-01 1.40334908e-02 9.20296843e+01] [-1.85517359e-01 9.82636634e-01 -2.92487846e-03 -1.59793092e+01] [-1.43325048e-02 2.70343562e-04 9.99897248e-01 -2.29683589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.958623853 meters 0.0267986048689435 Centerline is valid? [True, True] Translation: X:92.06, Y:-15.99, Z:-2.30 [[ 9.82674052e-01 1.84836520e-01 1.36809121e-02 9.20562432e+01] [-1.84814739e-01 9.82769244e-01 -2.85059217e-03 -1.59860410e+01] [-1.39720732e-02 2.72768747e-04 9.99902349e-01 -2.29781955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.988623853 meters 0.02929408977123471 Centerline is valid? [True, True] Translation: X:92.08, Y:-16.00, Z:-2.30 [[ 9.82858205e-01 1.83808846e-01 1.42848366e-02 9.20825767e+01] [-1.83785002e-01 9.82961962e-01 -2.97561833e-03 -1.59958473e+01] [-1.45883960e-02 2.99272161e-04 9.99893539e-01 -2.29857795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.01862385300001 meters 0.028429186908425344 Centerline is valid? [True, True] Translation: X:92.11, Y:-16.00, Z:-2.30 [[ 9.82916054e-01 1.83466490e-01 1.46995856e-02 9.21106331e+01] [-1.83441224e-01 9.83025915e-01 -3.06064097e-03 -1.60010891e+01] [-1.50115986e-02 3.11843168e-04 9.99887271e-01 -2.29772149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04862385300001 meters 0.027887522671962126 Centerline is valid? [True, True] Translation: X:92.14, Y:-16.01, Z:-2.30 [[ 9.83037873e-01 1.82805435e-01 1.47889341e-02 9.21385270e+01] [-1.82779793e-01 9.83149057e-01 -3.07879315e-03 -1.60063073e+01] [-1.51025467e-02 3.23451953e-04 9.99885898e-01 -2.29709117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.07862385300001 meters 0.029660763915677364 Centerline is valid? [True, True] Translation: X:92.17, Y:-16.02, Z:-2.30 [[ 9.83276465e-01 1.81494412e-01 1.50722437e-02 9.21653473e+01] [-1.81467644e-01 9.83391914e-01 -3.13649299e-03 -1.60155234e+01] [-1.53911785e-02 3.48915200e-04 9.99881488e-01 -2.29755494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10862385300001 meters 0.030377791506334746 Centerline is valid? [True, True] Translation: X:92.19, Y:-16.02, Z:-2.30 [[ 9.83406858e-01 1.80781289e-01 1.51353049e-02 9.21933429e+01] [-1.80754228e-01 9.83523256e-01 -3.14857384e-03 -1.60233253e+01] [-1.54551276e-02 3.60558748e-04 9.99880497e-01 -2.29825474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.13862385300001 meters 0.037786430423942134 Centerline is valid? [True, True] Translation: X:92.22, Y:-16.03, Z:-2.29 [[ 9.83512687e-01 1.80247103e-01 1.46210865e-02 9.22209698e+01] [-1.80221800e-01 9.83621297e-01 -3.04093818e-03 -1.60308661e+01] [-1.49297324e-02 3.55762748e-04 9.99888482e-01 -2.29306259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.168623853 meters 0.039476567587050135 Centerline is valid? [True, True] Translation: X:92.25, Y:-16.04, Z:-2.29 [[ 9.83692821e-01 1.79258152e-01 1.46611292e-02 9.22481540e+01] [-1.79232611e-01 9.83802001e-01 -3.04855810e-03 -1.60404196e+01] [-1.49701272e-02 3.71092247e-04 9.99887873e-01 -2.29270534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.198623853 meters 0.03372960140968279 Centerline is valid? [True, True] Translation: X:92.27, Y:-16.05, Z:-2.30 [[ 9.83838273e-01 1.78382189e-01 1.55578569e-02 9.22739808e+01] [-1.78353332e-01 9.83961193e-01 -3.23415251e-03 -1.60496550e+01] [-1.58852427e-02 4.07087393e-04 9.99873739e-01 -2.30018464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.228623853 meters 0.033133898377127026 Centerline is valid? [True, True] Translation: X:92.30, Y:-16.06, Z:-2.30 [[ 9.83937194e-01 1.77815165e-01 1.57913255e-02 9.23011163e+01] [-1.77785372e-01 9.84063813e-01 -3.28217311e-03 -1.60585243e+01] [-1.61232922e-02 4.21985520e-04 9.99869922e-01 -2.30020340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.258623853 meters 0.03384163999286904 Centerline is valid? [True, True] Translation: X:92.33, Y:-16.07, Z:-2.30 [[ 9.83942475e-01 1.77820068e-01 1.54022718e-02 9.23290275e+01] [-1.77791743e-01 9.84062932e-01 -3.20019051e-03 -1.60666252e+01] [-1.57258629e-02 4.10406622e-04 9.99876257e-01 -2.30190143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.288623853 meters 0.033619205337014436 Centerline is valid? [True, True] Translation: X:92.36, Y:-16.07, Z:-2.30 [[ 9.83957023e-01 1.77775026e-01 1.49872315e-02 9.23570355e+01] [-1.77748208e-01 9.84071075e-01 -3.11356031e-03 -1.60732193e+01] [-1.53020143e-02 3.99656000e-04 9.99882837e-01 -2.30337324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.318623853 meters 0.03265034184305683 Centerline is valid? [True, True] Translation: X:92.38, Y:-16.08, Z:-2.30 [[ 9.83925450e-01 1.77977848e-01 1.46490562e-02 9.23845968e+01] [-1.77952259e-01 9.84034418e-01 -3.04263619e-03 -1.60804806e+01] [-1.49566973e-02 3.86894529e-04 9.99888067e-01 -2.30449308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.348623853 meters 0.0326062751646397 Centerline is valid? [True, True] Translation: X:92.41, Y:-16.09, Z:-2.31 [[ 9.83909049e-01 1.78086070e-01 1.44338259e-02 9.24109350e+01] [-1.78061246e-01 9.84014841e-01 -2.99742024e-03 -1.60882764e+01] [-1.47368977e-02 3.79083879e-04 9.99891334e-01 -2.30549375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.37862385300001 meters 0.03415941644034237 Centerline is valid? [True, True] Translation: X:92.44, Y:-16.10, Z:-2.31 [[ 9.83810194e-01 1.78642848e-01 1.42910768e-02 9.24372012e+01] [-1.78618589e-01 9.83913919e-01 -2.96656604e-03 -1.61009432e+01] [-1.45911452e-02 3.65885937e-04 9.99893477e-01 -2.30801824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40862385300001 meters 0.03458446482568568 Centerline is valid? [True, True] Translation: X:92.46, Y:-16.11, Z:-2.31 [[ 9.83775523e-01 1.78810094e-01 1.45832052e-02 9.24634401e+01] [-1.78784856e-01 9.83883536e-01 -3.02688859e-03 -1.61097203e+01] [-1.48894137e-02 3.70522663e-04 9.99889078e-01 -2.30821121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.43862385300001 meters 0.03486388257829111 Centerline is valid? [True, True] Translation: X:92.49, Y:-16.12, Z:-2.31 [[ 9.83764351e-01 1.78866732e-01 1.46421787e-02 9.24899008e+01] [-1.78841309e-01 9.83873241e-01 -3.03826296e-03 -1.61186655e+01] [-1.49494919e-02 3.70308385e-04 9.99888182e-01 -2.30857910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46862385300001 meters 0.034155661399584564 Centerline is valid? [True, True] Translation: X:92.52, Y:-16.13, Z:-2.31 [[ 9.83612380e-01 1.79691180e-01 1.47569021e-02 9.25158219e+01] [-1.79665463e-01 9.83723005e-01 -3.06120766e-03 -1.61292856e+01] [-1.50667761e-02 3.59736098e-04 9.99886425e-01 -2.30935320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.49862385300001 meters 0.03362769665151561 Centerline is valid? [True, True] Translation: X:92.54, Y:-16.14, Z:-2.31 [[ 9.83525256e-01 1.80194739e-01 1.44196608e-02 9.25435668e+01] [-1.80170247e-01 9.83630895e-01 -2.99064048e-03 -1.61368031e+01] [-1.47225215e-02 3.43376596e-04 9.99891559e-01 -2.30997186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52862385300001 meters 0.03239842404480153 Centerline is valid? [True, True] Translation: X:92.57, Y:-16.14, Z:-2.31 [[ 9.83349734e-01 1.81164479e-01 1.42384184e-02 9.25714499e+01] [-1.81140719e-01 9.83452758e-01 -2.95172877e-03 -1.61435426e+01] [-1.45375603e-02 3.23424336e-04 9.99894272e-01 -2.31116044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.558623853 meters 0.028942968710775143 Centerline is valid? [True, True] Translation: X:92.60, Y:-16.15, Z:-2.31 [[ 9.82733837e-01 1.84507891e-01 1.38218850e-02 9.25988534e+01] [-1.84485839e-01 9.82830996e-01 -2.86489530e-03 -1.61490331e+01] [-1.41131728e-02 2.65487508e-04 9.99900369e-01 -2.31253650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.588623853 meters 0.024309270076099853 Centerline is valid? [True, True] Translation: X:92.63, Y:-16.15, Z:-2.31 [[ 9.82285687e-01 1.86880016e-01 1.38090455e-02 9.26284694e+01] [-1.86858253e-01 9.82382719e-01 -2.86123346e-03 -1.61505923e+01] [-1.41004750e-02 2.30214557e-04 9.99900557e-01 -2.31159476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.618623853 meters 0.019517516042466692 Centerline is valid? [True, True] Translation: X:92.66, Y:-16.15, Z:-2.31 [[ 9.81157019e-01 1.92720918e-01 1.37677967e-02 9.26583821e+01] [-1.92699870e-01 9.81253600e-01 -2.85193113e-03 -1.61520456e+01] [-1.40593268e-02 1.45139611e-04 9.99901152e-01 -2.31193387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.648623853 meters 0.017346548846042958 Centerline is valid? [True, True] Translation: X:92.69, Y:-16.15, Z:-2.31 [[ 9.80477040e-01 1.96134341e-01 1.40033586e-02 9.26874183e+01] [-1.96112911e-01 9.80577029e-01 -2.90093947e-03 -1.61540815e+01] [-1.43003456e-02 9.80651159e-05 9.99897740e-01 -2.31196358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.678623853 meters 0.016362454274385645 Centerline is valid? [True, True] Translation: X:92.72, Y:-16.16, Z:-2.32 [[ 9.79766030e-01 1.99632161e-01 1.43361936e-02 9.27150873e+01] [-1.99610083e-01 9.79870909e-01 -2.96928528e-03 -1.61561763e+01] [-1.46403839e-02 4.75560466e-05 9.99892823e-01 -2.31532520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.708623853 meters 0.015366928764948561 Centerline is valid? [True, True] Translation: X:92.74, Y:-16.16, Z:-2.31 [[ 9.79001805e-01 2.03350899e-01 1.42785733e-02 9.27441967e+01] [-2.03329408e-01 9.79105925e-01 -2.95636764e-03 -1.61568599e+01] [-1.45814158e-02 -8.96460788e-06 9.99893685e-01 -2.31356658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.738623853 meters 0.017977303075202084 Centerline is valid? [True, True] Translation: X:92.77, Y:-16.15, Z:-2.31 [[ 9.77554499e-01 2.10218727e-01 1.39745886e-02 9.27725840e+01] [-2.10198847e-01 9.77654374e-01 -2.89302989e-03 -1.61543755e+01] [-1.42704867e-02 -1.09348035e-04 9.99898165e-01 -2.31479591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76862385300001 meters 0.020606659782044432 Centerline is valid? [True, True] Translation: X:92.80, Y:-16.15, Z:-2.32 [[ 9.76843467e-01 2.13487009e-01 1.41469800e-02 9.28010785e+01] [-2.13466996e-01 9.76945890e-01 -2.92753779e-03 -1.61547818e+01] [-1.44458252e-02 -1.60167157e-04 9.99895641e-01 -2.31534648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.79862385300001 meters 0.0288204630439719 Centerline is valid? [True, True] Translation: X:92.83, Y:-16.15, Z:-2.32 [[ 9.75497227e-01 2.19504997e-01 1.49236542e-02 9.28316195e+01] [-2.19483445e-01 9.75611340e-01 -3.08716407e-03 -1.61466132e+01] [-1.52373342e-02 -2.63975048e-04 9.99883870e-01 -2.31638738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82862385300001 meters 0.031930397471089146 Centerline is valid? [True, True] Translation: X:92.86, Y:-16.15, Z:-2.31 [[ 9.74939309e-01 2.21966668e-01 1.49713723e-02 9.28598460e+01] [-2.21945279e-01 9.75054207e-01 -3.09631586e-03 -1.61517926e+01] [-1.52851785e-02 -3.04105363e-04 9.99883129e-01 -2.30923352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.85862385300001 meters 0.031109268044638826 Centerline is valid? [True, True] Translation: X:92.89, Y:-16.15, Z:-2.31 [[ 9.74464089e-01 2.24015315e-01 1.53908693e-02 9.28889604e+01] [-2.23992978e-01 9.74585563e-01 -3.18230995e-03 -1.61539681e+01] [-1.57126052e-02 -3.46399876e-04 9.99876489e-01 -2.31481830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88862385300001 meters 0.03346720140026328 Centerline is valid? [True, True] Translation: X:92.92, Y:-16.15, Z:-2.31 [[ 9.73541451e-01 2.27964666e-01 1.57846313e-02 9.29188260e+01] [-2.27941704e-01 9.73669314e-01 -3.26285901e-03 -1.61536751e+01] [-1.61128277e-02 -4.21447259e-04 9.99870091e-01 -2.31340051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.91862385300001 meters 0.0379832523285182 Centerline is valid? [True, True] Translation: X:92.95, Y:-16.15, Z:-2.32 [[ 9.73178286e-01 2.29546806e-01 1.52409793e-02 9.29479067e+01] [-2.29525597e-01 9.73297527e-01 -3.15017582e-03 -1.61516846e+01] [-1.55571203e-02 -4.32512168e-04 9.99878887e-01 -2.31613478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.948623853 meters 0.0379832523285182 Centerline is valid? [True, True] Translation: X:92.97, Y:-16.16, Z:-2.32 [[ 9.73193620e-01 2.29481777e-01 1.52411428e-02 9.29748611e+01] [-2.29460572e-01 9.73312862e-01 -3.14938461e-03 -1.61571126e+01] [-1.55571267e-02 -4.32280338e-04 9.99878887e-01 -2.31682652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.978623853 meters 0.03983466482909532 Centerline is valid? [True, True] Translation: X:93.00, Y:-16.16, Z:-2.32 [[ 9.72936928e-01 2.30597696e-01 1.47795905e-02 9.30038494e+01] [-2.30577885e-01 9.73049080e-01 -3.05394203e-03 -1.61590262e+01] [-1.50854990e-02 -4.36553759e-04 9.99886112e-01 -2.31866936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.008623853 meters 0.039546867425415515 Centerline is valid? [True, True] Translation: X:93.03, Y:-16.16, Z:-2.32 [[ 9.72566539e-01 2.32148733e-01 1.48759474e-02 9.30323271e+01] [-2.32128881e-01 9.72680188e-01 -3.07147168e-03 -1.61620898e+01] [-1.51825776e-02 -4.65926447e-04 9.99884629e-01 -2.31819225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.038623853 meters 0.04002585216186276 Centerline is valid? [True, True] Translation: X:93.06, Y:-16.16, Z:-2.32 [[ 9.72497009e-01 2.32445427e-01 1.47881915e-02 9.30611135e+01] [-2.32425880e-01 9.72609327e-01 -3.05089410e-03 -1.61647909e+01] [-1.50922994e-02 -4.70173046e-04 9.99885994e-01 -2.31851743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.068623853 meters 0.04077686556837046 Centerline is valid? [True, True] Translation: X:93.09, Y:-16.16, Z:-2.32 [[ 9.72492414e-01 2.32421963e-01 1.54445961e-02 9.30895085e+01] [-2.32400698e-01 9.72614922e-01 -3.18256212e-03 -1.61641111e+01] [-1.57613420e-02 -4.94317411e-04 9.99875660e-01 -2.31825110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.098623853 meters 0.03896515246579332 Centerline is valid? [True, True] Translation: X:93.12, Y:-16.17, Z:-2.32 [[ 9.72588258e-01 2.31995841e-01 1.58117325e-02 9.31178422e+01] [-2.31973496e-01 9.72716650e-01 -3.25821679e-03 -1.61695123e+01] [-1.61362282e-02 -4.98999487e-04 9.99869678e-01 -2.31782321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12862385300001 meters 0.04202449697597221 Centerline is valid? [True, True] Translation: X:93.15, Y:-16.16, Z:-2.32 [[ 9.72889140e-01 2.30700651e-01 1.62459840e-02 9.31475108e+01] [-2.30676945e-01 9.73024648e-01 -3.34392104e-03 -1.61640398e+01] [-1.65791876e-02 -4.94309475e-04 9.99862434e-01 -2.31902231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.15862385300001 meters 0.04157541057322853 Centerline is valid? [True, True] Translation: X:93.17, Y:-16.17, Z:-2.32 [[ 9.73115604e-01 2.29770751e-01 1.58563088e-02 9.31748569e+01] [-2.29748061e-01 9.73244668e-01 -3.26276652e-03 -1.61668557e+01] [-1.61817563e-02 -4.67907188e-04 9.99868957e-01 -2.32084033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18862385300001 meters 0.04021682436030348 Centerline is valid? [True, True] Translation: X:93.20, Y:-16.17, Z:-2.32 [[ 9.73429452e-01 2.28476502e-01 1.52836663e-02 9.32032595e+01] [-2.28455260e-01 9.73549333e-01 -3.14506843e-03 -1.61715914e+01] [-1.55979774e-02 -4.30131725e-04 9.99878252e-01 -2.32305173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.21862385300001 meters 0.03319460050179608 Centerline is valid? [True, True] Translation: X:93.23, Y:-16.18, Z:-2.32 [[ 9.74129769e-01 2.25519427e-01 1.45664216e-02 9.32310422e+01] [-2.25499843e-01 9.74238602e-01 -2.99458539e-03 -1.61828094e+01] [-1.48665074e-02 -3.67611015e-04 9.99889420e-01 -2.31979392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24862385300001 meters 0.029625474016275515 Centerline is valid? [True, True] Translation: X:93.26, Y:-16.19, Z:-2.32 [[ 9.74537662e-01 2.23754777e-01 1.44963899e-02 9.32596532e+01] [-2.23735202e-01 9.74645415e-01 -2.97914117e-03 -1.61891017e+01] [-1.47954370e-02 -3.40067437e-04 9.99890484e-01 -2.32355341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.27862385300001 meters 0.026962863761866684 Centerline is valid? [True, True] Translation: X:93.29, Y:-16.19, Z:-2.33 [[ 9.75404494e-01 2.19993552e-01 1.37444517e-02 9.32878965e+01] [-2.19975604e-01 9.75501289e-01 -2.82305402e-03 -1.61910718e+01] [-1.40287840e-02 -2.69824484e-04 9.99901555e-01 -2.32538064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.308623853 meters 0.024659118088734597 Centerline is valid? [True, True] Translation: X:93.32, Y:-16.20, Z:-2.33 [[ 9.75989038e-01 2.17370388e-01 1.39825727e-02 9.33160015e+01] [-2.17351553e-01 9.76089165e-01 -2.87123244e-03 -1.61969134e+01] [-1.42723586e-02 -2.36842496e-04 9.99898117e-01 -2.32601110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.338623853 meters 0.02182772776342992 Centerline is valid? [True, True] Translation: X:93.34, Y:-16.21, Z:-2.33 [[ 9.76664331e-01 2.14316162e-01 1.39773826e-02 9.33441654e+01] [-2.14297032e-01 9.76764325e-01 -2.86990022e-03 -1.62053694e+01] [-1.42676746e-02 -1.92382417e-04 9.99898193e-01 -2.32615744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.368623853 meters 0.019286592736060194 Centerline is valid? [True, True] Translation: X:93.37, Y:-16.21, Z:-2.33 [[ 9.77429384e-01 2.10799349e-01 1.39797441e-02 9.33709495e+01] [-2.10779874e-01 9.77529342e-01 -2.86887708e-03 -1.62136807e+01] [-1.42703675e-02 -1.42523946e-04 9.99898163e-01 -2.32718942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.398623853 meters 0.01511693699826455 Centerline is valid? [True, True] Translation: X:93.40, Y:-16.23, Z:-2.32 [[ 9.79020742e-01 2.03197546e-01 1.51374777e-02 9.33986035e+01] [-2.03173822e-01 9.79137761e-01 -3.10517099e-03 -1.62255108e+01] [-1.54526392e-02 -3.55124002e-05 9.99880600e-01 -2.32452403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.428623853 meters 0.015945401596398116 Centerline is valid? [True, True] Translation: X:93.42, Y:-16.24, Z:-2.32 [[ 9.80545846e-01 1.95668495e-01 1.56103937e-02 9.34249209e+01] [-1.95642316e-01 9.80670094e-01 -3.20178575e-03 -1.62373670e+01] [-1.59351349e-02 8.54441428e-05 9.99873024e-01 -2.32442155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.458623853 meters 0.018049740386447848 Centerline is valid? [True, True] Translation: X:93.45, Y:-16.25, Z:-2.33 [[ 9.81301373e-01 1.91866558e-01 1.53245000e-02 9.34521406e+01] [-1.91840881e-01 9.81421012e-01 -3.14209655e-03 -1.62473863e+01] [-1.56426496e-02 1.43478070e-04 9.99877636e-01 -2.32530772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.488623853 meters 0.02133043027975505 Centerline is valid? [True, True] Translation: X:93.48, Y:-16.26, Z:-2.33 [[ 9.82009088e-01 1.88222819e-01 1.51763277e-02 9.34780660e+01] [-1.88197211e-01 9.82126331e-01 -3.11109390e-03 -1.62587803e+01] [-1.54906499e-02 1.98979941e-04 9.99879993e-01 -2.32723926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.51862385300001 meters 0.023624408610129603 Centerline is valid? [True, True] Translation: X:93.51, Y:-16.27, Z:-2.33 [[ 9.82726698e-01 1.84423854e-01 1.53648477e-02 9.35052896e+01] [-1.84397158e-01 9.82846770e-01 -3.14867694e-03 -1.62685825e+01] [-1.56819821e-02 2.61054645e-04 9.99876996e-01 -2.32701074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54862385300001 meters 0.030605346258012846 Centerline is valid? [True, True] Translation: X:93.53, Y:-16.29, Z:-2.33 [[ 9.83992169e-01 1.77488769e-01 1.60358184e-02 9.35313603e+01] [-1.77458787e-01 9.84122750e-01 -3.28502363e-03 -1.62865883e+01] [-1.63642685e-02 3.86740643e-04 9.99866022e-01 -2.32671002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.57862385300001 meters 0.034103913788056564 Centerline is valid? [True, True] Translation: X:93.56, Y:-16.30, Z:-2.33 [[ 9.84580149e-01 1.74157079e-01 1.64694080e-02 9.35581237e+01] [-1.74124986e-01 9.84717780e-01 -3.37397522e-03 -1.62976324e+01] [-1.68053206e-02 4.54213583e-04 9.99858677e-01 -2.32664595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60862385300001 meters 0.04667874341062652 Centerline is valid? [True, True] Translation: X:93.58, Y:-16.32, Z:-2.33 [[ 9.85521822e-01 1.68751037e-01 1.64264058e-02 9.35832281e+01] [-1.68718378e-01 9.85658557e-01 -3.36413091e-03 -1.63218240e+01] [-1.67585280e-02 5.43987891e-04 9.99859418e-01 -2.32939252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.63862385300001 meters 0.0420684204349116 Centerline is valid? [True, True] Translation: X:93.61, Y:-16.32, Z:-2.33 [[ 9.85906618e-01 1.66523526e-01 1.60640903e-02 9.36134338e+01] [-1.66492000e-01 9.86037318e-01 -3.28972378e-03 -1.63232372e+01] [-1.63876089e-02 5.68817916e-04 9.99865552e-01 -2.32818604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66862385300001 meters 0.04487383250215113 Centerline is valid? [True, True] Translation: X:93.64, Y:-16.33, Z:-2.33 [[ 9.86205638e-01 1.64781735e-01 1.56658452e-02 9.36398965e+01] [-1.64751540e-01 9.86329884e-01 -3.20778354e-03 -1.63337363e+01] [-1.59802755e-02 5.82562093e-04 9.99872138e-01 -2.32966152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.698623853 meters 0.04427169060758039 Centerline is valid? [True, True] Translation: X:93.67, Y:-16.34, Z:-2.33 [[ 9.86532187e-01 1.62883377e-01 1.49415619e-02 9.36691757e+01] [-1.62855699e-01 9.86645156e-01 -3.05899313e-03 -1.63429513e+01] [-1.52402788e-02 5.84476677e-04 9.99883689e-01 -2.33094612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.728623853 meters 0.04721096967263801 Centerline is valid? [True, True] Translation: X:93.70, Y:-16.35, Z:-2.33 [[ 9.86550090e-01 1.62778965e-01 1.48972547e-02 9.36958703e+01] [-1.62751434e-01 9.86662387e-01 -3.05027324e-03 -1.63549367e+01] [-1.51950812e-02 5.84697780e-04 9.99884377e-01 -2.33264442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.758623853 meters 0.046735609466562154 Centerline is valid? [True, True] Translation: X:93.73, Y:-16.36, Z:-2.33 [[ 9.86526094e-01 1.62920666e-01 1.49373112e-02 9.37250629e+01] [-1.62893015e-01 9.86639000e-01 -3.05769755e-03 -1.63626821e+01] [-1.52358960e-02 5.83314761e-04 9.99883757e-01 -2.33308898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.788623853 meters 0.04594095001500771 Centerline is valid? [True, True] Translation: X:93.75, Y:-16.37, Z:-2.33 [[ 9.86221404e-01 1.64742290e-01 1.50771231e-02 9.37524415e+01] [-1.64714330e-01 9.86336486e-01 -3.08635915e-03 -1.63714234e+01] [-1.53795704e-02 5.60415232e-04 9.99881570e-01 -2.33327997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.818623853 meters 0.04253259520897565 Centerline is valid? [True, True] Translation: X:93.78, Y:-16.37, Z:-2.33 [[ 9.86003373e-01 1.66031411e-01 1.51960400e-02 9.37817849e+01] [-1.66003171e-01 9.86120314e-01 -3.11006251e-03 -1.63746213e+01] [-1.55014918e-02 5.43941282e-04 9.99879697e-01 -2.33313984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.848623853 meters 0.03683461123896117 Centerline is valid? [True, True] Translation: X:93.81, Y:-16.38, Z:-2.33 [[ 9.85389573e-01 1.69586804e-01 1.57386873e-02 9.38112580e+01] [-1.69556970e-01 9.85515125e-01 -3.22073738e-03 -1.63779352e+01] [-1.60569089e-02 5.05076904e-04 9.99870952e-01 -2.33214750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.87862385300001 meters 0.034384354290255714 Centerline is valid? [True, True] Translation: X:93.84, Y:-16.38, Z:-2.33 [[ 9.85053491e-01 1.71548199e-01 1.55188701e-02 9.38401691e+01] [-1.71519442e-01 9.85175618e-01 -3.17538497e-03 -1.63828590e+01] [-1.58335440e-02 4.66136120e-04 9.99874533e-01 -2.33276084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90862385300001 meters 0.0335194063742159 Centerline is valid? [True, True] Translation: X:93.87, Y:-16.39, Z:-2.33 [[ 9.84654742e-01 1.73841217e-01 1.53058678e-02 9.38680196e+01] [-1.73813524e-01 9.84773605e-01 -3.13154331e-03 -1.63901246e+01] [-1.56172059e-02 4.23122150e-04 9.99877954e-01 -2.33426132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.93862385300001 meters 0.02935341409523892 Centerline is valid? [True, True] Translation: X:93.90, Y:-16.40, Z:-2.34 [[ 9.83831703e-01 1.78446673e-01 1.52304130e-02 9.38976993e+01] [-1.78419814e-01 9.83949523e-01 -3.11543827e-03 -1.63956752e+01] [-1.55418972e-02 3.47659477e-04 9.99879157e-01 -2.33573328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96862385300001 meters 0.02560194218491212 Centerline is valid? [True, True] Translation: X:93.93, Y:-16.40, Z:-2.34 [[ 9.83402527e-01 1.80799170e-01 1.52029751e-02 9.39262848e+01] [-1.80772691e-01 9.83519987e-01 -3.10967287e-03 -1.63980716e+01] [-1.55146562e-02 3.09777435e-04 9.99879592e-01 -2.33529222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.99862385300001 meters 0.024481739380755797 Centerline is valid? [True, True] Translation: X:93.95, Y:-16.40, Z:-2.34 [[ 9.82951625e-01 1.83237872e-01 1.51652562e-02 9.39533592e+01] [-1.83211824e-01 9.83068568e-01 -3.10131433e-03 -1.64040905e+01] [-1.54767649e-02 2.69987715e-04 9.99880191e-01 -2.33687501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02862385300001 meters 0.02106495323334522 Centerline is valid? [True, True] Translation: X:93.98, Y:-16.41, Z:-2.34 [[ 9.82133490e-01 1.87590313e-01 1.49560426e-02 9.39808788e+01] [-1.87565497e-01 9.82247339e-01 -3.05759500e-03 -1.64086138e+01] [-1.52641083e-02 1.97728889e-04 9.99883477e-01 -2.33784828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.058623853 meters 0.019454878343379084 Centerline is valid? [True, True] Translation: X:94.01, Y:-16.41, Z:-2.34 [[ 9.81728999e-01 1.89718314e-01 1.46674706e-02 9.40093427e+01] [-1.89694699e-01 9.81838549e-01 -2.99761493e-03 -1.64136796e+01] [-1.49697905e-02 1.60504084e-04 9.99887934e-01 -2.33907822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.088623853 meters 0.017100851923859708 Centerline is valid? [True, True] Translation: X:94.04, Y:-16.42, Z:-2.34 [[ 9.81012242e-01 1.93408137e-01 1.44316602e-02 9.40381369e+01] [-1.93385684e-01 9.81118383e-01 -2.94874286e-03 -1.64180242e+01] [-1.47294780e-02 1.01876368e-04 9.99891510e-01 -2.34043745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.118623853 meters 0.016212919050759368 Centerline is valid? [True, True] Translation: X:94.07, Y:-16.42, Z:-2.34 [[ 9.80707555e-01 1.94927551e-01 1.46949199e-02 9.40661348e+01] [-1.94904453e-01 9.80817640e-01 -3.00179537e-03 -1.64232965e+01] [-1.49981693e-02 7.97780796e-05 9.99887518e-01 -2.34098206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.148623853 meters 0.015741176257236165 Centerline is valid? [True, True] Translation: X:94.09, Y:-16.43, Z:-2.34 [[ 9.80447409e-01 1.96223534e-01 1.48055202e-02 9.40943551e+01] [-1.96200246e-01 9.80559188e-01 -3.02365335e-03 -1.64291582e+01] [-1.51110008e-02 5.96863990e-05 9.99885821e-01 -2.34109718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.178623853 meters 0.014935702476892713 Centerline is valid? [True, True] Translation: X:94.12, Y:-16.44, Z:-2.34 [[ 9.79973344e-01 1.98556435e-01 1.50860203e-02 9.41221463e+01] [-1.98532544e-01 9.80089456e-01 -3.08019212e-03 -1.64350622e+01] [-1.53972414e-02 2.34401848e-05 9.99881455e-01 -2.34060907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.208623853 meters 0.014842342558205858 Centerline is valid? [True, True] Translation: X:94.15, Y:-16.44, Z:-2.34 [[ 9.79756761e-01 1.99629698e-01 1.49890894e-02 9.41496195e+01] [-1.99606248e-01 9.79871412e-01 -3.05976700e-03 -1.64407272e+01] [-1.52982006e-02 5.91151238e-06 9.99882976e-01 -2.34164589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.238623853 meters 0.014970790939972719 Centerline is valid? [True, True] Translation: X:94.18, Y:-16.45, Z:-2.34 [[ 9.79452353e-01 2.01120123e-01 1.49594096e-02 9.41755293e+01] [-2.01096948e-01 9.79566586e-01 -3.05313104e-03 -1.64461740e+01] [-1.52677839e-02 -1.78952399e-05 9.99883440e-01 -2.34260812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26862385300001 meters 0.015243901998669452 Centerline is valid? [True, True] Translation: X:94.20, Y:-16.45, Z:-2.34 [[ 9.79395539e-01 2.01424475e-01 1.45794095e-02 9.42023835e+01] [-2.01402523e-01 9.79504048e-01 -2.97379170e-03 -1.64525099e+01] [-1.48795851e-02 -2.38115423e-05 9.99889293e-01 -2.34438269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.29862385300001 meters 0.015237243483182825 Centerline is valid? [True, True] Translation: X:94.23, Y:-16.46, Z:-2.35 [[ 9.79398352e-01 2.01427944e-01 1.43405931e-02 9.42299673e+01] [-2.01406720e-01 9.79503335e-01 -2.92409417e-03 -1.64595288e+01] [-1.46356531e-02 -2.44388094e-05 9.99892893e-01 -2.34548282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32862385300001 meters 0.015178549165841968 Centerline is valid? [True, True] Translation: X:94.26, Y:-16.47, Z:-2.35 [[ 9.79460677e-01 2.01144828e-01 1.40548722e-02 9.42576472e+01] [-2.01124422e-01 9.79561513e-01 -2.86518238e-03 -1.64679704e+01] [-1.43439285e-02 -2.04445588e-05 9.99897120e-01 -2.34588015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.35862385300001 meters 0.015209085477120174 Centerline is valid? [True, True] Translation: X:94.28, Y:-16.47, Z:-2.35 [[ 9.79447005e-01 2.01210363e-01 1.40696510e-02 9.42834847e+01] [-2.01189925e-01 9.79548054e-01 -2.86788224e-03 -1.64745350e+01] [-1.43589469e-02 -2.17333460e-05 9.99896905e-01 -2.34690395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38862385300001 meters 0.015103466500013676 Centerline is valid? [True, True] Translation: X:94.31, Y:-16.48, Z:-2.35 [[ 9.79437638e-01 2.01273521e-01 1.38160558e-02 9.43118451e+01] [-2.01253841e-01 9.79535078e-01 -2.81465314e-03 -1.64817707e+01] [-1.40998265e-02 -2.37570774e-05 9.99900592e-01 -2.34640582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.41862385300001 meters 0.015081291559331148 Centerline is valid? [True, True] Translation: X:94.34, Y:-16.49, Z:-2.35 [[ 9.79379913e-01 2.01493384e-01 1.46766164e-02 9.43392569e+01] [-2.01471211e-01 9.79489875e-01 -2.98929660e-03 -1.64885169e+01] [-1.49779206e-02 -2.92586269e-05 9.99887824e-01 -2.34731732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.448623853 meters 0.014933843746838524 Centerline is valid? [True, True] Translation: X:94.37, Y:-16.50, Z:-2.35 [[ 9.79492958e-01 2.00890949e-01 1.53743828e-02 9.43657258e+01] [-2.00866562e-01 9.79613611e-01 -3.13023196e-03 -1.64968162e+01] [-1.56897899e-02 -2.21592486e-05 9.99876907e-01 -2.34746812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.478623853 meters 0.014806644602290026 Centerline is valid? [True, True] Translation: X:94.39, Y:-16.50, Z:-2.35 [[ 9.79645033e-01 2.00143210e-01 1.54371135e-02 9.43923338e+01] [-2.00118544e-01 9.79766654e-01 -3.14208304e-03 -1.65045219e+01] [-1.57536356e-02 -1.11266464e-05 9.99875904e-01 -2.34805512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.508623853 meters 0.014810044580160305 Centerline is valid? [True, True] Translation: X:94.42, Y:-16.51, Z:-2.35 [[ 9.79810511e-01 1.99345050e-01 1.52615310e-02 9.44203150e+01] [-1.99320864e-01 9.79929360e-01 -3.10521258e-03 -1.65122661e+01] [-1.55742311e-02 5.78383487e-07 9.99878714e-01 -2.34885739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.538623853 meters 0.014944516998322055 Centerline is valid? [True, True] Translation: X:94.45, Y:-16.52, Z:-2.35 [[ 9.79995834e-01 1.98443192e-01 1.51150581e-02 9.44466881e+01] [-1.98419369e-01 9.80112391e-01 -3.07483958e-03 -1.65196754e+01] [-1.54246367e-02 1.42096911e-05 9.99881033e-01 -2.35026919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.568623853 meters 0.014989651070869076 Centerline is valid? [True, True] Translation: X:94.47, Y:-16.53, Z:-2.35 [[ 9.80356871e-01 1.96665227e-01 1.49396900e-02 9.44736705e+01] [-1.96641765e-01 9.80470697e-01 -3.03802949e-03 -1.65297305e+01] [-1.52454030e-02 4.05860861e-05 9.99883781e-01 -2.35052966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.598623853 meters 0.015465224959578817 Centerline is valid? [True, True] Translation: X:94.50, Y:-16.54, Z:-2.35 [[ 9.80593835e-01 1.95480531e-01 1.49363133e-02 9.45006247e+01] [-1.95456950e-01 9.80707581e-01 -3.03676294e-03 -1.65382189e+01] [-1.52417837e-02 5.84247755e-05 9.99883836e-01 -2.35184624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62862385300001 meters 0.016014124733139932 Centerline is valid? [True, True] Translation: X:94.53, Y:-16.55, Z:-2.35 [[ 9.80983723e-01 1.93554986e-01 1.44014588e-02 9.45287639e+01] [-1.93532876e-01 9.81089425e-01 -2.92667666e-03 -1.65491816e+01] [-1.46955918e-02 8.38664181e-05 9.99892010e-01 -2.35220420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.65862385300001 meters 0.016605949016051426 Centerline is valid? [True, True] Translation: X:94.56, Y:-16.56, Z:-2.35 [[ 9.81089924e-01 1.93008141e-01 1.45058128e-02 9.45559713e+01] [-1.92985654e-01 9.81197151e-01 -2.94763762e-03 -1.65575118e+01] [-1.48019803e-02 9.24837973e-05 9.99890440e-01 -2.35390202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68862385300001 meters 0.016576655623600264 Centerline is valid? [True, True] Translation: X:94.58, Y:-16.56, Z:-2.35 [[ 9.81147497e-01 1.92734069e-01 1.42536780e-02 9.45849982e+01] [-1.92712337e-01 9.81251023e-01 -2.89574535e-03 -1.65648448e+01] [-1.45445449e-02 9.42937093e-05 9.99894218e-01 -2.35407830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.71862385300001 meters 0.016272637810516445 Centerline is valid? [True, True] Translation: X:94.61, Y:-16.57, Z:-2.35 [[ 9.81037184e-01 1.93302606e-01 1.41472685e-02 9.46141690e+01] [-1.93281262e-01 9.81139182e-01 -2.87377975e-03 -1.65717237e+01] [-1.44359486e-02 8.48828802e-05 9.99895793e-01 -2.35417988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74862385300001 meters 0.01615573389408214 Centerline is valid? [True, True] Translation: X:94.64, Y:-16.58, Z:-2.36 [[ 9.80965065e-01 1.93665545e-01 1.41844124e-02 9.46433415e+01] [-1.93644131e-01 9.81067607e-01 -2.88096945e-03 -1.65772523e+01] [-1.44738121e-02 7.94021651e-05 9.99895246e-01 -2.35532382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.77862385300001 meters 0.015722308411164246 Centerline is valid? [True, True] Translation: X:94.67, Y:-16.58, Z:-2.36 [[ 9.80812736e-01 1.94411177e-01 1.45145085e-02 9.46708034e+01] [-1.94388841e-01 9.80920124e-01 -2.94776639e-03 -1.65838136e+01] [-1.48106522e-02 6.97483284e-05 9.99890314e-01 -2.35581698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.808623853 meters 0.015670318028743975 Centerline is valid? [True, True] Translation: X:94.70, Y:-16.59, Z:-2.36 [[ 9.80761750e-01 1.94660958e-01 1.46117059e-02 9.46994706e+01] [-1.94638359e-01 9.80870586e-01 -2.96683673e-03 -1.65910032e+01] [-1.49097198e-02 6.57615237e-05 9.99888842e-01 -2.35656811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.838623853 meters 0.015670318028743975 Centerline is valid? [True, True] Translation: X:94.73, Y:-16.60, Z:-2.36 [[ 9.80766331e-01 1.94637869e-01 1.46117755e-02 9.47280551e+01] [-1.94615273e-01 9.80875168e-01 -2.96649419e-03 -1.65967600e+01] [-1.49097198e-02 6.57629518e-05 9.99888842e-01 -2.35730162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.868623853 meters 0.015701105759113963 Centerline is valid? [True, True] Translation: X:94.76, Y:-16.60, Z:-2.36 [[ 9.80735196e-01 1.94790298e-01 1.46702092e-02 9.47559649e+01] [-1.94767541e-01 9.80844909e-01 -2.97811587e-03 -1.66038546e+01] [-1.49693081e-02 6.34624900e-05 9.99887952e-01 -2.35830469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.898623853 meters 0.015407245223043353 Centerline is valid? [True, True] Translation: X:94.78, Y:-16.61, Z:-2.36 [[ 9.80527394e-01 1.95870600e-01 1.41682172e-02 9.47844432e+01] [-1.95849492e-01 9.80629750e-01 -2.87584724e-03 -1.66100987e+01] [-1.44570692e-02 4.50088526e-05 9.99895490e-01 -2.35922231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.928623853 meters 0.015219295726290103 Centerline is valid? [True, True] Translation: X:94.81, Y:-16.61, Z:-2.36 [[ 9.80373334e-01 1.96666498e-01 1.37990446e-02 9.48120183e+01] [-1.96646562e-01 9.80470442e-01 -2.80040433e-03 -1.66149159e+01] [-1.40803011e-02 3.19070460e-05 9.99900867e-01 -2.36071048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.958623853 meters 0.015391716323930011 Centerline is valid? [True, True] Translation: X:94.84, Y:-16.62, Z:-2.36 [[ 9.79994610e-01 1.98593455e-01 1.30844855e-02 9.48397902e+01] [-1.98575711e-01 9.80081956e-01 -2.65466921e-03 -1.66192281e+01] [-1.33510681e-02 3.30050089e-06 9.99910871e-01 -2.36340370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.988623853 meters 0.01535715684806817 Centerline is valid? [True, True] Translation: X:94.87, Y:-16.62, Z:-2.36 [[ 9.79761084e-01 1.99753259e-01 1.29171545e-02 9.48685825e+01] [-1.99736079e-01 9.79846230e-01 -2.61982593e-03 -1.66240082e+01] [-1.31801439e-02 -1.32183045e-05 9.99913138e-01 -2.36405154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.01862385300001 meters 0.015494090795644351 Centerline is valid? [True, True] Translation: X:94.90, Y:-16.63, Z:-2.36 [[ 9.79498499e-01 2.01010629e-01 1.33198073e-02 9.48964602e+01] [-2.00992484e-01 9.79589060e-01 -2.70094578e-03 -1.66276944e+01] [-1.35908563e-02 -3.16088223e-05 9.99907640e-01 -2.36458479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04862385300001 meters 0.01666793845950525 Centerline is valid? [True, True] Translation: X:94.93, Y:-16.63, Z:-2.36 [[ 9.78849077e-01 2.04125695e-01 1.36815814e-02 9.49254544e+01] [-2.04106870e-01 9.78944684e-01 -2.77330797e-03 -1.66288933e+01] [-1.39596148e-02 -7.78548075e-05 9.99902557e-01 -2.36420591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.07862385300001 meters 0.017110194881939596 Centerline is valid? [True, True] Translation: X:94.95, Y:-16.63, Z:-2.36 [[ 9.78480372e-01 2.05894163e-01 1.35556683e-02 9.49544248e+01] [-2.05875860e-01 9.78574260e-01 -2.74717878e-03 -1.66329804e+01] [-1.38308562e-02 -1.02724364e-04 9.99904344e-01 -2.36348075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10862385300001 meters 0.020911182598258127 Centerline is valid? [True, True] Translation: X:94.98, Y:-16.63, Z:-2.37 [[ 9.77712957e-01 2.09487504e-01 1.38693720e-02 9.49832392e+01] [-2.09468714e-01 9.77811311e-01 -2.81017049e-03 -1.66296387e+01] [-1.41503244e-02 -1.57659427e-04 9.99899867e-01 -2.36628385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.13862385300001 meters 0.02270530652584966 Centerline is valid? [True, True] Translation: X:95.01, Y:-16.63, Z:-2.37 [[ 9.77285186e-01 2.11480620e-01 1.37700280e-02 9.50121014e+01] [-2.11462310e-01 9.77382173e-01 -2.78904805e-03 -1.66308448e+01] [-1.40484095e-02 -1.86146594e-04 9.99901299e-01 -2.36701532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16862385300001 meters 0.02146696958501982 Centerline is valid? [True, True] Translation: X:95.04, Y:-16.64, Z:-2.36 [[ 9.76840377e-01 2.13548840e-01 1.34078641e-02 9.50402543e+01] [-2.13531683e-01 9.76932366e-01 -2.71516841e-03 -1.66367723e+01] [-1.36783974e-02 -2.10717638e-04 9.99906424e-01 -2.36499706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.198623853 meters 0.027949986499610086 Centerline is valid? [True, True] Translation: X:95.07, Y:-16.63, Z:-2.37 [[ 9.76387588e-01 2.15653997e-01 1.26740392e-02 9.50693705e+01] [-2.15638849e-01 9.76469816e-01 -2.56612631e-03 -1.66318321e+01] [-1.29292121e-02 -2.27481338e-04 9.99916388e-01 -2.37103896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.228623853 meters 0.031498733552383244 Centerline is valid? [True, True] Translation: X:95.10, Y:-16.63, Z:-2.37 [[ 9.75652212e-01 2.18974131e-01 1.23729597e-02 9.50997616e+01] [-2.18959977e-01 9.75730628e-01 -2.50388500e-03 -1.66307054e+01] [-1.26209618e-02 -2.66262045e-04 9.99920317e-01 -2.37302275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.258623853 meters 0.03284848096779651 Centerline is valid? [True, True] Translation: X:95.13, Y:-16.63, Z:-2.37 [[ 9.75404642e-01 2.20080178e-01 1.22678232e-02 9.51283916e+01] [-2.20066349e-01 9.75481747e-01 -2.48275623e-03 -1.66321249e+01] [-1.25134430e-02 -2.78043105e-04 9.99921665e-01 -2.37325495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.288623853 meters 0.029507999814668513 Centerline is valid? [True, True] Translation: X:95.16, Y:-16.64, Z:-2.37 [[ 9.75082278e-01 2.21460512e-01 1.30304726e-02 9.51568563e+01] [-2.21445046e-01 9.75169289e-01 -2.63619315e-03 -1.66358858e+01] [-1.32907294e-02 -3.15028374e-04 9.99911625e-01 -2.36929521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.318623853 meters 0.03603399575932546 Centerline is valid? [True, True] Translation: X:95.19, Y:-16.63, Z:-2.37 [[ 9.75049185e-01 2.21585351e-01 1.33797655e-02 9.51857870e+01] [-2.21569052e-01 9.75140927e-01 -2.70709859e-03 -1.66300886e+01] [-1.36470104e-02 -3.24987701e-04 9.99906822e-01 -2.37340829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.348623853 meters 0.029944523036941686 Centerline is valid? [True, True] Translation: X:95.21, Y:-16.64, Z:-2.37 [[ 9.75112397e-01 2.21259198e-01 1.41485226e-02 9.52137061e+01] [-2.21240981e-01 9.75214977e-01 -2.85966225e-03 -1.66391230e+01] [-1.44305777e-02 -3.41740924e-04 9.99895815e-01 -2.36914427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.37862385300001 meters 0.03010607788364793 Centerline is valid? [True, True] Translation: X:95.24, Y:-16.64, Z:-2.37 [[ 9.75181054e-01 2.20936359e-01 1.44580874e-02 9.52418576e+01] [-2.20917310e-01 9.75288166e-01 -2.92161279e-03 -1.66413051e+01] [-1.47462920e-02 -3.44940326e-04 9.99891208e-01 -2.36942434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40862385300001 meters 0.03114300046014496 Centerline is valid? [True, True] Translation: X:95.27, Y:-16.64, Z:-2.37 [[ 9.75304469e-01 2.20381267e-01 1.46044539e-02 9.52700848e+01] [-2.20361782e-01 9.75413749e-01 -2.95027861e-03 -1.66422806e+01] [-1.48955713e-02 -3.40843563e-04 9.99888997e-01 -2.37071539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.43862385300001 meters 0.028364909996135907 Centerline is valid? [True, True] Translation: X:95.30, Y:-16.65, Z:-2.37 [[ 9.75718457e-01 2.18497653e-01 1.52403615e-02 9.52989532e+01] [-2.18476222e-01 9.75837419e-01 -3.07762064e-03 -1.66460446e+01] [-1.55445679e-02 -3.26765337e-04 9.99879123e-01 -2.36994111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46862385300001 meters 0.026956846112561418 Centerline is valid? [True, True] Translation: X:95.33, Y:-16.65, Z:-2.37 [[ 9.76018662e-01 2.17141946e-01 1.53930480e-02 9.53276127e+01] [-2.17119926e-01 9.76139990e-01 -3.10769884e-03 -1.66508409e+01] [-1.57005815e-02 -3.08965389e-04 9.99876691e-01 -2.37073813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.49862385300001 meters 0.023456640230388355 Centerline is valid? [True, True] Translation: X:95.36, Y:-16.66, Z:-2.37 [[ 9.76851300e-01 2.13374311e-01 1.52623902e-02 9.53563036e+01] [-2.13352218e-01 9.76970492e-01 -3.08036014e-03 -1.66566897e+01] [-1.55681746e-02 -2.47211006e-04 9.99878778e-01 -2.37162005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52862385300001 meters 0.02031695898772784 Centerline is valid? [True, True] Translation: X:95.38, Y:-16.67, Z:-2.37 [[ 9.77416940e-01 2.10748575e-01 1.55294666e-02 9.53843077e+01] [-2.10725373e-01 9.77540278e-01 -3.13411572e-03 -1.66652817e+01] [-1.58411895e-02 -2.09114857e-04 9.99874499e-01 -2.37142110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.558623853 meters 0.018366882994304553 Centerline is valid? [True, True] Translation: X:95.41, Y:-16.67, Z:-2.37 [[ 9.77996354e-01 2.08058913e-01 1.53173230e-02 9.54120634e+01] [-2.08036023e-01 9.78116282e-01 -3.09054005e-03 -1.66723743e+01] [-1.56251375e-02 -1.64018064e-04 9.99877907e-01 -2.37191774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.588623853 meters 0.015201929174534636 Centerline is valid? [True, True] Translation: X:95.44, Y:-16.68, Z:-2.37 [[ 9.79272557e-01 2.01974956e-01 1.52110273e-02 9.54385786e+01] [-2.01951658e-01 9.79390684e-01 -3.06844520e-03 -1.66807146e+01] [-1.55172875e-02 -6.70479970e-05 9.99879597e-01 -2.37281033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.618623853 meters 0.014446031803360727 Centerline is valid? [True, True] Translation: X:95.47, Y:-16.69, Z:-2.37 [[ 9.79921002e-01 1.98791569e-01 1.53864327e-02 9.54667426e+01] [-1.98767355e-01 9.80041791e-01 -3.10271974e-03 -1.66888335e+01] [-1.56961416e-02 -1.79002967e-05 9.99876808e-01 -2.37366260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.648623853 meters 0.015573677408293948 Centerline is valid? [True, True] Translation: X:95.49, Y:-16.70, Z:-2.37 [[ 9.81218324e-01 1.92284183e-01 1.54075558e-02 9.54929326e+01] [-1.92259110e-01 9.81339282e-01 -3.10631541e-03 -1.67006809e+01] [-1.57173351e-02 8.57306393e-05 9.99876471e-01 -2.37416193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.678623853 meters 0.017349756137358032 Centerline is valid? [True, True] Translation: X:95.52, Y:-16.71, Z:-2.37 [[ 9.81842142e-01 1.89043350e-01 1.57676805e-02 9.55196094e+01] [-1.89016689e-01 9.81968733e-01 -3.17789123e-03 -1.67097135e+01] [-1.60841284e-02 1.39832780e-04 9.99870632e-01 -2.37451498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.708623853 meters 0.019251565764515605 Centerline is valid? [True, True] Translation: X:95.55, Y:-16.72, Z:-2.37 [[ 9.82419525e-01 1.86011796e-01 1.58584197e-02 9.55474227e+01] [-1.85984450e-01 9.82547493e-01 -3.19507904e-03 -1.67185205e+01] [-1.61759730e-02 1.89488557e-04 9.99869142e-01 -2.37463120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.738623853 meters 0.02374157444508121 Centerline is valid? [True, True] Translation: X:95.57, Y:-16.73, Z:-2.38 [[ 9.83386263e-01 1.80884419e-01 1.52408611e-02 9.55737447e+01] [-1.80858556e-01 9.83504325e-01 -3.06995056e-03 -1.67306701e+01] [-1.55447591e-02 2.62507069e-04 9.99879138e-01 -2.37669278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76862385300001 meters 0.02596995983123353 Centerline is valid? [True, True] Translation: X:95.60, Y:-16.74, Z:-2.38 [[ 9.83790680e-01 1.78730030e-01 1.45421642e-02 9.56025494e+01] [-1.78706262e-01 9.83898113e-01 -2.92831013e-03 -1.67394321e+01] [-1.48313849e-02 2.82068404e-04 9.99889969e-01 -2.37885708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.79862385300001 meters 0.028754540516204467 Centerline is valid? [True, True] Translation: X:95.63, Y:-16.75, Z:-2.38 [[ 9.84285570e-01 1.76040767e-01 1.38407144e-02 9.56303537e+01] [-1.76018973e-01 9.84382829e-01 -2.78688468e-03 -1.67498151e+01] [-1.41151669e-02 3.06862041e-04 9.99900329e-01 -2.38132712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82862385300001 meters 0.029509952444903793 Centerline is valid? [True, True] Translation: X:95.66, Y:-16.76, Z:-2.38 [[ 9.84356020e-01 1.75653784e-01 1.37467541e-02 9.56582197e+01] [-1.75632255e-01 9.84451955e-01 -2.76746896e-03 -1.67564437e+01] [-1.40191354e-02 3.09801300e-04 9.99901679e-01 -2.38285553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.85862385300001 meters 0.03403394004674331 Centerline is valid? [True, True] Translation: X:95.69, Y:-16.76, Z:-2.38 [[ 9.84298384e-01 1.76043395e-01 1.28613451e-02 9.56868690e+01] [-1.76024587e-01 9.84382366e-01 -2.58895406e-03 -1.67607834e+01] [-1.31162495e-02 2.84390349e-04 9.99913938e-01 -2.37789576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88862385300001 meters 0.027115648122060063 Centerline is valid? [True, True] Translation: X:95.72, Y:-16.76, Z:-2.39 [[ 9.83868143e-01 1.78429492e-01 1.28993422e-02 9.57151501e+01] [-1.78410786e-01 9.83952668e-01 -2.59597263e-03 -1.67631482e+01] [-1.31555403e-02 2.52712985e-04 9.99913430e-01 -2.38504860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.91862385300001 meters 0.02561319702999681 Centerline is valid? [True, True] Translation: X:95.74, Y:-16.77, Z:-2.39 [[ 9.83489443e-01 1.80482491e-01 1.32130649e-02 9.57427308e+01] [-1.80463056e-01 9.83578170e-01 -2.65856948e-03 -1.67659020e+01] [-1.34759074e-02 2.30204946e-04 9.99909169e-01 -2.38530191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.948623853 meters 0.021884605275597394 Centerline is valid? [True, True] Translation: X:95.77, Y:-16.76, Z:-2.39 [[ 9.82599774e-01 1.85266717e-01 1.31881326e-02 9.57714590e+01] [-1.85247797e-01 9.82688260e-01 -2.65275751e-03 -1.67642762e+01] [-1.34512908e-02 1.63526429e-04 9.99909514e-01 -2.38696691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.978623853 meters 0.027729704538765974 Centerline is valid? [True, True] Translation: X:95.80, Y:-16.76, Z:-2.38 [[ 9.82108759e-01 1.87899809e-01 1.24919267e-02 9.58011678e+01] [-1.87883056e-01 9.82188194e-01 -2.51193238e-03 -1.67639650e+01] [-1.27414145e-02 1.19969437e-04 9.99918818e-01 -2.38086651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.008623853 meters 0.017216409499665245 Centerline is valid? [True, True] Translation: X:95.83, Y:-16.76, Z:-2.39 [[ 9.81617541e-01 1.90414316e-01 1.30150167e-02 9.58302375e+01] [-1.90396361e-01 9.81703815e-01 -2.61645190e-03 -1.67643836e+01] [-1.32751015e-02 9.03432597e-05 9.99911878e-01 -2.38760197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.038623853 meters 0.015281071233321397 Centerline is valid? [True, True] Translation: X:95.86, Y:-16.76, Z:-2.39 [[ 9.80640043e-01 1.95339356e-01 1.36982704e-02 9.58594297e+01] [-1.95319953e-01 9.80735711e-01 -2.75322633e-03 -1.67589015e+01] [-1.39721964e-02 2.43784557e-05 9.99902384e-01 -2.38807735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.068623853 meters 0.015176387851778 Centerline is valid? [True, True] Translation: X:95.89, Y:-16.76, Z:-2.39 [[ 9.80169813e-01 1.97695869e-01 1.35455166e-02 9.58882774e+01] [-1.97677131e-01 9.80263405e-01 -2.72186541e-03 -1.67587561e+01] [-1.38162758e-02 -9.74855426e-06 9.99904551e-01 -2.38840954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.098623853 meters 0.016602938626467625 Centerline is valid? [True, True] Translation: X:95.92, Y:-16.76, Z:-2.39 [[ 9.79366726e-01 2.01661777e-01 1.31660335e-02 9.59183564e+01] [-2.01644450e-01 9.79455218e-01 -2.64433455e-03 -1.67556978e+01] [-1.34288014e-02 -6.50843232e-05 9.99909827e-01 -2.39080726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12862385300001 meters 0.017834726426931305 Centerline is valid? [True, True] Translation: X:95.95, Y:-16.76, Z:-2.39 [[ 9.79043236e-01 2.03246785e-01 1.28485977e-02 9.59459358e+01] [-2.03230421e-01 9.79127539e-01 -2.58042620e-03 -1.67575696e+01] [-1.31048792e-02 -8.48771052e-05 9.99914124e-01 -2.39299937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.15862385300001 meters 0.018684639069169312 Centerline is valid? [True, True] Translation: X:95.98, Y:-16.76, Z:-2.39 [[ 9.78796225e-01 2.04452734e-01 1.25311135e-02 9.59753511e+01] [-2.04437279e-01 9.78876432e-01 -2.51582612e-03 -1.67595875e+01] [-1.27807792e-02 -9.93456328e-05 9.99918318e-01 -2.39409103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18862385300001 meters 0.019643229093723118 Centerline is valid? [True, True] Translation: X:96.00, Y:-16.76, Z:-2.39 [[ 9.78446242e-01 2.06140109e-01 1.22150173e-02 9.60045752e+01] [-2.06125543e-01 9.78522479e-01 -2.45332932e-03 -1.67596150e+01] [-1.24583986e-02 -1.17376207e-04 9.99922384e-01 -2.39390897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.21862385300001 meters 0.020149493903231036 Centerline is valid? [True, True] Translation: X:96.03, Y:-16.76, Z:-2.40 [[ 9.78506764e-01 2.05813817e-01 1.28524652e-02 9.60325946e+01] [-2.05797706e-01 9.78591160e-01 -2.57807469e-03 -1.67627149e+01] [-1.31079122e-02 -1.22344336e-04 9.99914080e-01 -2.39505266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24862385300001 meters 0.017119530470851695 Centerline is valid? [True, True] Translation: X:96.06, Y:-16.77, Z:-2.39 [[ 9.78918430e-01 2.03749420e-01 1.43136957e-02 9.60606142e+01] [-2.03729245e-01 9.79023065e-01 -2.86924276e-03 -1.67710178e+01] [-1.45980448e-02 -1.07363787e-04 9.99893437e-01 -2.39054241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.27862385300001 meters 0.01645280659325289 Centerline is valid? [True, True] Translation: X:96.09, Y:-16.78, Z:-2.39 [[ 9.79210061e-01 2.02335508e-01 1.44221593e-02 9.60876638e+01] [-2.02314881e-01 9.79316259e-01 -2.89038856e-03 -1.67775827e+01] [-1.47086833e-02 -8.75198766e-05 9.99891818e-01 -2.39107854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.308623853 meters 0.014792276553008066 Centerline is valid? [True, True] Translation: X:96.11, Y:-16.79, Z:-2.39 [[ 9.80049009e-01 1.98196864e-01 1.48977867e-02 9.61145531e+01] [-1.98174392e-01 9.80162233e-01 -2.98464034e-03 -1.67890921e+01] [-1.51937942e-02 -2.72660095e-05 9.99884567e-01 -2.39067562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.338623853 meters 0.014581773585559404 Centerline is valid? [True, True] Translation: X:96.14, Y:-16.80, Z:-2.39 [[ 9.80555270e-01 1.95670488e-01 1.49807514e-02 9.61413530e+01] [-1.95647478e-01 9.80669700e-01 -3.00075011e-03 -1.67978922e+01] [-1.52783272e-02 1.14551131e-05 9.99883279e-01 -2.39070348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.368623853 meters 0.01583537793185168 Centerline is valid? [True, True] Translation: X:96.17, Y:-16.81, Z:-2.39 [[ 9.81512141e-01 1.90780221e-01 1.53891216e-02 9.61670891e+01] [-1.90755354e-01 9.81632772e-01 -3.08144884e-03 -1.68101987e+01] [-1.56943456e-02 8.89220997e-05 9.99876832e-01 -2.39098301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.398623853 meters 0.01836892134896059 Centerline is valid? [True, True] Translation: X:96.19, Y:-16.82, Z:-2.39 [[ 9.81960036e-01 1.88445207e-01 1.55849783e-02 9.61926574e+01] [-1.88419431e-01 9.82083697e-01 -3.11928429e-03 -1.68219127e+01] [-1.58935673e-02 1.26499768e-04 9.99873681e-01 -2.39378034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.428623853 meters 0.018019376241507856 Centerline is valid? [True, True] Translation: X:96.22, Y:-16.83, Z:-2.39 [[ 9.82413605e-01 1.86049154e-01 1.57867477e-02 9.62211650e+01] [-1.86022419e-01 9.82540424e-01 -3.15832356e-03 -1.68289646e+01] [-1.60987212e-02 1.66091031e-04 9.99870393e-01 -2.39148844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.458623853 meters 0.02102427152546916 Centerline is valid? [True, True] Translation: X:96.25, Y:-16.84, Z:-2.39 [[ 9.83088559e-01 1.82514138e-01 1.50158241e-02 9.62466023e+01] [-1.82489545e-01 9.83203206e-01 -3.00362703e-03 -1.68417851e+01] [-1.53118108e-02 2.12600469e-04 9.99882745e-01 -2.39321346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.488623853 meters 0.022836411024730364 Centerline is valid? [True, True] Translation: X:96.27, Y:-16.85, Z:-2.39 [[ 9.83386275e-01 1.80910047e-01 1.49328037e-02 9.62730416e+01] [-1.80885558e-01 9.83499619e-01 -2.98582860e-03 -1.68502902e+01] [-1.52265732e-02 2.35094318e-04 9.99884041e-01 -2.39448559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.51862385300001 meters 0.022743537702044857 Centerline is valid? [True, True] Translation: X:96.30, Y:-16.86, Z:-2.39 [[ 9.83588487e-01 1.79805550e-01 1.49549943e-02 9.63009075e+01] [-1.79780877e-01 9.83702140e-01 -2.98923478e-03 -1.68565366e+01] [-1.52487409e-02 2.51554939e-04 9.99883700e-01 -2.39444841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54862385300001 meters 0.024625897700809207 Centerline is valid? [True, True] Translation: X:96.33, Y:-16.87, Z:-2.40 [[ 9.83802933e-01 1.78679776e-01 1.43292044e-02 9.63265859e+01] [-1.78657014e-01 9.83907247e-01 -2.86355713e-03 -1.68674004e+01] [-1.46102678e-02 2.57163033e-04 9.99893231e-01 -2.39710566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.57862385300001 meters 0.02465489595863056 Centerline is valid? [True, True] Translation: X:96.35, Y:-16.87, Z:-2.40 [[ 9.83780317e-01 1.78832746e-01 1.39691254e-02 9.63544498e+01] [-1.78811141e-01 9.83879458e-01 -2.79074674e-03 -1.68743597e+01] [-1.42430124e-02 2.47646463e-04 9.99898532e-01 -2.39791575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60862385300001 meters 0.023454786660836544 Centerline is valid? [True, True] Translation: X:96.38, Y:-16.88, Z:-2.40 [[ 9.83508771e-01 1.80319731e-01 1.39746595e-02 9.63813907e+01] [-1.80298267e-01 9.83608023e-01 -2.79130515e-03 -1.68807033e+01] [-1.42489146e-02 2.25666204e-04 9.99898454e-01 -2.39873930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.63862385300001 meters 0.020890366944594625 Centerline is valid? [True, True] Translation: X:96.41, Y:-16.88, Z:-2.40 [[ 9.83186268e-01 1.82081240e-01 1.38269135e-02 9.64100662e+01] [-1.82060414e-01 9.83283470e-01 -2.76086815e-03 -1.68837106e+01] [-1.40984778e-02 1.97114051e-04 9.99900592e-01 -2.39829344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66862385300001 meters 0.028427567968754154 Centerline is valid? [True, True] Translation: X:96.44, Y:-16.89, Z:-2.39 [[ 9.82777626e-01 1.84315724e-01 1.32609023e-02 9.64374114e+01] [-1.84296778e-01 9.82867076e-01 -2.64737789e-03 -1.68881917e+01] [-1.35216576e-02 1.57842191e-04 9.99908566e-01 -2.39450944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.698623853 meters 0.016436485816051852 Centerline is valid? [True, True] Translation: X:96.47, Y:-16.88, Z:-2.40 [[ 9.81644351e-01 1.90248991e-01 1.34048238e-02 9.64668709e+01] [-1.90230198e-01 9.81735869e-01 -2.67509460e-03 -1.68848318e+01] [-1.36689304e-02 7.59892231e-05 9.99906573e-01 -2.40183067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.728623853 meters 0.015344615646575086 Centerline is valid? [True, True] Translation: X:96.50, Y:-16.89, Z:-2.40 [[ 9.81026889e-01 1.93395517e-01 1.35800624e-02 9.64959909e+01] [-1.93376539e-01 9.81120876e-01 -2.70940187e-03 -1.68853503e+01] [-1.38476689e-02 3.19306177e-05 9.99904116e-01 -2.40248754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.758623853 meters 0.015344615646575086 Centerline is valid? [True, True] Translation: X:96.52, Y:-16.89, Z:-2.40 [[ 9.81040160e-01 1.93328176e-01 1.35801353e-02 9.65229735e+01] [-1.93309197e-01 9.81134147e-01 -2.70903631e-03 -1.68905909e+01] [-1.38476676e-02 3.25083545e-05 9.99904116e-01 -2.40317903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.788623853 meters 0.015668731336647677 Centerline is valid? [True, True] Translation: X:96.55, Y:-16.89, Z:-2.40 [[ 9.79803514e-01 1.99456882e-01 1.42135604e-02 9.65526957e+01] [-1.99436751e-01 9.79906602e-01 -2.83431207e-03 -1.68863817e+01] [-1.44932847e-02 -5.76373850e-05 9.99894965e-01 -2.40227785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.818623853 meters 0.01691776292171818 Centerline is valid? [True, True] Translation: X:96.58, Y:-16.89, Z:-2.40 [[ 9.79247225e-01 2.02170971e-01 1.42046239e-02 9.65814750e+01] [-2.02151167e-01 9.79350238e-01 -2.83137744e-03 -1.68870233e+01] [-1.44837241e-02 -9.88628019e-05 9.99895100e-01 -2.40224889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.848623853 meters 0.01880419897296076 Centerline is valid? [True, True] Translation: X:96.61, Y:-16.89, Z:-2.40 [[ 9.78761648e-01 2.04485016e-01 1.45435632e-02 9.66095819e+01] [-2.04464525e-01 9.78869685e-01 -2.89800915e-03 -1.68871419e+01] [-1.48288525e-02 -1.37182526e-04 9.99890037e-01 -2.40376526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.87862385300001 meters 0.021275913236120138 Centerline is valid? [True, True] Translation: X:96.64, Y:-16.89, Z:-2.40 [[ 9.77927631e-01 2.08444516e-01 1.44371833e-02 9.66393178e+01] [-2.08424770e-01 9.78034174e-01 -2.87583275e-03 -1.68853892e+01] [-1.47195102e-02 -1.96710289e-04 9.99891643e-01 -2.40291356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90862385300001 meters 0.021753369837674053 Centerline is valid? [True, True] Translation: X:96.67, Y:-16.89, Z:-2.40 [[ 9.77604773e-01 2.09948227e-01 1.45137564e-02 9.66680682e+01] [-2.09928446e-01 9.77712480e-01 -2.89037971e-03 -1.68882759e+01] [-1.47971109e-02 -2.21201337e-04 9.99890492e-01 -2.40264251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.93862385300001 meters 0.024303108350975714 Centerline is valid? [True, True] Translation: X:96.70, Y:-16.89, Z:-2.40 [[ 9.77275198e-01 2.11437909e-01 1.50730676e-02 9.66967482e+01] [-2.11416763e-01 9.77391399e-01 -3.00106601e-03 -1.68864946e+01] [-1.53668258e-02 -2.53831779e-04 9.99881891e-01 -2.40410206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96862385300001 meters 0.023340035040977213 Centerline is valid? [True, True] Translation: X:96.72, Y:-16.89, Z:-2.40 [[ 9.77206226e-01 2.11717892e-01 1.56053249e-02 9.67240652e+01] [-2.11695276e-01 9.77330784e-01 -3.10611031e-03 -1.68920905e+01] [-1.59091836e-02 -2.68263238e-04 9.99873405e-01 -2.40245432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.99862385300001 meters 0.03328138037416734 Centerline is valid? [True, True] Translation: X:96.75, Y:-16.89, Z:-2.40 [[ 9.77199804e-01 2.11773585e-01 1.52476866e-02 9.67521975e+01] [-2.11752020e-01 9.77318719e-01 -3.03369171e-03 -1.68934002e+01] [-1.55443053e-02 -2.64205474e-04 9.99879145e-01 -2.39843884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02862385300001 meters 0.024348608255080846 Centerline is valid? [True, True] Translation: X:96.78, Y:-16.90, Z:-2.41 [[ 9.77353980e-01 2.11085032e-01 1.49099582e-02 9.67811856e+01] [-2.11064348e-01 9.77467671e-01 -2.96545318e-03 -1.68966563e+01] [-1.51999649e-02 -2.48663137e-04 9.99884443e-01 -2.40670487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.058623853 meters 0.022091361886068767 Centerline is valid? [True, True] Translation: X:96.81, Y:-16.90, Z:-2.41 [[ 9.77548710e-01 2.10204261e-01 1.45838572e-02 9.68091351e+01] [-2.10184382e-01 9.77657463e-01 -2.89994159e-03 -1.69043097e+01] [-1.48675969e-02 -2.30464860e-04 9.99889445e-01 -2.40674572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.088623853 meters 0.020923907954289247 Centerline is valid? [True, True] Translation: X:96.84, Y:-16.91, Z:-2.41 [[ 9.78012341e-01 2.08066574e-01 1.41478420e-02 9.68366549e+01] [-2.08047651e-01 9.78114648e-01 -2.81268834e-03 -1.69089736e+01] [-1.44234379e-02 -1.92581387e-04 9.99895958e-01 -2.40925800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.118623853 meters 0.02427699997344439 Centerline is valid? [True, True] Translation: X:96.87, Y:-16.91, Z:-2.41 [[ 9.78294433e-01 2.06765567e-01 1.37113857e-02 9.68654079e+01] [-2.06747680e-01 9.78390501e-01 -2.72495458e-03 -1.69148409e+01] [-1.39785163e-02 -1.68989281e-04 9.99902281e-01 -2.40543120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.148623853 meters 0.018999278142476903 Centerline is valid? [True, True] Translation: X:96.89, Y:-16.92, Z:-2.41 [[ 9.78595809e-01 2.05307307e-01 1.41121590e-02 9.68932713e+01] [-2.05288217e-01 9.78697546e-01 -2.80384637e-03 -1.69201136e+01] [-1.43871856e-02 -1.53227665e-04 9.99896487e-01 -2.41098520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.178623853 meters 0.017289494675811805 Centerline is valid? [True, True] Translation: X:96.92, Y:-16.93, Z:-2.41 [[ 9.79183950e-01 2.02476187e-01 1.42192232e-02 9.69201825e+01] [-2.02456512e-01 9.79287180e-01 -2.82483712e-03 -1.69273198e+01] [-1.44966653e-02 -1.12739168e-04 9.99894911e-01 -2.41181348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.208623853 meters 0.016545752358389332 Centerline is valid? [True, True] Translation: X:96.95, Y:-16.93, Z:-2.41 [[ 9.79489964e-01 2.00981643e-01 1.43453478e-02 9.69475065e+01] [-2.00961478e-01 9.79595003e-01 -2.84852702e-03 -1.69335060e+01] [-1.46251326e-02 -9.27586524e-05 9.99893043e-01 -2.41209799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.238623853 meters 0.023909566663343537 Centerline is valid? [True, True] Translation: X:96.98, Y:-16.94, Z:-2.41 [[ 9.80010026e-01 1.98407913e-01 1.46509107e-02 9.69757868e+01] [-1.98386618e-01 9.80119532e-01 -2.90739418e-03 -1.69404735e+01] [-1.49364938e-02 -5.72691809e-05 9.99888443e-01 -2.40553691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26862385300001 meters 0.014746282379189053 Centerline is valid? [True, True] Translation: X:97.00, Y:-16.95, Z:-2.41 [[ 9.80274668e-01 1.97049030e-01 1.52726937e-02 9.70026803e+01] [-1.97025735e-01 9.80393634e-01 -3.03009736e-03 -1.69464910e+01] [-1.55703294e-02 -3.87860152e-05 9.99878774e-01 -2.41107116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.29862385300001 meters 0.014039213171718056 Centerline is valid? [True, True] Translation: X:97.03, Y:-16.95, Z:-2.41 [[ 9.80659443e-01 1.95027943e-01 1.64668993e-02 9.70306683e+01] [-1.95000597e-01 9.80797686e-01 -3.26580428e-03 -1.69527038e+01] [-1.67876198e-02 -8.41340317e-06 9.99859078e-01 -2.40911376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32862385300001 meters 0.014328154772004238 Centerline is valid? [True, True] Translation: X:97.06, Y:-16.96, Z:-2.41 [[ 9.80750113e-01 1.94528221e-01 1.69702072e-02 9.70586158e+01] [-1.94499119e-01 9.80896922e-01 -3.36473456e-03 -1.69570333e+01] [-1.73005598e-02 -7.26552120e-07 9.99850334e-01 -2.41193176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.35862385300001 meters 0.02294073369248086 Centerline is valid? [True, True] Translation: X:97.09, Y:-16.96, Z:-2.40 [[ 9.80763062e-01 1.94481982e-01 1.67503618e-02 9.70863041e+01] [-1.94453634e-01 9.80906091e-01 -3.32051244e-03 -1.69606662e+01] [-1.70763118e-02 -5.32779265e-07 9.99854189e-01 -2.40384800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38862385300001 meters 0.013938404898902147 Centerline is valid? [True, True] Translation: X:97.11, Y:-16.96, Z:-2.41 [[ 9.80628011e-01 1.95155953e-01 1.68183878e-02 9.71145694e+01] [-1.95127494e-01 9.80772223e-01 -3.33276338e-03 -1.69614926e+01] [-1.71454163e-02 -1.35287528e-05 9.99853006e-01 -2.41036937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.41862385300001 meters 0.014165080803777019 Centerline is valid? [True, True] Translation: X:97.14, Y:-16.96, Z:-2.41 [[ 9.80466255e-01 1.95988165e-01 1.65699403e-02 9.71423722e+01] [-1.95960681e-01 9.80606261e-01 -3.28224077e-03 -1.69632611e+01] [-1.68918675e-02 -2.89304568e-05 9.99857322e-01 -2.41139994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.448623853 meters 0.015284042674372035 Centerline is valid? [True, True] Translation: X:97.17, Y:-16.96, Z:-2.41 [[ 9.80039132e-01 1.98221158e-01 1.52208152e-02 9.71711660e+01] [-1.98198249e-01 9.80157318e-01 -3.01419381e-03 -1.69588580e+01] [-1.55162704e-02 -6.27110339e-05 9.99879613e-01 -2.41493519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.478623853 meters 0.01581107256342202 Centerline is valid? [True, True] Translation: X:97.20, Y:-16.96, Z:-2.42 [[ 9.79802646e-01 1.99432627e-01 1.46083100e-02 9.72001326e+01] [-1.99411655e-01 9.79911537e-01 -2.89319168e-03 -1.69602501e+01] [-1.48918483e-02 -7.83104123e-05 9.99889107e-01 -2.41630087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.508623853 meters 0.016781637070677435 Centerline is valid? [True, True] Translation: X:97.23, Y:-16.96, Z:-2.42 [[ 9.79442598e-01 2.01227455e-01 1.41318068e-02 9.72299618e+01] [-2.01208048e-01 9.79544537e-01 -2.79656437e-03 -1.69591653e+01] [-1.44054797e-02 -1.04358989e-04 9.99896230e-01 -2.41782432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.538623853 meters 0.017601204882670366 Centerline is valid? [True, True] Translation: X:97.26, Y:-16.96, Z:-2.42 [[ 9.79428036e-01 2.01284788e-01 1.43233068e-02 9.72567911e+01] [-2.01264901e-01 9.79532757e-01 -2.83151100e-03 -1.69607406e+01] [-1.46000882e-02 -1.09517654e-04 9.99893407e-01 -2.41966426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.568623853 meters 0.016748058671856268 Centerline is valid? [True, True] Translation: X:97.28, Y:-16.97, Z:-2.42 [[ 9.79523975e-01 2.00820083e-01 1.42855273e-02 9.72845939e+01] [-2.00800270e-01 9.79628135e-01 -2.82276899e-03 -1.69651474e+01] [-1.45613732e-02 -1.03567843e-04 9.99893972e-01 -2.41903237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.598623853 meters 0.015577005066390693 Centerline is valid? [True, True] Translation: X:97.31, Y:-16.97, Z:-2.42 [[ 9.80018269e-01 1.98373684e-01 1.45627822e-02 9.73126972e+01] [-1.98352889e-01 9.80126459e-01 -2.87320484e-03 -1.69677336e+01] [-1.48433364e-02 -7.27766808e-05 9.99889829e-01 -2.41990368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62862385300001 meters 0.014882811339153403 Centerline is valid? [True, True] Translation: X:97.34, Y:-16.97, Z:-2.42 [[ 9.80372923e-01 1.96586784e-01 1.49187396e-02 9.73400158e+01] [-1.96564768e-01 9.80486427e-01 -2.94247067e-03 -1.69727254e+01] [-1.52060725e-02 -4.77800065e-05 9.99884380e-01 -2.42029075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.65862385300001 meters 0.014131567139866616 Centerline is valid? [True, True] Translation: X:97.37, Y:-16.98, Z:-2.42 [[ 9.80920680e-01 1.93820877e-01 1.51025392e-02 9.73675642e+01] [-1.93797980e-01 9.81036935e-01 -2.97915253e-03 -1.69790702e+01] [-1.53935707e-02 -4.52925920e-06 9.99881512e-01 -2.41878248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68862385300001 meters 0.015009543125080167 Centerline is valid? [True, True] Translation: X:97.39, Y:-16.99, Z:-2.42 [[ 9.81966062e-01 1.88374020e-01 1.60587148e-02 9.73938403e+01] [-1.88347480e-01 9.82097359e-01 -3.16303116e-03 -1.69889677e+01] [-1.63670543e-02 8.13707943e-05 9.99866047e-01 -2.41874043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.71862385300001 meters 0.016375326663234623 Centerline is valid? [True, True] Translation: X:97.42, Y:-17.00, Z:-2.42 [[ 9.82553016e-01 1.85306233e-01 1.58483878e-02 9.74218380e+01] [-1.85280002e-01 9.82680815e-01 -3.12052292e-03 -1.69973202e+01] [-1.61521590e-02 1.29689883e-04 9.99869537e-01 -2.41901360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74862385300001 meters 0.021286458117798064 Centerline is valid? [True, True] Translation: X:97.45, Y:-17.01, Z:-2.42 [[ 9.83779514e-01 1.78736948e-01 1.51977457e-02 9.74482607e+01] [-1.78712055e-01 9.83896871e-01 -2.99159064e-03 -1.70115561e+01] [-1.54877222e-02 2.27045232e-04 9.99880032e-01 -2.42143470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.77862385300001 meters 0.023371682791953247 Centerline is valid? [True, True] Translation: X:97.48, Y:-17.02, Z:-2.42 [[ 9.84366109e-01 1.75520067e-01 1.46993053e-02 9.74770094e+01] [-1.75496431e-01 9.84475817e-01 -2.89284342e-03 -1.70202809e+01] [-1.49788627e-02 2.67941409e-04 9.99887775e-01 -2.42255277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.808623853 meters 0.030610503705327814 Centerline is valid? [True, True] Translation: X:97.50, Y:-17.03, Z:-2.42 [[ 9.85321763e-01 1.70146255e-01 1.38302288e-02 9.75041841e+01] [-1.70124806e-01 9.85418766e-01 -2.72149838e-03 -1.70324518e+01] [-1.40916198e-02 3.28686583e-04 9.99900654e-01 -2.42121369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.838623853 meters 0.030931311089416103 Centerline is valid? [True, True] Translation: X:97.53, Y:-17.04, Z:-2.42 [[ 9.85726132e-01 1.67780904e-01 1.39126199e-02 9.75328357e+01] [-1.67758968e-01 9.85824242e-01 -2.73735771e-03 -1.70406928e+01] [-1.41746743e-02 3.64318276e-04 9.99899468e-01 -2.42483111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.868623853 meters 0.03167512029808225 Centerline is valid? [True, True] Translation: X:97.56, Y:-17.05, Z:-2.42 [[ 9.86122932e-01 1.65442166e-01 1.38004929e-02 9.75619619e+01] [-1.65420358e-01 9.86219415e-01 -2.71497147e-03 -1.70481555e+01] [-1.40594848e-02 3.94413146e-04 9.99901083e-01 -2.42481878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.898623853 meters 0.035523547944276555 Centerline is valid? [True, True] Translation: X:97.59, Y:-17.06, Z:-2.42 [[ 9.86764967e-01 1.61527776e-01 1.42715594e-02 9.75904420e+01] [-1.61504054e-01 9.86868057e-01 -2.80700788e-03 -1.70612944e+01] [-1.45375558e-02 4.64942348e-04 9.99894216e-01 -2.42475362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.928623853 meters 0.036570691624105894 Centerline is valid? [True, True] Translation: X:97.62, Y:-17.07, Z:-2.42 [[ 9.87015923e-01 1.59936126e-01 1.48325257e-02 9.76179884e+01] [-1.59910313e-01 9.87127235e-01 -2.91795463e-03 -1.70685650e+01] [-1.51082765e-02 5.08193850e-04 9.99885734e-01 -2.42435571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.958623853 meters 0.040609957252492286 Centerline is valid? [True, True] Translation: X:97.64, Y:-17.08, Z:-2.42 [[ 9.87225424e-01 1.58502539e-01 1.62144205e-02 9.76442336e+01] [-1.58471516e-01 9.87358400e-01 -3.18874610e-03 -1.70810252e+01] [-1.65148686e-02 5.78487418e-04 9.99863453e-01 -2.42303944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.988623853 meters 0.04343577231925707 Centerline is valid? [True, True] Translation: X:97.67, Y:-17.09, Z:-2.42 [[ 9.87212789e-01 1.58569357e-01 1.63299570e-02 9.76705977e+01] [-1.58537921e-01 9.87347670e-01 -3.21015701e-03 -1.70911563e+01] [-1.66323776e-02 5.80190609e-04 9.99861504e-01 -2.42425600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.01862385300001 meters 0.04512117328142033 Centerline is valid? [True, True] Translation: X:97.70, Y:-17.10, Z:-2.42 [[ 9.87136669e-01 1.59061011e-01 1.61490563e-02 9.76990997e+01] [-1.59030351e-01 9.87268594e-01 -3.17353541e-03 -1.70968376e+01] [-1.64482419e-02 5.64523070e-04 9.99864559e-01 -2.42065298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04862385300001 meters 0.03640581495734881 Centerline is valid? [True, True] Translation: X:97.73, Y:-17.10, Z:-2.43 [[ 9.86753137e-01 1.61471196e-01 1.56620203e-02 9.77287997e+01] [-1.61442671e-01 9.86877295e-01 -3.07715764e-03 -1.70955533e+01] [-1.59533645e-02 5.07876561e-04 9.99872608e-01 -2.42561266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.07862385300001 meters 0.03502398367645791 Centerline is valid? [True, True] Translation: X:97.76, Y:-17.10, Z:-2.43 [[ 9.86489062e-01 1.63132974e-01 1.50653270e-02 9.77576688e+01] [-1.63106787e-01 9.86603983e-01 -2.95913339e-03 -1.71000906e+01] [-1.53462439e-02 4.61895640e-04 9.99882133e-01 -2.42774266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10862385300001 meters 0.031999748253111915 Centerline is valid? [True, True] Translation: X:97.79, Y:-17.10, Z:-2.43 [[ 9.85855323e-01 1.67027454e-01 1.38242855e-02 9.77864953e+01] [-1.67005794e-01 9.85952177e-01 -2.71480736e-03 -1.71029815e+01] [-1.40835318e-02 3.67671505e-04 9.99900755e-01 -2.43126802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.13862385300001 meters 0.030044464356525667 Centerline is valid? [True, True] Translation: X:97.81, Y:-17.11, Z:-2.43 [[ 9.85473921e-01 1.69326068e-01 1.30320531e-02 9.78149607e+01] [-1.69307021e-01 9.85560035e-01 -2.55922661e-03 -1.71066966e+01] [-1.32772144e-02 3.15633008e-04 9.99911804e-01 -2.43372769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16862385300001 meters 0.02811677211930437 Centerline is valid? [True, True] Translation: X:97.84, Y:-17.11, Z:-2.44 [[ 9.85068515e-01 1.71694744e-01 1.26859983e-02 9.78439649e+01] [-1.71676899e-01 9.85150161e-01 -2.49069290e-03 -1.71098055e+01] [-1.29252521e-02 2.75610311e-04 9.99916427e-01 -2.43513980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.198623853 meters 0.023709915016668748 Centerline is valid? [True, True] Translation: X:97.87, Y:-17.11, Z:-2.44 [[ 9.84179017e-01 1.76706158e-01 1.29072213e-02 9.78735881e+01] [-1.76688127e-01 9.84263628e-01 -2.53320726e-03 -1.71092869e+01] [-1.31517418e-02 2.12576673e-04 9.99913490e-01 -2.43568121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.228623853 meters 0.021315428599004538 Centerline is valid? [True, True] Translation: X:97.90, Y:-17.11, Z:-2.44 [[ 9.83714637e-01 1.79230212e-01 1.34923840e-02 9.79027760e+01] [-1.79210747e-01 9.83807144e-01 -2.64797029e-03 -1.71117245e+01] [-1.37485000e-02 1.86866914e-04 9.99905467e-01 -2.43579205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.258623853 meters 0.017702361870088622 Centerline is valid? [True, True] Translation: X:97.93, Y:-17.11, Z:-2.44 [[ 9.82823733e-01 1.84021933e-01 1.39081872e-02 9.79313802e+01] [-1.84001740e-01 9.82922130e-01 -2.72887352e-03 -1.71125964e+01] [-1.41728375e-02 1.22871017e-04 9.99899553e-01 -2.43609651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.288623853 meters 0.016319319129653953 Centerline is valid? [True, True] Translation: X:97.96, Y:-17.12, Z:-2.44 [[ 9.82420051e-01 1.86157640e-01 1.40063171e-02 9.79602745e+01] [-1.86137387e-01 9.82519885e-01 -2.74745532e-03 -1.71155661e+01] [-1.42729449e-02 9.20559186e-05 9.99898132e-01 -2.43659994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.318623853 meters 0.015294067721085363 Centerline is valid? [True, True] Translation: X:97.99, Y:-17.12, Z:-2.44 [[ 9.82021734e-01 1.88228757e-01 1.42565610e-02 9.79887925e+01] [-1.88208003e-01 9.82125211e-01 -2.79584368e-03 -1.71187213e+01] [-1.45279862e-02 6.23803788e-05 9.99894461e-01 -2.43693097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.348623853 meters 0.01620173737263209 Centerline is valid? [True, True] Translation: X:98.02, Y:-17.12, Z:-2.43 [[ 9.81218852e-01 1.92288401e-01 1.53210716e-02 9.80171677e+01] [-1.92264932e-01 9.81338459e-01 -3.00417255e-03 -1.71191821e+01] [-1.56128244e-02 2.04593692e-06 9.99878112e-01 -2.43363553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.37862385300001 meters 0.014347127805978367 Centerline is valid? [True, True] Translation: X:98.04, Y:-17.12, Z:-2.44 [[ 9.80876840e-01 1.94018558e-01 1.54085799e-02 9.80448677e+01] [-1.93995057e-01 9.80997859e-01 -3.01982331e-03 -1.71225427e+01] [-1.57016857e-02 -2.71135941e-05 9.99876721e-01 -2.43603227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40862385300001 meters 0.015756498979589615 Centerline is valid? [True, True] Translation: X:98.07, Y:-17.12, Z:-2.44 [[ 9.80299273e-01 1.96947246e-01 1.50039013e-02 9.80727014e+01] [-1.96925324e-01 9.80414084e-01 -2.93937647e-03 -1.71241429e+01] [-1.52889382e-02 -7.31795121e-05 9.99883115e-01 -2.43862544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.43862385300001 meters 0.015569790964515533 Centerline is valid? [True, True] Translation: X:98.10, Y:-17.13, Z:-2.44 [[ 9.80010717e-01 1.98371769e-01 1.50875969e-02 9.81013536e+01] [-1.98349785e-01 9.80126845e-01 -2.95479765e-03 -1.71292801e+01] [-1.53739072e-02 -9.68882378e-05 9.99881810e-01 -2.43692860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46862385300001 meters 0.01766045065778014 Centerline is valid? [True, True] Translation: X:98.13, Y:-17.13, Z:-2.44 [[ 9.79559500e-01 2.00635980e-01 1.44356646e-02 9.81298250e+01] [-2.00616109e-01 9.79665855e-01 -2.82656879e-03 -1.71302110e+01] [-1.47092391e-02 -1.27234563e-04 9.99891805e-01 -2.44008408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.49862385300001 meters 0.019880196069625204 Centerline is valid? [True, True] Translation: X:98.16, Y:-17.13, Z:-2.44 [[ 9.79324701e-01 2.01815632e-01 1.39133584e-02 9.81578957e+01] [-2.01797300e-01 9.79423520e-01 -2.72375833e-03 -1.71319270e+01] [-1.41767674e-02 -1.40234342e-04 9.99899495e-01 -2.44352888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52862385300001 meters 0.019156527985233998 Centerline is valid? [True, True] Translation: X:98.19, Y:-17.14, Z:-2.44 [[ 9.79136538e-01 2.02738177e-01 1.37430403e-02 9.81864510e+01] [-2.02720386e-01 9.79232969e-01 -2.69011708e-03 -1.71379938e+01] [-1.40030276e-02 -1.52002513e-04 9.99901941e-01 -2.44234942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.558623853 meters 0.022527349145376893 Centerline is valid? [True, True] Translation: X:98.22, Y:-17.14, Z:-2.44 [[ 9.78772845e-01 2.04467322e-01 1.40296553e-02 9.82152888e+01] [-2.04449012e-01 9.78873373e-01 -2.74249803e-03 -1.71372915e+01] [-1.42940072e-02 -1.84066558e-04 9.99897819e-01 -2.44488440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.588623853 meters 0.0235238653251808 Centerline is valid? [True, True] Translation: X:98.24, Y:-17.14, Z:-2.45 [[ 9.78699245e-01 2.04787280e-01 1.44899033e-02 9.82427098e+01] [-2.04767780e-01 9.78806483e-01 -2.83276158e-03 -1.71396146e+01] [-1.47629248e-02 -1.94643700e-04 9.99891003e-01 -2.44540270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.618623853 meters 0.023570041019151434 Centerline is valid? [True, True] Translation: X:98.27, Y:-17.14, Z:-2.45 [[ 9.78676759e-01 2.04892383e-01 1.45228190e-02 9.82705701e+01] [-2.04872844e-01 9.78784487e-01 -2.83652632e-03 -1.71432547e+01] [-1.47958926e-02 -1.99288843e-04 9.99890515e-01 -2.44589088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.648623853 meters 0.02074977793629947 Centerline is valid? [True, True] Translation: X:98.30, Y:-17.15, Z:-2.45 [[ 9.78872163e-01 2.03992277e-01 1.40157265e-02 9.82968127e+01] [-2.03974019e-01 9.78972481e-01 -2.73523152e-03 -1.71523939e+01] [-1.42789767e-02 -1.81402077e-04 9.99898034e-01 -2.44511709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.678623853 meters 0.02074977793629947 Centerline is valid? [True, True] Translation: X:98.32, Y:-17.16, Z:-2.45 [[ 9.78911044e-01 2.03805575e-01 1.40162456e-02 9.83238038e+01] [-2.03787336e-01 9.79011366e-01 -2.73256815e-03 -1.71574574e+01] [-1.42789763e-02 -1.81392202e-04 9.99898034e-01 -2.44580837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.708623853 meters 0.02017186247310232 Centerline is valid? [True, True] Translation: X:98.35, Y:-17.16, Z:-2.45 [[ 9.79101372e-01 2.02905743e-01 1.37754551e-02 9.83509773e+01] [-2.02888074e-01 9.79198259e-01 -2.68298498e-03 -1.71632095e+01] [-1.40332947e-02 -1.67961274e-04 9.99901514e-01 -2.44694801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.738623853 meters 0.020326307621902896 Centerline is valid? [True, True] Translation: X:98.38, Y:-17.17, Z:-2.45 [[ 9.79591449e-01 2.00495817e-01 1.42133973e-02 9.83786186e+01] [-2.00476816e-01 9.79694548e-01 -2.76387677e-03 -1.71668856e+01] [-1.44789336e-02 -1.41986589e-04 9.99895165e-01 -2.44940884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76862385300001 meters 0.01885801619483119 Centerline is valid? [True, True] Translation: X:98.41, Y:-17.17, Z:-2.45 [[ 9.79915704e-01 1.98860123e-01 1.48277941e-02 9.84066943e+01] [-1.98839258e-01 9.80027875e-01 -2.88330050e-03 -1.71739716e+01] [-1.51050250e-02 -1.22956127e-04 9.99885905e-01 -2.44891111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.79862385300001 meters 0.015169100790941388 Centerline is valid? [True, True] Translation: X:98.43, Y:-17.19, Z:-2.44 [[ 9.80617213e-01 1.95251493e-01 1.63320384e-02 9.84342062e+01] [-1.95225725e-01 9.80753205e-01 -3.17297804e-03 -1.71857938e+01] [-1.66372277e-02 -7.69571502e-05 9.99861589e-01 -2.44441155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82862385300001 meters 0.0147143649971966 Centerline is valid? [True, True] Translation: X:98.46, Y:-17.19, Z:-2.45 [[ 9.80970027e-01 1.93458423e-01 1.64816802e-02 9.84612326e+01] [-1.93431989e-01 9.81108473e-01 -3.19833558e-03 -1.71931009e+01] [-1.67890611e-02 -5.06128601e-05 9.99859052e-01 -2.44567896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.85862385300001 meters 0.018183460577161505 Centerline is valid? [True, True] Translation: X:98.49, Y:-17.20, Z:-2.44 [[ 9.81335364e-01 1.91606243e-01 1.63691890e-02 9.84887112e+01] [-1.91579930e-01 9.81471878e-01 -3.17544849e-03 -1.72012359e+01] [-1.66743344e-02 -1.98281701e-05 9.99860973e-01 -2.44099529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88862385300001 meters 0.014120852422495838 Centerline is valid? [True, True] Translation: X:98.52, Y:-17.21, Z:-2.45 [[ 9.82045127e-01 1.87931566e-01 1.64041053e-02 9.85162028e+01] [-1.87904640e-01 9.82182124e-01 -3.18141593e-03 -1.72125797e+01] [-1.67097075e-02 4.18865022e-05 9.99860382e-01 -2.44534101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.91862385300001 meters 0.015530463933093744 Centerline is valid? [True, True] Translation: X:98.54, Y:-17.22, Z:-2.45 [[ 9.82711438e-01 1.84455370e-01 1.59513824e-02 9.85419148e+01] [-1.84429462e-01 9.82840886e-01 -3.09297710e-03 -1.72237037e+01] [-1.62481871e-02 9.75990919e-05 9.99867985e-01 -2.44747824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.948623853 meters 0.016610202993601355 Centerline is valid? [True, True] Translation: X:98.57, Y:-17.23, Z:-2.45 [[ 9.83025169e-01 1.82792163e-01 1.57652266e-02 9.85688913e+01] [-1.82766654e-01 9.83151570e-01 -3.05620716e-03 -1.72317029e+01] [-1.60582580e-02 1.22970839e-04 9.99871050e-01 -2.44869388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.978623853 meters 0.02361023310558193 Centerline is valid? [True, True] Translation: X:98.60, Y:-17.24, Z:-2.45 [[ 9.83267135e-01 1.81550964e-01 1.49996183e-02 9.85968562e+01] [-1.81527752e-01 9.83381528e-01 -2.90616849e-03 -1.72392286e+01] [-1.52779653e-02 1.34692966e-04 9.99883276e-01 -2.44562232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.008623853 meters 0.02254532457241032 Centerline is valid? [True, True] Translation: X:98.62, Y:-17.25, Z:-2.45 [[ 9.83801215e-01 1.78680088e-01 1.44428577e-02 9.86239753e+01] [-1.78658268e-01 9.83907209e-01 -2.79764507e-03 -1.72497959e+01] [-1.47103153e-02 1.71990667e-04 9.99891783e-01 -2.44884519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.038623853 meters 0.02050140905703067 Centerline is valid? [True, True] Translation: X:98.65, Y:-17.26, Z:-2.45 [[ 9.83986441e-01 1.77628504e-01 1.47918546e-02 9.86509266e+01] [-1.77605507e-01 9.84097596e-01 -2.86462712e-03 -1.72576028e+01] [-1.50654680e-02 1.91639401e-04 9.99886491e-01 -2.45210445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.068623853 meters 0.02138778534228606 Centerline is valid? [True, True] Translation: X:98.68, Y:-17.27, Z:-2.45 [[ 9.84136497e-01 1.76842334e-01 1.42177354e-02 9.86784438e+01] [-1.76821019e-01 9.84239174e-01 -2.75252690e-03 -1.72662814e+01] [-1.44804154e-02 1.94867732e-04 9.99895134e-01 -2.45358741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.098623853 meters 0.021110633403733196 Centerline is valid? [True, True] Translation: X:98.71, Y:-17.27, Z:-2.45 [[ 9.84092569e-01 1.77115707e-01 1.38507379e-02 9.87059070e+01] [-1.77095510e-01 9.84190018e-01 -2.68110733e-03 -1.72717074e+01] [-1.41066242e-02 1.85554300e-04 9.99900479e-01 -2.45486521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12862385300001 meters 0.02083743167768268 Centerline is valid? [True, True] Translation: X:98.73, Y:-17.28, Z:-2.46 [[ 9.83995720e-01 1.77662950e-01 1.37221858e-02 9.87329830e+01] [-1.77643191e-01 9.84091381e-01 -2.65542690e-03 -1.72768931e+01] [-1.39756557e-02 1.75275830e-04 9.99902320e-01 -2.45667731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.15862385300001 meters 0.019982605548572323 Centerline is valid? [True, True] Translation: X:98.76, Y:-17.28, Z:-2.46 [[ 9.83794534e-01 1.78781997e-01 1.36129889e-02 9.87615154e+01] [-1.78762680e-01 9.83888700e-01 -2.63273734e-03 -1.72814101e+01] [-1.38643520e-02 1.56578226e-04 9.99903873e-01 -2.45710609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18862385300001 meters 0.01779301300113084 Centerline is valid? [True, True] Translation: X:98.79, Y:-17.28, Z:-2.46 [[ 9.83257761e-01 1.81710657e-01 1.36166625e-02 9.87899561e+01] [-1.81691612e-01 9.83352035e-01 -2.63324483e-03 -1.72836387e+01] [-1.38684614e-02 1.15125062e-04 9.99903822e-01 -2.45779448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.21862385300001 meters 0.016860807322369727 Centerline is valid? [True, True] Translation: X:98.82, Y:-17.29, Z:-2.46 [[ 9.82978567e-01 1.83212973e-01 1.36434491e-02 9.88185420e+01] [-1.83194020e-01 9.83073241e-01 -2.63682973e-03 -1.72866423e+01] [-1.38956112e-02 9.25488158e-05 9.99903447e-01 -2.45871532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24862385300001 meters 0.015496786906476918 Centerline is valid? [True, True] Translation: X:98.85, Y:-17.29, Z:-2.46 [[ 9.82485539e-01 1.85816375e-01 1.39442221e-02 9.88475978e+01] [-1.85796849e-01 9.82584486e-01 -2.69428693e-03 -1.72893359e+01] [-1.42020189e-02 5.63054161e-05 9.99899145e-01 -2.45942567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.27862385300001 meters 0.014990410277389942 Centerline is valid? [True, True] Translation: X:98.88, Y:-17.29, Z:-2.46 [[ 9.82284609e-01 1.86867821e-01 1.40486231e-02 9.88759655e+01] [-1.86848118e-01 9.82385065e-01 -2.71379982e-03 -1.72938486e+01] [-1.43082794e-02 4.07650068e-05 9.99897630e-01 -2.45946818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.308623853 meters 0.014284177216881659 Centerline is valid? [True, True] Translation: X:98.90, Y:-17.30, Z:-2.46 [[ 9.82127497e-01 1.87672010e-01 1.43107348e-02 9.89045717e+01] [-1.87651660e-01 9.82231753e-01 -2.76379343e-03 -1.72979104e+01] [-1.45751448e-02 2.89643874e-05 9.99893777e-01 -2.45724249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.338623853 meters 0.014099094186714577 Centerline is valid? [True, True] Translation: X:98.93, Y:-17.30, Z:-2.46 [[ 9.81873197e-01 1.88919611e-01 1.53103116e-02 9.89316825e+01] [-1.88896482e-01 9.81992556e-01 -2.95609907e-03 -1.73019014e+01] [-1.55930771e-02 1.04504426e-05 9.99878421e-01 -2.45664156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.368623853 meters 0.014346206740076861 Centerline is valid? [True, True] Translation: X:98.96, Y:-17.31, Z:-2.46 [[ 9.81770766e-01 1.89445632e-01 1.53790929e-02 9.89579688e+01] [-1.89422371e-01 9.81891212e-01 -2.96863336e-03 -1.73066855e+01] [-1.56629908e-02 1.37320304e-06 9.99877328e-01 -2.45911946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.398623853 meters 0.014074747189716623 Centerline is valid? [True, True] Translation: X:98.99, Y:-17.31, Z:-2.46 [[ 9.81554026e-01 1.90588284e-01 1.50930286e-02 9.89863356e+01] [-1.90566040e-01 9.81670059e-01 -2.91182585e-03 -1.73130027e+01] [-1.53713341e-02 -1.81042997e-05 9.99881854e-01 -2.45774398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.428623853 meters 0.014421162946383478 Centerline is valid? [True, True] Translation: X:99.01, Y:-17.32, Z:-2.46 [[ 9.81450824e-01 1.91127465e-01 1.49857640e-02 9.90131688e+01] [-1.91105604e-01 9.81565225e-01 -2.89075347e-03 -1.73177135e+01] [-1.52620072e-02 -2.67311219e-05 9.99883528e-01 -2.45996587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.458623853 meters 0.014649596465983837 Centerline is valid? [True, True] Translation: X:99.04, Y:-17.32, Z:-2.46 [[ 9.81195088e-01 1.92468128e-01 1.45677498e-02 9.90415952e+01] [-1.92447642e-01 9.81303224e-01 -2.80851554e-03 -1.73223569e+01] [-1.48359296e-02 -4.78274471e-05 9.99889940e-01 -2.46014296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.488623853 meters 0.014909978995804523 Centerline is valid? [True, True] Translation: X:99.07, Y:-17.33, Z:-2.46 [[ 9.81051004e-01 1.93222517e-01 1.42823812e-02 9.90696842e+01] [-1.93202916e-01 9.81154960e-01 -2.75282673e-03 -1.73267067e+01] [-1.45451373e-02 -5.87342681e-05 9.99894212e-01 -2.46115682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.51862385300001 meters 0.0163768798686683 Centerline is valid? [True, True] Translation: X:99.10, Y:-17.33, Z:-2.47 [[ 9.80792166e-01 1.94574160e-01 1.36975790e-02 9.90971231e+01] [-1.94556270e-01 9.80887807e-01 -2.63960567e-03 -1.73297265e+01] [-1.39493873e-02 -7.60453079e-05 9.99902700e-01 -2.46535907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54862385300001 meters 0.01635413010203237 Centerline is valid? [True, True] Translation: X:99.13, Y:-17.34, Z:-2.46 [[ 9.80650732e-01 1.95275353e-01 1.38447946e-02 9.91257637e+01] [-1.95257161e-01 9.80748453e-01 -2.66692962e-03 -1.73356120e+01] [-1.40990465e-02 -8.79687944e-05 9.99900600e-01 -2.46465509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.57862385300001 meters 0.017338616293232897 Centerline is valid? [True, True] Translation: X:99.15, Y:-17.34, Z:-2.47 [[ 9.80486436e-01 1.96077933e-01 1.41348387e-02 9.91533226e+01] [-1.96059062e-01 9.80588310e-01 -2.72221698e-03 -1.73396309e+01] [-1.43942243e-02 -1.02166390e-04 9.99896393e-01 -2.46669470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60862385300001 meters 0.017885279116285627 Centerline is valid? [True, True] Translation: X:99.18, Y:-17.34, Z:-2.46 [[ 9.80104937e-01 1.97940998e-01 1.46175792e-02 9.91815555e+01] [-1.97921020e-01 9.80213927e-01 -2.81537437e-03 -1.73436645e+01] [-1.48856328e-02 -1.33763871e-04 9.99889194e-01 -2.46446592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.63862385300001 meters 0.018447730069916273 Centerline is valid? [True, True] Translation: X:99.21, Y:-17.35, Z:-2.46 [[ 9.79902526e-01 1.98928591e-01 1.47802182e-02 9.92097389e+01] [-1.98908336e-01 9.80013975e-01 -2.84291517e-03 -1.73478996e+01] [-1.50503575e-02 -1.54128850e-04 9.99886725e-01 -2.46481123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66862385300001 meters 0.019129395374653514 Centerline is valid? [True, True] Translation: X:99.24, Y:-17.35, Z:-2.47 [[ 9.79742683e-01 1.99717619e-01 1.47359539e-02 9.92386171e+01] [-1.99697584e-01 9.79853481e-01 -2.83367414e-03 -1.73521492e+01] [-1.50050103e-02 -1.66462878e-04 9.99887405e-01 -2.46565982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.698623853 meters 0.021875638386947664 Centerline is valid? [True, True] Translation: X:99.27, Y:-17.36, Z:-2.46 [[ 9.79381056e-01 2.01504421e-01 1.44469857e-02 9.92678245e+01] [-2.01485350e-01 9.79487587e-01 -2.77870844e-03 -1.73552440e+01] [-1.47105652e-02 -1.89441564e-04 9.99891776e-01 -2.46402227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.728623853 meters 0.022132661592737614 Centerline is valid? [True, True] Translation: X:99.30, Y:-17.36, Z:-2.47 [[ 9.79317951e-01 2.01822613e-01 1.42823078e-02 9.92958396e+01] [-2.01804044e-01 9.79422072e-01 -2.74458690e-03 -1.73599084e+01] [-1.45423272e-02 -1.94404259e-04 9.99894236e-01 -2.46538986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.758623853 meters 0.02824468537823845 Centerline is valid? [True, True] Translation: X:99.32, Y:-17.36, Z:-2.47 [[ 9.79313880e-01 2.01880704e-01 1.37297750e-02 9.93233300e+01] [-2.01863598e-01 9.79410101e-01 -2.63490984e-03 -1.73630797e+01] [-1.39790177e-02 -1.91138006e-04 9.99902270e-01 -2.46609275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.788623853 meters 0.021447485492778025 Centerline is valid? [True, True] Translation: X:99.35, Y:-17.37, Z:-2.47 [[ 9.79434086e-01 2.01277445e-01 1.40093497e-02 9.93519694e+01] [-2.01259571e-01 9.79534254e-01 -2.68881475e-03 -1.73680998e+01] [-1.42638357e-02 -1.85998892e-04 9.99898249e-01 -2.47093113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.818623853 meters 0.020223391265563433 Centerline is valid? [True, True] Translation: X:99.38, Y:-17.37, Z:-2.47 [[ 9.79527373e-01 2.00800501e-01 1.43277156e-02 9.93790162e+01] [-2.00781786e-01 9.79632137e-01 -2.74771019e-03 -1.73736116e+01] [-1.45876322e-02 -1.85286988e-04 9.99893578e-01 -2.46953616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.848623853 meters 0.020557896095013222 Centerline is valid? [True, True] Translation: X:99.41, Y:-17.38, Z:-2.47 [[ 9.79609602e-01 2.00371065e-01 1.47127074e-02 9.94067210e+01] [-2.00351349e-01 9.79720063e-01 -2.81704505e-03 -1.73762968e+01] [-1.49787889e-02 -1.88106388e-04 9.99887794e-01 -2.47054914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.87862385300001 meters 0.020988258454287867 Centerline is valid? [True, True] Translation: X:99.43, Y:-17.38, Z:-2.47 [[ 9.79669870e-01 2.00073811e-01 1.47450395e-02 9.94335234e+01] [-2.00053985e-01 9.79780810e-01 -2.82253806e-03 -1.73807417e+01] [-1.50116227e-02 -1.84648424e-04 9.99887302e-01 -2.47175136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90862385300001 meters 0.018903916473951243 Centerline is valid? [True, True] Translation: X:99.46, Y:-17.39, Z:-2.47 [[ 9.79808810e-01 1.99340718e-01 1.54264200e-02 9.94615322e+01] [-1.99318936e-01 9.79930225e-01 -2.95241699e-03 -1.73868540e+01] [-1.57053521e-02 -1.81973442e-04 9.99876647e-01 -2.46862315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.93862385300001 meters 0.019104736254034128 Centerline is valid? [True, True] Translation: X:99.49, Y:-17.39, Z:-2.47 [[ 9.79893114e-01 1.98923997e-01 1.54508662e-02 9.94887823e+01] [-1.98902143e-01 9.80014904e-01 -2.95396526e-03 -1.73899675e+01] [-1.57296937e-02 -1.78640180e-04 9.99876265e-01 -2.46968332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96862385300001 meters 0.018848138554520527 Centerline is valid? [True, True] Translation: X:99.52, Y:-17.39, Z:-2.47 [[ 9.80047005e-01 1.98161608e-01 1.54869186e-02 9.95162670e+01] [-1.98139602e-01 9.80169347e-01 -2.95797191e-03 -1.73941518e+01] [-1.57659594e-02 -1.69620380e-04 9.99875695e-01 -2.47092973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.99862385300001 meters 0.017161600229233936 Centerline is valid? [True, True] Translation: X:99.54, Y:-17.40, Z:-2.47 [[ 9.80440573e-01 1.96198828e-01 1.55660888e-02 9.95444887e+01] [-1.96176366e-01 9.80564124e-01 -2.97201123e-03 -1.74013571e+01] [-1.58466533e-02 -1.39818341e-04 9.99874424e-01 -2.47094272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02862385300001 meters 0.015615182189248226 Centerline is valid? [True, True] Translation: X:99.57, Y:-17.41, Z:-2.47 [[ 9.81064429e-01 1.93092842e-01 1.50910798e-02 9.95718962e+01] [-1.93071374e-01 9.81180486e-01 -2.88060114e-03 -1.74085844e+01] [-1.53632965e-02 -8.76001954e-05 9.99881974e-01 -2.47218631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.05862385300001 meters 0.014945173458736437 Centerline is valid? [True, True] Translation: X:99.60, Y:-17.41, Z:-2.47 [[ 9.81400782e-01 1.91387181e-01 1.49483327e-02 9.96002742e+01] [-1.91365931e-01 9.81514617e-01 -2.85262219e-03 -1.74146544e+01] [-1.52179624e-02 -6.10359641e-05 9.99884198e-01 -2.47308615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.088623853 meters 0.014940022770859311 Centerline is valid? [True, True] Translation: X:99.63, Y:-17.42, Z:-2.48 [[ 9.81741475e-01 1.89626452e-01 1.50161379e-02 9.96270293e+01] [-1.89604812e-01 9.81856307e-01 -2.86493316e-03 -1.74204438e+01] [-1.52869568e-02 -3.45082888e-05 9.99883147e-01 -2.47614159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.118623853 meters 0.014172877186240329 Centerline is valid? [True, True] Translation: X:99.65, Y:-17.43, Z:-2.47 [[ 9.82039339e-01 1.88059213e-01 1.52469271e-02 9.96549711e+01] [-1.88036730e-01 9.82157692e-01 -2.90788331e-03 -1.74278677e+01] [-1.55217410e-02 -1.13265206e-05 9.99879530e-01 -2.47424438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.148623853 meters 0.014417117446576568 Centerline is valid? [True, True] Translation: X:99.68, Y:-17.44, Z:-2.48 [[ 9.82563544e-01 1.85348184e-01 1.46605582e-02 9.96815281e+01] [-1.85327104e-01 9.82672911e-01 -2.79549104e-03 -1.74351075e+01] [-1.49246726e-02 2.97487843e-05 9.99888620e-01 -2.47546230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.178623853 meters 0.014626020399306812 Centerline is valid? [True, True] Translation: X:99.71, Y:-17.44, Z:-2.47 [[ 9.82926910e-01 1.83316064e-01 1.58085172e-02 9.97085568e+01] [-1.83291308e-01 9.83054025e-01 -3.01329530e-03 -1.74415948e+01] [-1.60930119e-02 6.42852354e-05 9.99870497e-01 -2.47437513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.208623853 meters 0.014848108256779598 Centerline is valid? [True, True] Translation: X:99.74, Y:-17.45, Z:-2.47 [[ 9.83090214e-01 1.82416397e-01 1.60589534e-02 9.97353584e+01] [-1.82390743e-01 9.83221365e-01 -3.06023697e-03 -1.74477698e+01] [-1.63477435e-02 7.94845715e-05 9.99866364e-01 -2.47479254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.238623853 meters 0.015067721621258762 Centerline is valid? [True, True] Translation: X:99.76, Y:-17.45, Z:-2.47 [[ 9.83261631e-01 1.81464369e-01 1.63477429e-02 9.97637484e+01] [-1.81437681e-01 9.83397516e-01 -3.11356295e-03 -1.74537058e+01] [-1.66413305e-02 9.53504217e-05 9.99861519e-01 -2.47467503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26862385300001 meters 0.02280955540786858 Centerline is valid? [True, True] Translation: X:99.79, Y:-17.46, Z:-2.47 [[ 9.83499094e-01 1.80250441e-01 1.54696569e-02 9.97909329e+01] [-1.80226398e-01 9.83620743e-01 -2.94599328e-03 -1.74588089e+01] [-1.57472920e-02 1.09341172e-04 9.99875998e-01 -2.47267869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.29862385300001 meters 0.016321399893632887 Centerline is valid? [True, True] Translation: X:99.82, Y:-17.46, Z:-2.48 [[ 9.83773399e-01 1.78769216e-01 1.52140348e-02 9.98193052e+01] [-1.78745810e-01 9.83891026e-01 -2.89562388e-03 -1.74639838e+01] [-1.54866008e-02 1.29192758e-04 9.99880067e-01 -2.47736016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32862385300001 meters 0.0176286100077064 Centerline is valid? [True, True] Translation: X:99.85, Y:-17.47, Z:-2.48 [[ 9.84021512e-01 1.77420557e-01 1.49535642e-02 9.98463235e+01] [-1.77397800e-01 9.84135115e-01 -2.84544118e-03 -1.74717268e+01] [-1.52211674e-02 1.47245943e-04 9.99884140e-01 -2.47970591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.35862385300001 meters 0.01936216296117633 Centerline is valid? [True, True] Translation: X:99.87, Y:-17.48, Z:-2.48 [[ 9.84581231e-01 1.74335147e-01 1.43894244e-02 9.98733230e+01] [-1.74313757e-01 9.84686357e-01 -2.73726345e-03 -1.74809844e+01] [-1.46462711e-02 1.86783598e-04 9.99892720e-01 -2.48065837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38862385300001 meters 0.02186341534029569 Centerline is valid? [True, True] Translation: X:99.90, Y:-17.49, Z:-2.48 [[ 9.84903268e-01 1.72511716e-01 1.43269110e-02 9.98997039e+01] [-1.72490331e-01 9.85007443e-01 -2.72448820e-03 -1.74902711e+01] [-1.45821201e-02 2.12103711e-04 9.99893653e-01 -2.48292653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.41862385300001 meters 0.03150629016005141 Centerline is valid? [True, True] Translation: X:99.93, Y:-17.50, Z:-2.48 [[ 9.85583441e-01 1.68589000e-01 1.42488808e-02 9.99258185e+01] [-1.68567452e-01 9.85686399e-01 -2.70863061e-03 -1.75049067e+01] [-1.45015733e-02 2.67683938e-04 9.99894811e-01 -2.47920490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.448623853 meters 0.03593325426512649 Centerline is valid? [True, True] Translation: X:99.95, Y:-17.52, Z:-2.48 [[ 9.85956668e-01 1.66381031e-01 1.43805833e-02 9.99529703e+01] [-1.66358858e-01 9.86061490e-01 -2.73296209e-03 -1.75152890e+01] [-1.46348524e-02 3.02244782e-04 9.99892859e-01 -2.47967411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.478623853 meters 0.03314786742046679 Centerline is valid? [True, True] Translation: X:99.98, Y:-17.52, Z:-2.48 [[ 9.86298234e-01 1.64336006e-01 1.44731066e-02 9.99808224e+01] [-1.64313337e-01 9.86404362e-01 -2.74987615e-03 -1.75241793e+01] [-1.47282391e-02 3.34073558e-04 9.99891478e-01 -2.48057710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.508623853 meters 0.03473168945654407 Centerline is valid? [True, True] Translation: X:100.01, Y:-17.54, Z:-2.49 [[ 9.86839959e-01 1.61011529e-01 1.49057821e-02 1.00007193e+02] [-1.60987118e-01 9.86952447e-01 -2.83123276e-03 -1.75395507e+01] [-1.51671592e-02 3.94334718e-04 9.99884894e-01 -2.48544979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.538623853 meters 0.03417716327369397 Centerline is valid? [True, True] Translation: X:100.04, Y:-17.55, Z:-2.48 [[ 9.87193359e-01 1.58836011e-01 1.48456869e-02 1.00035064e+02] [-1.58811560e-01 9.87304887e-01 -2.81919208e-03 -1.75497420e+01] [-1.51050084e-02 4.25421014e-04 9.99885822e-01 -2.48441993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.568623853 meters 0.035283835900880876 Centerline is valid? [True, True] Translation: X:100.06, Y:-17.56, Z:-2.49 [[ 9.87264552e-01 1.58407062e-01 1.46937789e-02 1.00061372e+02] [-1.58383061e-01 9.87373799e-01 -2.79035886e-03 -1.75585541e+01] [-1.49502648e-02 4.27576720e-04 9.99888147e-01 -2.48528389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.598623853 meters 0.035283835900880876 Centerline is valid? [True, True] Translation: X:100.09, Y:-17.56, Z:-2.49 [[ 9.87271787e-01 1.58361948e-01 1.46939637e-02 1.00089224e+02] [-1.58337957e-01 9.87381036e-01 -2.78938490e-03 -1.75637518e+01] [-1.49502736e-02 4.27268828e-04 9.99888147e-01 -2.48599667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62862385300001 meters 0.035743814464396104 Centerline is valid? [True, True] Translation: X:100.12, Y:-17.57, Z:-2.49 [[ 9.87218656e-01 1.58702299e-01 1.45912696e-02 1.00116126e+02] [-1.58678687e-01 9.87326392e-01 -2.76932463e-03 -1.75719147e+01] [-1.48458438e-02 4.18605434e-04 9.99889707e-01 -2.48740649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.65862385300001 meters 0.03158812035649449 Centerline is valid? [True, True] Translation: X:100.15, Y:-17.58, Z:-2.49 [[ 9.86882661e-01 1.60779062e-01 1.45844604e-02 1.00145015e+02] [-1.60755713e-01 9.86990346e-01 -2.76706590e-03 -1.75757782e+01] [-1.48396078e-02 3.86234036e-04 9.99889812e-01 -2.48642123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68862385300001 meters 0.027986584296629164 Centerline is valid? [True, True] Translation: X:100.17, Y:-17.58, Z:-2.49 [[ 9.86596495e-01 1.62489079e-01 1.49885387e-02 1.00174197e+02] [-1.62464626e-01 9.86710273e-01 -2.84299614e-03 -1.75780509e+01] [-1.52513009e-02 3.69782687e-04 9.99883624e-01 -2.48527154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.71862385300001 meters 0.029133210523024963 Centerline is valid? [True, True] Translation: X:100.20, Y:-17.59, Z:-2.49 [[ 9.85802393e-01 1.67169788e-01 1.57449612e-02 1.00202042e+02] [-1.67143419e-01 9.85928073e-01 -2.98539329e-03 -1.75886816e+01] [-1.60224668e-02 3.11341212e-04 9.99871584e-01 -2.48811513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74862385300001 meters 0.02235724873251631 Centerline is valid? [True, True] Translation: X:100.23, Y:-17.59, Z:-2.48 [[ 9.85389214e-01 1.69537002e-01 1.62881226e-02 1.00232111e+02] [-1.69509108e-01 9.85523782e-01 -3.08815878e-03 -1.75862283e+01] [-1.65758893e-02 2.82053224e-04 9.99862571e-01 -2.48457127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.77862385300001 meters 0.019541628437552243 Centerline is valid? [True, True] Translation: X:100.26, Y:-17.59, Z:-2.48 [[ 9.84895771e-01 1.72378492e-01 1.63087378e-02 1.00261335e+02] [-1.72350928e-01 9.85030761e-01 -3.09140664e-03 -1.75893228e+01] [-1.65975004e-02 2.33887234e-04 9.99862225e-01 -2.48473133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80862385300001 meters 0.016994212083245325 Centerline is valid? [True, True] Translation: X:100.29, Y:-17.59, Z:-2.49 [[ 9.83947952e-01 1.77806508e-01 1.52076498e-02 1.00288729e+02] [-1.77783203e-01 9.84065459e-01 -2.88173502e-03 -1.75922899e+01] [-1.54777141e-02 1.31812590e-04 9.99880204e-01 -2.48846749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.838623853 meters 0.016022406955779965 Centerline is valid? [True, True] Translation: X:100.32, Y:-17.60, Z:-2.49 [[ 9.83487539e-01 1.80354209e-01 1.49873507e-02 1.00316189e+02] [-1.80331884e-01 9.83601724e-01 -2.83904126e-03 -1.75956371e+01] [-1.52536170e-02 8.94645109e-05 9.99883653e-01 -2.49079261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.868623853 meters 0.014474849148960816 Centerline is valid? [True, True] Translation: X:100.35, Y:-17.60, Z:-2.49 [[ 9.82749777e-01 1.84357570e-01 1.46684255e-02 1.00345613e+02] [-1.84336639e-01 9.82859240e-01 -2.77810211e-03 -1.75962327e+01] [-1.49291617e-02 2.62509716e-05 9.99888554e-01 -2.49165619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.898623853 meters 0.014293750897799726 Centerline is valid? [True, True] Translation: X:100.37, Y:-17.60, Z:-2.49 [[ 9.82445722e-01 1.85975374e-01 1.46138172e-02 1.00373264e+02] [-1.85954800e-01 9.82554406e-01 -2.76623371e-03 -1.75994240e+01] [-1.48733218e-02 1.65021303e-07 9.99889386e-01 -2.49229321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.928623853 meters 0.01444482407095176 Centerline is valid? [True, True] Translation: X:100.40, Y:-17.60, Z:-2.49 [[ 9.82103819e-01 1.87746686e-01 1.49422619e-02 1.00400009e+02] [-1.87725398e-01 9.82217482e-01 -2.82737151e-03 -1.76022797e+01] [-1.52073805e-02 -2.82696969e-05 9.99884361e-01 -2.49280464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.958623853 meters 0.01538845753758851 Centerline is valid? [True, True] Translation: X:100.43, Y:-17.60, Z:-2.49 [[ 9.81480112e-01 1.90912582e-01 1.57852794e-02 1.00429351e+02] [-1.90889262e-01 9.81607039e-01 -2.98507618e-03 -1.76047925e+01] [-1.60648300e-02 -8.34474340e-05 9.99870949e-01 -2.49189922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.988623853 meters 0.016943169567062773 Centerline is valid? [True, True] Translation: X:100.46, Y:-17.61, Z:-2.49 [[ 9.80724275e-01 1.94642288e-01 1.71545028e-02 1.00458191e+02] [-1.94615332e-01 9.80874281e-01 -3.24308357e-03 -1.76057732e+01] [-1.74576518e-02 -1.57958467e-04 9.99847591e-01 -2.48949248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.01862385300001 meters 0.01916554805145593 Centerline is valid? [True, True] Translation: X:100.49, Y:-17.61, Z:-2.49 [[ 9.80337056e-01 1.96572360e-01 1.72789888e-02 1.00486252e+02] [-1.96545325e-01 9.80489301e-01 -3.26583328e-03 -1.76063869e+01] [-1.75838362e-02 -1.94487086e-04 9.99845373e-01 -2.49069910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04862385300001 meters 0.02027564847850421 Centerline is valid? [True, True] Translation: X:100.51, Y:-17.61, Z:-2.49 [[ 9.80046075e-01 1.98011340e-01 1.73550876e-02 1.00514596e+02] [-1.97984312e-01 9.80199704e-01 -3.27910955e-03 -1.76091153e+01] [-1.76607526e-02 -2.22356623e-04 9.99844012e-01 -2.49092804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.07862385300001 meters 0.022764456893698194 Centerline is valid? [True, True] Translation: X:100.54, Y:-17.61, Z:-2.49 [[ 9.79506994e-01 2.00653806e-01 1.74384364e-02 1.00543499e+02] [-2.00626956e-01 9.79662174e-01 -3.29370727e-03 -1.76094505e+01] [-1.77446715e-02 -2.72411119e-04 9.99842514e-01 -2.49203201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10862385300001 meters 0.02322217603570549 Centerline is valid? [True, True] Translation: X:100.57, Y:-17.61, Z:-2.49 [[ 9.79328483e-01 2.01550694e-01 1.71183868e-02 1.00571655e+02] [-2.01524972e-01 9.79478043e-01 -3.23245615e-03 -1.76134034e+01] [-1.74185877e-02 -2.84146034e-04 9.99848245e-01 -2.49268233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.13862385300001 meters 0.023086933523121696 Centerline is valid? [True, True] Translation: X:100.60, Y:-17.62, Z:-2.49 [[ 9.79198147e-01 2.02164885e-01 1.73305545e-02 1.00599950e+02] [-2.02138632e-01 9.79351454e-01 -3.27166417e-03 -1.76171302e+01] [-1.76341194e-02 -2.99567089e-04 9.99844462e-01 -2.49284312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16862385300001 meters 0.02430716634955701 Centerline is valid? [True, True] Translation: X:100.63, Y:-17.62, Z:-2.49 [[ 9.79230234e-01 2.02044937e-01 1.69113244e-02 1.00627004e+02] [-2.02019924e-01 9.79376209e-01 -3.19238500e-03 -1.76204956e+01] [-1.72075540e-02 -2.90344563e-04 9.99851897e-01 -2.49466762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.198623853 meters 0.0241541091916992 Centerline is valid? [True, True] Translation: X:100.65, Y:-17.63, Z:-2.50 [[ 9.79341552e-01 2.01529953e-01 1.66072809e-02 1.00654722e+02] [-2.01505805e-01 9.79482312e-01 -3.13214551e-03 -1.76258621e+01] [-1.68977590e-02 -2.79023270e-04 9.99857184e-01 -2.49655205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.228623853 meters 0.023310196125281263 Centerline is valid? [True, True] Translation: X:100.68, Y:-17.63, Z:-2.50 [[ 9.79523592e-01 2.00663888e-01 1.63565413e-02 1.00683227e+02] [-2.00640361e-01 9.79660112e-01 -3.08378162e-03 -1.76315888e+01] [-1.66426547e-02 -2.61145505e-04 9.99861467e-01 -2.49727992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.258623853 meters 0.02292461698737248 Centerline is valid? [True, True] Translation: X:100.71, Y:-17.64, Z:-2.50 [[ 9.79627450e-01 2.00131474e-01 1.66568724e-02 1.00710597e+02] [-2.00107010e-01 9.79769017e-01 -3.13967001e-03 -1.76357230e+01] [-1.69482343e-02 -2.57450023e-04 9.99856335e-01 -2.49769885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.288623853 meters 0.022808354323210527 Centerline is valid? [True, True] Translation: X:100.74, Y:-17.64, Z:-2.50 [[ 9.79693095e-01 1.99773218e-01 1.70909560e-02 1.00739680e+02] [-1.99747428e-01 9.79842127e-01 -3.22033526e-03 -1.76391584e+01] [-1.73897755e-02 -2.58934294e-04 9.99848753e-01 -2.49796411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.318623853 meters 0.02185455486870517 Centerline is valid? [True, True] Translation: X:100.77, Y:-17.64, Z:-2.50 [[ 9.79721228e-01 1.99633013e-01 1.71165460e-02 1.00766773e+02] [-1.99607135e-01 9.79870703e-01 -3.22453710e-03 -1.76442000e+01] [-1.74157260e-02 -2.57437267e-04 9.99848302e-01 -2.49789740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.348623853 meters 0.023053708588097195 Centerline is valid? [True, True] Translation: X:100.79, Y:-17.65, Z:-2.50 [[ 9.79717378e-01 1.99676336e-01 1.68291673e-02 1.00794530e+02] [-1.99651349e-01 9.79861876e-01 -3.16908283e-03 -1.76460728e+01] [-1.71230502e-02 -2.55160433e-04 9.99853357e-01 -2.50037564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.37862385300001 meters 0.02306502051773762 Centerline is valid? [True, True] Translation: X:100.82, Y:-17.65, Z:-2.50 [[ 9.79866894e-01 1.99038396e-01 1.56392918e-02 1.00821268e+02] [-1.99016747e-01 9.79991666e-01 -2.94436011e-03 -1.76480721e+01] [-1.59124163e-02 -2.27399969e-04 9.99873364e-01 -2.50368575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40862385300001 meters 0.020557651671469734 Centerline is valid? [True, True] Translation: X:100.85, Y:-17.66, Z:-2.50 [[ 9.80031995e-01 1.98230906e-01 1.55497801e-02 1.00848837e+02] [-1.98209428e-01 9.80155325e-01 -2.92593845e-03 -1.76556748e+01] [-1.58212112e-02 -2.14599723e-04 9.99874814e-01 -2.50286712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.43862385300001 meters 0.020868158567912843 Centerline is valid? [True, True] Translation: X:100.88, Y:-17.66, Z:-2.51 [[ 9.80391299e-01 1.96448008e-01 1.55267963e-02 1.00877225e+02] [-1.96426379e-01 9.80514225e-01 -2.92094428e-03 -1.76568050e+01] [-1.57980584e-02 -1.86204022e-04 9.99875186e-01 -2.50566161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46862385300001 meters 0.01972426064269715 Centerline is valid? [True, True] Translation: X:100.91, Y:-17.66, Z:-2.51 [[ 9.80667456e-01 1.95052890e-01 1.56751539e-02 1.00905684e+02] [-1.95030686e-01 9.80792711e-01 -2.94771005e-03 -1.76617058e+01] [-1.59490361e-02 -1.66412708e-04 9.99872792e-01 -2.50630131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.49862385300001 meters 0.015911866885706186 Centerline is valid? [True, True] Translation: X:100.93, Y:-17.67, Z:-2.50 [[ 9.81300421e-01 1.91761863e-01 1.66394523e-02 1.00933864e+02] [-1.91736368e-01 9.81441477e-01 -3.12915573e-03 -1.76711790e+01] [-1.69307014e-02 -1.19746320e-04 9.99856658e-01 -2.50296398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52862385300001 meters 0.014757330530615596 Centerline is valid? [True, True] Translation: X:100.96, Y:-17.68, Z:-2.50 [[ 9.81633719e-01 1.89999521e-01 1.71878817e-02 1.00962297e+02] [-1.89972114e-01 9.81784178e-01 -3.22848757e-03 -1.76780765e+01] [-1.74882014e-02 -9.60259543e-05 9.99847065e-01 -2.50255418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.55862385300001 meters 0.014560533856296059 Centerline is valid? [True, True] Translation: X:100.99, Y:-17.68, Z:-2.51 [[ 9.81972050e-01 1.88258550e-01 1.70179729e-02 1.00989121e+02] [-1.88231434e-01 9.82119501e-01 -3.19581013e-03 -1.76834764e+01] [-1.73153216e-02 -6.51212193e-05 9.99850076e-01 -2.50500696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.588623853 meters 0.013841640563008985 Centerline is valid? [True, True] Translation: X:101.02, Y:-17.69, Z:-2.50 [[ 9.82495192e-01 1.85482783e-01 1.73012841e-02 1.01017250e+02] [-1.85454348e-01 9.82647514e-01 -3.24778388e-03 -1.76898519e+01] [-1.76034718e-02 -1.76663000e-05 9.99845047e-01 -2.50447675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.618623853 meters 0.01369185343053765 Centerline is valid? [True, True] Translation: X:101.04, Y:-17.69, Z:-2.51 [[ 9.82722052e-01 1.84257714e-01 1.75060745e-02 1.01043450e+02] [-1.84228418e-01 9.82877965e-01 -3.28561337e-03 -1.76945144e+01] [-1.78117345e-02 3.72830941e-06 9.99841358e-01 -2.50512358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.648623853 meters 0.014009462096602983 Centerline is valid? [True, True] Translation: X:101.07, Y:-17.70, Z:-2.51 [[ 9.83100861e-01 1.82288118e-01 1.68445623e-02 1.01071789e+02] [-1.82260733e-01 9.83245158e-01 -3.15982328e-03 -1.76989343e+01] [-1.71383325e-02 3.63227167e-05 9.99853127e-01 -2.50715779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.678623853 meters 0.01406895898018726 Centerline is valid? [True, True] Translation: X:101.10, Y:-17.70, Z:-2.51 [[ 9.83302065e-01 1.81200513e-01 1.68351752e-02 1.01099957e+02] [-1.81173012e-01 9.83446171e-01 -3.15725943e-03 -1.77037427e+01] [-1.71285856e-02 5.44603095e-05 9.99853294e-01 -2.50748818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.708623853 meters 0.014773765831714872 Centerline is valid? [True, True] Translation: X:101.13, Y:-17.71, Z:-2.51 [[ 9.83633748e-01 1.79360418e-01 1.71606953e-02 1.01126945e+02] [-1.79331574e-01 9.83783428e-01 -3.21773626e-03 -1.77095363e+01] [-1.74595422e-02 8.76194747e-05 9.99847567e-01 -2.50880914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.738623853 meters 0.01525732699955523 Centerline is valid? [True, True] Translation: X:101.15, Y:-17.71, Z:-2.51 [[ 9.83825933e-01 1.78278622e-01 1.74145798e-02 1.01154980e+02] [-1.78248784e-01 9.83980041e-01 -3.26332895e-03 -1.77149954e+01] [-1.77173807e-02 1.06419983e-04 9.99843029e-01 -2.50891503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76862385300001 meters 0.015728733994710944 Centerline is valid? [True, True] Translation: X:101.18, Y:-17.72, Z:-2.51 [[ 9.84173350e-01 1.76254935e-01 1.83579416e-02 1.01183175e+02] [-1.76221436e-01 9.84344541e-01 -3.43948602e-03 -1.77195464e+01] [-1.86767660e-02 1.49987646e-04 9.99825563e-01 -2.50740829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.79862385300001 meters 0.016364804334960608 Centerline is valid? [True, True] Translation: X:101.21, Y:-17.73, Z:-2.51 [[ 9.84372936e-01 1.75162056e-01 1.81156739e-02 1.01211089e+02] [-1.75129267e-01 9.84539601e-01 -3.39320220e-03 -1.77254234e+01] [-1.84299587e-02 1.67591722e-04 9.99830140e-01 -2.50852639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82862385300001 meters 0.01694473487880915 Centerline is valid? [True, True] Translation: X:101.24, Y:-17.73, Z:-2.51 [[ 9.84552371e-01 1.74160998e-01 1.80159711e-02 1.01239742e+02] [-1.74128417e-01 9.84717174e-01 -3.37363718e-03 -1.77312342e+01] [-1.83281922e-02 1.84429950e-04 9.99832008e-01 -2.50944223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.85862385300001 meters 0.018203744306052073 Centerline is valid? [True, True] Translation: X:101.27, Y:-17.74, Z:-2.51 [[ 9.84786826e-01 1.72805685e-01 1.82511117e-02 1.01266686e+02] [-1.72772032e-01 9.84955913e-01 -3.41681903e-03 -1.77371070e+01] [-1.85669862e-02 2.11556706e-04 9.99827596e-01 -2.51000220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88862385300001 meters 0.017647589533632 Centerline is valid? [True, True] Translation: X:101.30, Y:-17.74, Z:-2.51 [[ 9.84772474e-01 1.72845565e-01 1.86436576e-02 1.01295290e+02] [-1.72810480e-01 9.84948915e-01 -3.48903948e-03 -1.77402887e+01] [-1.89661153e-02 2.14090631e-04 9.99820104e-01 -2.50960300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.91862385300001 meters 0.017738058746169124 Centerline is valid? [True, True] Translation: X:101.32, Y:-17.74, Z:-2.51 [[ 9.84721985e-01 1.73134941e-01 1.86253639e-02 1.01322614e+02] [-1.73099992e-01 9.84898091e-01 -3.48476661e-03 -1.77447225e+01] [-1.89474202e-02 2.07475955e-04 9.99820460e-01 -2.51022283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.948623853 meters 0.017151361113951023 Centerline is valid? [True, True] Translation: X:101.35, Y:-17.75, Z:-2.51 [[ 9.84651819e-01 1.73533587e-01 1.86249912e-02 1.01351132e+02] [-1.73498734e-01 9.84827932e-01 -3.48348289e-03 -1.77479986e+01] [-1.89469129e-02 1.98605368e-04 9.99820471e-01 -2.51050240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.978623853 meters 0.016975008937297205 Centerline is valid? [True, True] Translation: X:101.38, Y:-17.75, Z:-2.51 [[ 9.84606542e-01 1.73793000e-01 1.85997748e-02 1.01377722e+02] [-1.73758296e-01 9.84782187e-01 -3.47830968e-03 -1.77520000e+01] [-1.89212328e-02 1.92901300e-04 9.99820959e-01 -2.51118774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.008623853 meters 0.016146722225141234 Centerline is valid? [True, True] Translation: X:101.41, Y:-17.75, Z:-2.51 [[ 9.84374301e-01 1.75082077e-01 1.88016594e-02 1.01405262e+02] [-1.75046903e-01 9.84553827e-01 -3.51329486e-03 -1.77540081e+01] [-1.91263607e-02 1.67224931e-04 9.99817060e-01 -2.51197786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.038623853 meters 0.014898769261136422 Centerline is valid? [True, True] Translation: X:101.43, Y:-17.75, Z:-2.51 [[ 9.84033529e-01 1.77014708e-01 1.85420258e-02 1.01434428e+02] [-1.76980865e-01 9.84208198e-01 -3.46359255e-03 -1.77539920e+01] [-1.88623206e-02 1.26707432e-04 9.99822083e-01 -2.51250650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.068623853 meters 0.014769959278045645 Centerline is valid? [True, True] Translation: X:101.46, Y:-17.76, Z:-2.51 [[ 9.83851922e-01 1.78039268e-01 1.83688565e-02 1.01462637e+02] [-1.78006248e-01 9.84023378e-01 -3.43042603e-03 -1.77568594e+01] [-1.86861347e-02 1.05260023e-04 9.99825393e-01 -2.51454613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.098623853 meters 0.013988357873219287 Centerline is valid? [True, True] Translation: X:101.49, Y:-17.76, Z:-2.51 [[ 9.83629953e-01 1.79258990e-01 1.83937550e-02 1.01491873e+02] [-1.79226116e-01 9.83801915e-01 -3.43385923e-03 -1.77584786e+01] [-1.87113615e-02 8.10055139e-05 9.99824924e-01 -2.51457610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12862385300001 meters 0.013420183864337971 Centerline is valid? [True, True] Translation: X:101.52, Y:-17.76, Z:-2.52 [[ 9.83234779e-01 1.81392536e-01 1.86042131e-02 1.01521206e+02] [-1.81359305e-01 9.83410772e-01 -3.47222161e-03 -1.77576307e+01] [-1.89254187e-02 3.99618890e-05 9.99820897e-01 -2.51542347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.15862385300001 meters 0.013405656004435806 Centerline is valid? [True, True] Translation: X:101.55, Y:-17.76, Z:-2.52 [[ 9.83095686e-01 1.82156837e-01 1.84867016e-02 1.01549578e+02] [-1.82124173e-01 9.83269488e-01 -3.44954157e-03 -1.77598480e+01] [-1.88057672e-02 2.43541986e-05 9.99823156e-01 -2.51603173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18862385300001 meters 0.01337691035871274 Centerline is valid? [True, True] Translation: X:101.58, Y:-17.76, Z:-2.52 [[ 9.82967410e-01 1.82892917e-01 1.80347562e-02 1.01577077e+02] [-1.82861971e-01 9.83132840e-01 -3.36433159e-03 -1.77608193e+01] [-1.83458735e-02 9.15724611e-06 9.99831700e-01 -2.51784054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.21862385300001 meters 0.013359873922968247 Centerline is valid? [True, True] Translation: X:101.60, Y:-17.76, Z:-2.52 [[ 9.82952154e-01 1.82957171e-01 1.82136334e-02 1.01603844e+02] [-1.82925665e-01 9.83120885e-01 -3.39523859e-03 -1.77638520e+01] [-1.85273866e-02 5.61609531e-06 9.99828353e-01 -2.51891730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24862385300001 meters 0.013442340736834932 Centerline is valid? [True, True] Translation: X:101.63, Y:-17.77, Z:-2.52 [[ 9.82956700e-01 1.82952777e-01 1.80112940e-02 1.01631324e+02] [-1.82922017e-01 9.83121702e-01 -3.35476277e-03 -1.77668216e+01] [-1.83210571e-02 2.92432646e-06 9.99832155e-01 -2.51970148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.27862385300001 meters 0.01341595578029609 Centerline is valid? [True, True] Translation: X:101.66, Y:-17.77, Z:-2.52 [[ 9.83096513e-01 1.82178989e-01 1.82225921e-02 1.01658278e+02] [-1.82147393e-01 9.83265384e-01 -3.39286110e-03 -1.77691591e+01] [-1.85357520e-02 1.63122813e-05 9.99828198e-01 -2.52017952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30862385300001 meters 0.013501952401858731 Centerline is valid? [True, True] Translation: X:101.69, Y:-17.77, Z:-2.52 [[ 9.83213800e-01 1.81522713e-01 1.84425849e-02 1.01685293e+02] [-1.81490258e-01 9.83386752e-01 -3.43255359e-03 -1.77732851e+01] [-1.87592801e-02 2.77845734e-05 9.99824029e-01 -2.52056434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.338623853 meters 0.013616106086547317 Centerline is valid? [True, True] Translation: X:101.71, Y:-17.78, Z:-2.52 [[ 9.83580730e-01 1.79425469e-01 1.93764832e-02 1.01713028e+02] [-1.79389295e-01 9.83771567e-01 -3.60342903e-03 -1.77788409e+01] [-1.97085802e-02 6.83297122e-05 9.99805765e-01 -2.51889883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.368623853 meters 0.01435331000206524 Centerline is valid? [True, True] Translation: X:101.74, Y:-17.79, Z:-2.52 [[ 9.83848838e-01 1.77911206e-01 1.97247585e-02 1.01740017e+02] [-1.77873445e-01 9.84046540e-01 -3.66666893e-03 -1.77861099e+01] [-2.00624218e-02 9.89372303e-05 9.99798724e-01 -2.51928034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.398623853 meters 0.016065339700943957 Centerline is valid? [True, True] Translation: X:101.77, Y:-17.80, Z:-2.52 [[ 9.84603213e-01 1.73500815e-01 2.13068261e-02 1.01767300e+02] [-1.73455751e-01 9.84833705e-01 -3.95933155e-03 -1.77965720e+01] [-2.16706278e-02 2.02579046e-04 9.99765144e-01 -2.51747429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.428623853 meters 0.01742005220027076 Centerline is valid? [True, True] Translation: X:101.79, Y:-17.80, Z:-2.52 [[ 9.85082360e-01 1.70753958e-01 2.13501731e-02 1.01794706e+02] [-1.70708088e-01 9.85313664e-01 -3.96633874e-03 -1.78048722e+01] [-2.17138853e-02 2.62523095e-04 9.99764191e-01 -2.51744854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.458623853 meters 0.02247211331090228 Centerline is valid? [True, True] Translation: X:101.82, Y:-17.82, Z:-2.52 [[ 9.86118234e-01 1.64666993e-01 2.13450085e-02 1.01820693e+02] [-1.64619741e-01 9.86349140e-01 -3.96430475e-03 -1.78188116e+01] [-2.17064209e-02 3.95463419e-04 9.99764310e-01 -2.51789846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.488623853 meters 0.02247211331090228 Centerline is valid? [True, True] Translation: X:101.85, Y:-17.82, Z:-2.52 [[ 9.86130143e-01 1.64595637e-01 2.13451971e-02 1.01847739e+02] [-1.64548390e-01 9.86361049e-01 -3.96328914e-03 -1.78237049e+01] [-2.17064111e-02 3.96001064e-04 9.99764310e-01 -2.51858998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.51862385300001 meters 0.02554962936090638 Centerline is valid? [True, True] Translation: X:101.87, Y:-17.83, Z:-2.52 [[ 9.86622625e-01 1.61623030e-01 2.13023941e-02 1.01874885e+02] [-1.61575317e-01 9.86852464e-01 -3.95362207e-03 -1.78337853e+01] [-2.16613165e-02 4.58791901e-04 9.99765261e-01 -2.51913172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54862385300001 meters 0.029296102840094578 Centerline is valid? [True, True] Translation: X:101.90, Y:-17.85, Z:-2.52 [[ 9.87035967e-01 1.59084533e-01 2.12628945e-02 1.01901676e+02] [-1.59036426e-01 9.87264832e-01 -3.94549773e-03 -1.78450681e+01] [-2.16197756e-02 5.12773429e-04 9.99766134e-01 -2.52053192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.57862385300001 meters 0.03311310348552609 Centerline is valid? [True, True] Translation: X:101.93, Y:-17.86, Z:-2.52 [[ 9.87763556e-01 1.54596164e-01 2.05714140e-02 1.01930038e+02] [-1.54550180e-01 9.87977569e-01 -3.81632176e-03 -1.78591179e+01] [-2.09140843e-02 5.90307817e-04 9.99781102e-01 -2.52212519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60862385300001 meters 0.033719160707215076 Centerline is valid? [True, True] Translation: X:101.96, Y:-17.87, Z:-2.52 [[ 9.88035021e-01 1.52879265e-01 2.03648737e-02 1.01957473e+02] [-1.52833830e-01 9.88244679e-01 -3.77827052e-03 -1.78669292e+01] [-2.07030973e-02 6.20621949e-04 9.99785475e-01 -2.52332746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.63862385300001 meters 0.03537182953077952 Centerline is valid? [True, True] Translation: X:101.99, Y:-17.88, Z:-2.52 [[ 9.88460665e-01 1.50147869e-01 2.00282429e-02 1.01985021e+02] [-1.50103390e-01 9.88663327e-01 -3.71451069e-03 -1.78792280e+01] [-2.03589151e-02 6.65340554e-04 9.99792514e-01 -2.52465186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66862385300001 meters 0.03688957969759534 Centerline is valid? [True, True] Translation: X:102.01, Y:-17.89, Z:-2.53 [[ 9.88615590e-01 1.49154114e-01 1.98057159e-02 1.02011547e+02] [-1.49110431e-01 9.88813729e-01 -3.67263808e-03 -1.78888701e+01] [-2.01319529e-02 6.77588435e-04 9.99797102e-01 -2.52538204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.698623853 meters 0.03901852347611633 Centerline is valid? [True, True] Translation: X:102.04, Y:-17.90, Z:-2.53 [[ 9.88747684e-01 1.48140793e-01 2.07923562e-02 1.02037446e+02] [-1.48092453e-01 9.88966011e-01 -3.85424394e-03 -1.79010906e+01] [-2.11339043e-02 7.31683736e-04 9.99776386e-01 -2.52529152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.728623853 meters 0.03866646574318346 Centerline is valid? [True, True] Translation: X:102.07, Y:-17.91, Z:-2.53 [[ 9.88736235e-01 1.48221150e-01 2.07641203e-02 1.02065247e+02] [-1.48172987e-01 9.88953973e-01 -3.84770264e-03 -1.79081139e+01] [-2.11050702e-02 7.27681293e-04 9.99776998e-01 -2.52576992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.758623853 meters 0.03791120710591149 Centerline is valid? [True, True] Translation: X:102.09, Y:-17.92, Z:-2.53 [[ 9.88657225e-01 1.48752413e-01 2.07270578e-02 1.02094210e+02] [-1.48704561e-01 9.88874213e-01 -3.83974126e-03 -1.79155309e+01] [-2.10676238e-02 7.13979907e-04 9.99777798e-01 -2.52614152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.788623853 meters 0.03545386099818088 Centerline is valid? [True, True] Translation: X:102.12, Y:-17.92, Z:-2.53 [[ 9.88352216e-01 1.50781510e-01 2.06114634e-02 1.02123399e+02] [-1.50734643e-01 9.88566888e-01 -3.81778463e-03 -1.79233196e+01] [-2.09514616e-02 6.66454323e-04 9.99780272e-01 -2.52689233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.818623853 meters 0.038535731123232 Centerline is valid? [True, True] Translation: X:102.15, Y:-17.94, Z:-2.53 [[ 9.88121120e-01 1.52269739e-01 2.07503991e-02 1.02150200e+02] [-1.52222568e-01 9.88338767e-01 -3.84336146e-03 -1.79356051e+01] [-2.10936515e-02 6.39027587e-04 9.99777300e-01 -2.52876673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.848623853 meters 0.030447686020497716 Centerline is valid? [True, True] Translation: X:102.18, Y:-17.94, Z:-2.53 [[ 9.87586783e-01 1.55739998e-01 2.04303713e-02 1.02179927e+02] [-1.55695029e-01 9.87797927e-01 -3.78331431e-03 -1.79370593e+01] [-2.07702918e-02 5.55443952e-04 9.99784120e-01 -2.52872930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.87862385300001 meters 0.029162327928367784 Centerline is valid? [True, True] Translation: X:102.21, Y:-17.94, Z:-2.53 [[ 9.87250096e-01 1.57860680e-01 2.04268075e-02 1.02207458e+02] [-1.57816188e-01 9.87461263e-01 -3.78224273e-03 -1.79432729e+01] [-2.07677485e-02 5.10338604e-04 9.99784197e-01 -2.52949809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90862385300001 meters 0.025510950484618915 Centerline is valid? [True, True] Translation: X:102.24, Y:-17.95, Z:-2.53 [[ 9.86855343e-01 1.60339898e-01 2.01903071e-02 1.02236722e+02] [-1.60296970e-01 9.87061757e-01 -3.73741743e-03 -1.79458028e+01] [-2.05283371e-02 4.51845313e-04 9.99789169e-01 -2.53021885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.93862385300001 meters 0.021668031385612782 Centerline is valid? [True, True] Translation: X:102.27, Y:-17.95, Z:-2.53 [[ 9.85885282e-01 1.66190788e-01 2.02690037e-02 1.02265623e+02] [-1.66148777e-01 9.86093562e-01 -3.75116138e-03 -1.79492811e+01] [-2.06105426e-02 3.30544617e-04 9.99787526e-01 -2.53097617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96862385300001 meters 0.019238534532854897 Centerline is valid? [True, True] Translation: X:102.29, Y:-17.95, Z:-2.53 [[ 9.85379995e-01 1.69213561e-01 1.98251186e-02 1.02294274e+02] [-1.69173989e-01 9.85579374e-01 -3.66864600e-03 -1.79526559e+01] [-2.01600127e-02 2.61115980e-04 9.99796732e-01 -2.53229066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.99862385300001 meters 0.015264276028005034 Centerline is valid? [True, True] Translation: X:102.32, Y:-17.95, Z:-2.53 [[ 9.84351116e-01 1.75129176e-01 1.95614970e-02 1.02322648e+02] [-1.75091835e-01 9.84545455e-01 -3.61892387e-03 -1.79549657e+01] [-1.98929622e-02 1.37233342e-04 9.99802106e-01 -2.53396737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02862385300001 meters 0.013960538795848916 Centerline is valid? [True, True] Translation: X:102.35, Y:-17.96, Z:-2.53 [[ 9.83860823e-01 1.77881116e-01 1.93956238e-02 1.02350982e+02] [-1.77844958e-01 9.84051981e-01 -3.58730535e-03 -1.79585908e+01] [-1.97244159e-02 7.99952918e-05 9.99805452e-01 -2.53457147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.05862385300001 meters 0.013366233624733447 Centerline is valid? [True, True] Translation: X:102.38, Y:-17.96, Z:-2.54 [[ 9.82908082e-01 1.83048041e-01 1.96244163e-02 1.02379043e+02] [-1.83012072e-01 9.83103969e-01 -3.62871389e-03 -1.79602226e+01] [-1.99570705e-02 -2.48128752e-05 9.99800838e-01 -2.53521632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.088623853 meters 0.014123114741405051 Centerline is valid? [True, True] Translation: X:102.41, Y:-17.96, Z:-2.54 [[ 9.82408442e-01 1.85738515e-01 1.93612063e-02 1.02407599e+02] [-1.85704051e-01 9.82599205e-01 -3.57882397e-03 -1.79631300e+01] [-1.96890314e-02 -7.95875536e-05 9.99806149e-01 -2.53618385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.118623853 meters 0.017196511589351364 Centerline is valid? [True, True] Translation: X:102.44, Y:-17.96, Z:-2.54 [[ 9.81480569e-01 1.90549311e-01 1.96685564e-02 1.02435663e+02] [-1.90514726e-01 9.81677609e-01 -3.63472669e-03 -1.79633865e+01] [-2.00007761e-02 -1.79736017e-04 9.99799948e-01 -2.53676273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.148623853 meters 0.019163990736683786 Centerline is valid? [True, True] Translation: X:102.46, Y:-17.97, Z:-2.54 [[ 9.81007816e-01 1.92936135e-01 1.99828120e-02 1.02464140e+02] [-1.92900957e-01 9.81211289e-01 -3.69151717e-03 -1.79664195e+01] [-2.03195878e-02 -2.33296374e-04 9.99793509e-01 -2.53711389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.178623853 meters 0.021135814906912933 Centerline is valid? [True, True] Translation: X:102.49, Y:-17.97, Z:-2.54 [[ 9.80592181e-01 1.95035409e-01 2.00040843e-02 1.02492753e+02] [-1.95000613e-01 9.80796162e-01 -3.69449135e-03 -1.79700661e+01] [-2.03404858e-02 -2.78019367e-04 9.99793072e-01 -2.53765225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.208623853 meters 0.02433891032465228 Centerline is valid? [True, True] Translation: X:102.52, Y:-17.97, Z:-2.54 [[ 9.79888263e-01 1.98559128e-01 1.98308968e-02 1.02522519e+02] [-1.98525673e-01 9.80088848e-01 -3.66145321e-03 -1.79731033e+01] [-2.01630558e-02 -3.49127115e-04 9.99796644e-01 -2.53883334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.238623853 meters 0.026453912910296105 Centerline is valid? [True, True] Translation: X:102.55, Y:-17.98, Z:-2.54 [[ 9.79617544e-01 1.99931566e-01 1.94122970e-02 1.02549851e+02] [-1.99899779e-01 9.79809794e-01 -3.58414142e-03 -1.79757711e+01] [-1.97369417e-02 -3.69426055e-04 9.99805139e-01 -2.54076082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26862385300001 meters 0.027641137191192395 Centerline is valid? [True, True] Translation: X:102.58, Y:-17.98, Z:-2.54 [[ 9.79122493e-01 2.02400137e-01 1.87970408e-02 1.02578140e+02] [-2.02370830e-01 9.79302822e-01 -3.46831375e-03 -1.79805931e+01] [-1.91099823e-02 -4.08068745e-04 9.99817304e-01 -2.54259830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.29862385300001 meters 0.029755950056205422 Centerline is valid? [True, True] Translation: X:102.61, Y:-17.98, Z:-2.54 [[ 9.78935122e-01 2.03333590e-01 1.84791123e-02 1.02605690e+02] [-2.03305447e-01 9.79109429e-01 -3.40885373e-03 -1.79829789e+01] [-1.87862075e-02 -4.19857538e-04 9.99823435e-01 -2.54447001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32862385300001 meters 0.029870417349052315 Centerline is valid? [True, True] Translation: X:102.63, Y:-17.99, Z:-2.55 [[ 9.78883750e-01 2.03597338e-01 1.82955671e-02 1.02633738e+02] [-2.03569820e-01 9.79054618e-01 -3.37380863e-03 -1.79880130e+01] [-1.85992579e-02 -4.21858842e-04 9.99826930e-01 -2.54560118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.35862385300001 meters 0.031358396723762075 Centerline is valid? [True, True] Translation: X:102.66, Y:-17.99, Z:-2.55 [[ 9.79006707e-01 2.03075827e-01 1.74950540e-02 1.02661672e+02] [-2.03050593e-01 9.79162935e-01 -3.22548427e-03 -1.79917123e+01] [-1.77855263e-02 -3.94610360e-04 9.99841747e-01 -2.54886561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38862385300001 meters 0.028170321426661295 Centerline is valid? [True, True] Translation: X:102.69, Y:-18.00, Z:-2.55 [[ 9.79147329e-01 2.02396472e-01 1.74979036e-02 1.02689305e+02] [-2.02371141e-01 9.79303590e-01 -3.22487936e-03 -1.80020065e+01] [-1.77884640e-02 -3.83438707e-04 9.99841699e-01 -2.54874176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.41862385300001 meters 0.028113375987768696 Centerline is valid? [True, True] Translation: X:102.72, Y:-18.01, Z:-2.55 [[ 9.79255041e-01 2.01832325e-01 1.79798935e-02 1.02716606e+02] [-2.01805500e-01 9.79420015e-01 -3.31288151e-03 -1.80073441e+01] [-1.82785142e-02 -3.84285487e-04 9.99832860e-01 -2.54874794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.448623853 meters 0.028198092788078295 Centerline is valid? [True, True] Translation: X:102.74, Y:-18.01, Z:-2.55 [[ 9.79234325e-01 2.01906535e-01 1.82726246e-02 1.02744425e+02] [-2.01878862e-01 9.79404716e-01 -3.36575863e-03 -1.80116446e+01] [-1.85758634e-02 -3.92990294e-04 9.99827377e-01 -2.54857813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.478623853 meters 0.02802248251821827 Centerline is valid? [True, True] Translation: X:102.77, Y:-18.02, Z:-2.55 [[ 9.79220206e-01 2.01921928e-01 1.88499909e-02 1.02772665e+02] [-2.01892509e-01 9.79401536e-01 -3.47069563e-03 -1.80151697e+01] [-1.91625196e-02 -4.07096660e-04 9.99816299e-01 -2.54856971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.508623853 meters 0.027991981998578015 Centerline is valid? [True, True] Translation: X:102.80, Y:-18.02, Z:-2.55 [[ 9.79288708e-01 2.01585745e-01 1.88895320e-02 1.02800190e+02] [-2.01556167e-01 9.79470788e-01 -3.47652747e-03 -1.80190997e+01] [-1.92025632e-02 -4.02777593e-04 9.99815533e-01 -2.54970491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.538623853 meters 0.027758788208512273 Centerline is valid? [True, True] Translation: X:102.83, Y:-18.02, Z:-2.55 [[ 9.79354039e-01 2.01264091e-01 1.89322843e-02 1.02828377e+02] [-2.01234343e-01 9.79536935e-01 -3.48317377e-03 -1.80237775e+01] [-1.92459095e-02 -3.98565483e-04 9.99814701e-01 -2.55058779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.568623853 meters 0.02724155084786766 Centerline is valid? [True, True] Translation: X:102.86, Y:-18.03, Z:-2.55 [[ 9.79721900e-01 1.99504687e-01 1.85169830e-02 1.02855685e+02] [-1.99475931e-01 9.79896807e-01 -3.40597139e-03 -1.80276255e+01] [-1.88242398e-02 -3.56787652e-04 9.99822745e-01 -2.55242775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.598623853 meters 0.024340781373870305 Centerline is valid? [True, True] Translation: X:102.88, Y:-18.04, Z:-2.55 [[ 9.79971596e-01 1.98291805e-01 1.83311679e-02 1.02883795e+02] [-1.98263432e-01 9.80142975e-01 -3.37063766e-03 -1.80357647e+01] [-1.86355353e-02 -3.31271090e-04 9.99826288e-01 -2.55307618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62862385300001 meters 0.02289884894461945 Centerline is valid? [True, True] Translation: X:102.91, Y:-18.04, Z:-2.56 [[ 9.80457732e-01 1.95922445e-01 1.78053588e-02 1.02911143e+02] [-1.95895299e-01 9.80619354e-01 -3.27320382e-03 -1.80405828e+01] [-1.81015736e-02 -2.78748101e-04 9.99836114e-01 -2.55523863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.65862385300001 meters 0.02118162124616128 Centerline is valid? [True, True] Translation: X:102.94, Y:-18.05, Z:-2.56 [[ 9.80730941e-01 1.94518946e-01 1.81438733e-02 1.02939594e+02] [-1.94490540e-01 9.80898727e-01 -3.33422020e-03 -1.80467527e+01] [-1.84458712e-02 -2.58838804e-04 9.99829827e-01 -2.55505758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68862385300001 meters 0.020312845834945543 Centerline is valid? [True, True] Translation: X:102.97, Y:-18.05, Z:-2.56 [[ 9.80939491e-01 1.93443767e-01 1.83636716e-02 1.02968166e+02] [-1.93414498e-01 9.81111334e-01 -3.37370429e-03 -1.80519398e+01] [-1.86694284e-02 -2.42400562e-04 9.99825682e-01 -2.55502799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.71862385300001 meters 0.01846082818584808 Centerline is valid? [True, True] Translation: X:103.00, Y:-18.06, Z:-2.55 [[ 9.81307948e-01 1.91525504e-01 1.87801284e-02 1.02996547e+02] [-1.91494558e-01 9.81487614e-01 -3.44927890e-03 -1.80569785e+01] [-1.90930883e-02 -2.11487594e-04 9.99817688e-01 -2.55489301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74862385300001 meters 0.017296102171267286 Centerline is valid? [True, True] Translation: X:103.02, Y:-18.06, Z:-2.55 [[ 9.81663296e-01 1.89669442e-01 1.90440656e-02 1.03024302e+02] [-1.89637288e-01 9.81847988e-01 -3.49686994e-03 -1.80623052e+01] [-1.93616269e-02 -1.78716072e-04 9.99812530e-01 -2.55494326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.77862385300001 meters 0.01687563824752574 Centerline is valid? [True, True] Translation: X:103.05, Y:-18.07, Z:-2.56 [[ 9.81871721e-01 1.88586680e-01 1.90522300e-02 1.03051850e+02] [-1.88554317e-01 9.82056536e-01 -3.49720383e-03 -1.80674311e+01] [-1.93698931e-02 -1.58574676e-04 9.99812373e-01 -2.55681771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80862385300001 meters 0.015323526315503452 Centerline is valid? [True, True] Translation: X:103.08, Y:-18.07, Z:-2.56 [[ 9.82161919e-01 1.87087651e-01 1.88725936e-02 1.03079744e+02] [-1.87055642e-01 9.82343216e-01 -3.46304595e-03 -1.80749691e+01] [-1.91872574e-02 -1.28953253e-04 9.99815899e-01 -2.55658733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.838623853 meters 0.020211030659233412 Centerline is valid? [True, True] Translation: X:103.11, Y:-18.08, Z:-2.55 [[ 9.82733592e-01 1.84060966e-01 1.88745514e-02 1.03107369e+02] [-1.84028405e-01 9.82914826e-01 -3.46268962e-03 -1.80801700e+01] [-1.91894224e-02 -7.05521893e-05 9.99815864e-01 -2.55469230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.868623853 meters 0.01347107373251742 Centerline is valid? [True, True] Translation: X:103.14, Y:-18.09, Z:-2.56 [[ 9.83064081e-01 1.82245528e-01 1.92764116e-02 1.03135569e+02] [-1.82211255e-01 9.83253053e-01 -3.53445540e-03 -1.80882558e+01] [-1.95977292e-02 -3.77829887e-05 9.99807945e-01 -2.55752731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.898623853 meters 0.013522690710424463 Centerline is valid? [True, True] Translation: X:103.16, Y:-18.10, Z:-2.56 [[ 9.83763506e-01 1.78512031e-01 1.85153945e-02 1.03163511e+02] [-1.78479766e-01 9.83937728e-01 -3.39404572e-03 -1.80964043e+01] [-1.88238732e-02 3.43150417e-05 9.99822815e-01 -2.55903016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.928623853 meters 0.014021186434168978 Centerline is valid? [True, True] Translation: X:103.19, Y:-18.10, Z:-2.56 [[ 9.84080489e-01 1.76792745e-01 1.81635853e-02 1.03190782e+02] [-1.76761417e-01 9.84248099e-01 -3.32873513e-03 -1.81026421e+01] [-1.84659705e-02 6.51222243e-05 9.99829487e-01 -2.56084859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.958623853 meters 0.014456112759699876 Centerline is valid? [True, True] Translation: X:103.22, Y:-18.11, Z:-2.56 [[ 9.84320514e-01 1.75487052e-01 1.78162843e-02 1.03219331e+02] [-1.75456718e-01 9.84481735e-01 -3.26389650e-03 -1.81085966e+01] [-1.81125781e-02 8.67335048e-05 9.99835950e-01 -2.56175464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.988623853 meters 0.015321427680966738 Centerline is valid? [True, True] Translation: X:103.25, Y:-18.12, Z:-2.56 [[ 9.84684413e-01 1.73444434e-01 1.77097601e-02 1.03246952e+02] [-1.73414147e-01 9.84843649e-01 -3.24350474e-03 -1.81154555e+01] [-1.80039126e-02 1.22705629e-04 9.99837909e-01 -2.56254074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.01862385300001 meters 0.015741849919054647 Centerline is valid? [True, True] Translation: X:103.27, Y:-18.12, Z:-2.56 [[ 9.84767203e-01 1.72931526e-01 1.81174689e-02 1.03273547e+02] [-1.72899755e-01 9.84933840e-01 -3.31748561e-03 -1.81211222e+01] [-1.84182060e-02 1.34445100e-04 9.99830361e-01 -2.56350177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04862385300001 meters 0.015810019313221266 Centerline is valid? [True, True] Translation: X:103.30, Y:-18.13, Z:-2.56 [[ 9.84887820e-01 1.72187173e-01 1.86429175e-02 1.03300806e+02] [-1.72153432e-01 9.85064239e-01 -3.41194850e-03 -1.81256582e+01] [-1.89519651e-02 1.50944296e-04 9.99820384e-01 -2.56212091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.07862385300001 meters 0.01624392522796359 Centerline is valid? [True, True] Translation: X:103.33, Y:-18.13, Z:-2.56 [[ 9.84902161e-01 1.72063675e-01 1.90216958e-02 1.03328192e+02] [-1.72028553e-01 9.85085817e-01 -3.47984853e-03 -1.81302794e+01] [-1.93367583e-02 1.55035532e-04 9.99813015e-01 -2.56268011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10862385300001 meters 0.015910027464326067 Centerline is valid? [True, True] Translation: X:103.36, Y:-18.13, Z:-2.56 [[ 9.84995584e-01 1.71524025e-01 1.90580107e-02 1.03356495e+02] [-1.71488699e-01 9.85179924e-01 -3.48488558e-03 -1.81333328e+01] [-1.93733112e-02 1.64363441e-04 9.99812306e-01 -2.56197783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.13862385300001 meters 0.01718873863470501 Centerline is valid? [True, True] Translation: X:103.38, Y:-18.14, Z:-2.56 [[ 9.85252344e-01 1.69996385e-01 1.94691417e-02 1.03384028e+02] [-1.69959238e-01 9.85444666e-01 -3.55912854e-03 -1.81396198e+01] [-1.97908008e-02 1.97679262e-04 9.99804123e-01 -2.56292435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16862385300001 meters 0.01765506980759242 Centerline is valid? [True, True] Translation: X:103.41, Y:-18.15, Z:-2.56 [[ 9.85444253e-01 1.68862731e-01 1.96214533e-02 1.03412515e+02] [-1.68824802e-01 9.85639553e-01 -3.58567551e-03 -1.81456600e+01] [-1.99451674e-02 2.20895354e-04 9.99801051e-01 -2.56301182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.198623853 meters 0.020175803763096245 Centerline is valid? [True, True] Translation: X:103.44, Y:-18.16, Z:-2.56 [[ 9.85994780e-01 1.65562441e-01 2.00841241e-02 1.03439177e+02] [-1.65522035e-01 9.86199266e-01 -3.66930827e-03 -1.81552803e+01] [-2.04144481e-02 2.93553701e-04 9.99791560e-01 -2.56311040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.228623853 meters 0.021849804393565608 Centerline is valid? [True, True] Translation: X:103.47, Y:-18.16, Z:-2.56 [[ 9.86305183e-01 1.63711011e-01 2.00197526e-02 1.03466614e+02] [-1.63670514e-01 9.86508285e-01 -3.65601856e-03 -1.81636398e+01] [-2.03481823e-02 3.29306863e-04 9.99792900e-01 -2.56414563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.258623853 meters 0.025661554197698465 Centerline is valid? [True, True] Translation: X:103.49, Y:-18.18, Z:-2.57 [[ 9.86939793e-01 1.59957296e-01 1.90658812e-02 1.03492944e+02] [-1.59919883e-01 9.87123860e-01 -3.48095141e-03 -1.81754932e+01] [-1.93771899e-02 3.86475978e-04 9.99812170e-01 -2.56673004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.288623853 meters 0.0271846456714622 Centerline is valid? [True, True] Translation: X:103.52, Y:-18.18, Z:-2.57 [[ 9.87222092e-01 1.58263901e-01 1.85762890e-02 1.03521496e+02] [-1.58228104e-01 9.87396765e-01 -3.39054705e-03 -1.81835456e+01] [-1.88787688e-02 4.07931955e-04 9.99821697e-01 -2.56871103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.318623853 meters 0.02873779061507699 Centerline is valid? [True, True] Translation: X:103.55, Y:-18.19, Z:-2.57 [[ 9.87433438e-01 1.57010226e-01 1.79720714e-02 1.03549155e+02] [-1.56976517e-01 9.87596889e-01 -3.28001346e-03 -1.81915993e+01] [-1.82641575e-02 4.17601783e-04 9.99833109e-01 -2.57068447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.348623853 meters 0.03025723235601939 Centerline is valid? [True, True] Translation: X:103.58, Y:-18.20, Z:-2.57 [[ 9.87659744e-01 1.55608641e-01 1.77251309e-02 1.03576401e+02] [-1.55575643e-01 9.87818688e-01 -3.23403205e-03 -1.82011592e+01] [-1.80124588e-02 4.36524639e-04 9.99837667e-01 -2.57215283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.37862385300001 meters 0.030859243329091523 Centerline is valid? [True, True] Translation: X:103.60, Y:-18.21, Z:-2.57 [[ 9.87687728e-01 1.55347136e-01 1.84450145e-02 1.03603551e+02] [-1.55311368e-01 9.87859837e-01 -3.36483040e-03 -1.82097320e+01] [-1.87438057e-02 4.58681268e-04 9.99824214e-01 -2.57126756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40862385300001 meters 0.030859243329091523 Centerline is valid? [True, True] Translation: X:103.63, Y:-18.21, Z:-2.57 [[ 9.87694798e-01 1.55302157e-01 1.84452197e-02 1.03631436e+02] [-1.55266402e-01 9.87866909e-01 -3.36370499e-03 -1.82147286e+01] [-1.87438128e-02 4.58391025e-04 9.99824214e-01 -2.57198025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.43862385300001 meters 0.03130586901135461 Centerline is valid? [True, True] Translation: X:103.66, Y:-18.22, Z:-2.57 [[ 9.87700498e-01 1.55214478e-01 1.88730711e-02 1.03658984e+02] [-1.55177048e-01 9.87880684e-01 -3.44074405e-03 -1.82220615e+01] [-1.91783957e-02 4.69757150e-04 9.99815967e-01 -2.57191079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46862385300001 meters 0.03199365115836554 Centerline is valid? [True, True] Translation: X:103.69, Y:-18.23, Z:-2.57 [[ 9.87759698e-01 1.54798969e-01 1.91848625e-02 1.03687209e+02] [-1.54760228e-01 9.87945871e-01 -3.49683353e-03 -1.82306784e+01] [-1.94949119e-02 4.84977543e-04 9.99809839e-01 -2.57244441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.49862385300001 meters 0.02883021514365755 Centerline is valid? [True, True] Translation: X:103.72, Y:-18.24, Z:-2.57 [[ 9.87887727e-01 1.53921438e-01 1.96476213e-02 1.03717757e+02] [-1.53880644e-01 9.88082955e-01 -3.58058902e-03 -1.82358427e+01] [-1.99646091e-02 5.13831342e-04 9.99800555e-01 -2.57079013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52862385300001 meters 0.03319939466545775 Centerline is valid? [True, True] Translation: X:103.74, Y:-18.25, Z:-2.57 [[ 9.87921591e-01 1.53672643e-01 1.98909386e-02 1.03744556e+02] [-1.53630780e-01 9.88121674e-01 -3.62499206e-03 -1.82507734e+01] [-2.02117296e-02 5.25347499e-04 9.99795584e-01 -2.57243044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.55862385300001 meters 0.03390914947533079 Centerline is valid? [True, True] Translation: X:103.77, Y:-18.26, Z:-2.57 [[ 9.87917142e-01 1.53736350e-01 1.96177109e-02 1.03772662e+02] [-1.53695649e-01 9.88111769e-01 -3.57483324e-03 -1.82594542e+01] [-1.99340728e-02 5.16482233e-04 9.99801163e-01 -2.57389301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.588623853 meters 0.03402816119971718 Centerline is valid? [True, True] Translation: X:103.80, Y:-18.27, Z:-2.57 [[ 9.87856078e-01 1.54162863e-01 1.93437712e-02 1.03800865e+02] [-1.54123366e-01 9.88045323e-01 -3.52525717e-03 -1.82679098e+01] [-1.96559864e-02 5.01119591e-04 9.99806677e-01 -2.57490191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.618623853 meters 0.0324746422876098 Centerline is valid? [True, True] Translation: X:103.83, Y:-18.28, Z:-2.58 [[ 9.87643473e-01 1.55562822e-01 1.89889065e-02 1.03829962e+02] [-1.55525023e-01 9.87825892e-01 -3.46043931e-03 -1.82755481e+01] [-1.92960492e-02 4.64430175e-04 9.99813706e-01 -2.57671048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.648623853 meters 0.03117638308868355 Centerline is valid? [True, True] Translation: X:103.86, Y:-18.28, Z:-2.58 [[ 9.87422891e-01 1.57031941e-01 1.83576572e-02 1.03859033e+02] [-1.56996874e-01 9.87593435e-01 -3.34500033e-03 -1.82810084e+01] [-1.86551737e-02 4.20835093e-04 9.99825889e-01 -2.57864020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.678623853 meters 0.02763113058442129 Centerline is valid? [True, True] Translation: X:103.89, Y:-18.29, Z:-2.58 [[ 9.86857859e-01 1.60530375e-01 1.84814982e-02 1.03887528e+02] [-1.60495456e-01 9.87030836e-01 -3.36704014e-03 -1.82853988e+01] [-1.87823208e-02 3.56593551e-04 9.99823533e-01 -2.57962333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.708623853 meters 0.021733101585569757 Centerline is valid? [True, True] Translation: X:103.92, Y:-18.28, Z:-2.58 [[ 9.86564313e-01 1.62297232e-01 1.87206840e-02 1.03918471e+02] [-1.62261724e-01 9.86741862e-01 -3.41045762e-03 -1.82844335e+01] [-1.90259904e-02 3.26985306e-04 9.99818936e-01 -2.57772098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.738623853 meters 0.023820288051614943 Centerline is valid? [True, True] Translation: X:103.95, Y:-18.29, Z:-2.58 [[ 9.86246215e-01 1.64225213e-01 1.86677043e-02 1.03946468e+02] [-1.64190250e-01 9.86422828e-01 -3.40088329e-03 -1.82944752e+01] [-1.89727605e-02 2.89053229e-04 9.99819959e-01 -2.58069458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76862385300001 meters 0.018687230165876176 Centerline is valid? [True, True] Translation: X:103.98, Y:-18.30, Z:-2.58 [[ 9.85607960e-01 1.68015219e-01 1.86503583e-02 1.03975432e+02] [-1.67980999e-01 9.85784378e-01 -3.39770366e-03 -1.82951500e+01] [-1.89560978e-02 2.15897953e-04 9.99820294e-01 -2.58034720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.79862385300001 meters 0.01748190929910312 Centerline is valid? [True, True] Translation: X:104.00, Y:-18.30, Z:-2.58 [[ 9.85290392e-01 1.69884678e-01 1.84943383e-02 1.04003092e+02] [-1.69851372e-01 9.85463934e-01 -3.36848134e-03 -1.82997696e+01] [-1.87977568e-02 1.77643550e-04 9.99823291e-01 -2.58132941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82862385300001 meters 0.015165296243335792 Centerline is valid? [True, True] Translation: X:104.03, Y:-18.30, Z:-2.58 [[ 9.84675654e-01 1.73432723e-01 1.83015428e-02 1.04031771e+02] [-1.73400743e-01 9.84845713e-01 -3.33215130e-03 -1.83016786e+01] [-1.86021001e-02 1.07587143e-04 9.99826960e-01 -2.58173594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.85862385300001 meters 0.014309990891317693 Centerline is valid? [True, True] Translation: X:104.06, Y:-18.30, Z:-2.58 [[ 9.84329878e-01 1.75397203e-01 1.81800129e-02 1.04060618e+02] [-1.75365998e-01 9.84497748e-01 -3.30915115e-03 -1.83044233e+01] [-1.84785977e-02 6.91402446e-05 9.99829254e-01 -2.58257065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88862385300001 meters 0.013672786905167933 Centerline is valid? [True, True] Translation: X:104.09, Y:-18.31, Z:-2.58 [[ 9.83737748e-01 1.78664753e-01 1.84105564e-02 1.04088375e+02] [-1.78633338e-01 9.83910009e-01 -3.35028466e-03 -1.83071261e+01] [-1.87129085e-02 7.06234220e-06 9.99824898e-01 -2.58329638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.91862385300001 meters 0.013683083340276361 Centerline is valid? [True, True] Translation: X:104.12, Y:-18.31, Z:-2.58 [[ 9.83459047e-01 1.80182745e-01 1.85062491e-02 1.04116634e+02] [-1.80151294e-01 9.83633152e-01 -3.36650450e-03 -1.83116156e+01] [-1.88099461e-02 -2.31054074e-05 9.99823077e-01 -2.58377780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.948623853 meters 0.021966252441918088 Centerline is valid? [True, True] Translation: X:104.15, Y:-18.31, Z:-2.58 [[ 9.82982761e-01 1.82834601e-01 1.77876612e-02 1.04145635e+02] [-1.82805995e-01 9.83143684e-01 -3.23490620e-03 -1.83139150e+01] [-1.80792795e-02 -7.18340799e-05 9.99836554e-01 -2.57931987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.978623853 meters 0.014969369943891989 Centerline is valid? [True, True] Translation: X:104.17, Y:-18.32, Z:-2.58 [[ 9.82701917e-01 1.84288219e-01 1.82974046e-02 1.04173474e+02] [-1.84258212e-01 9.82872241e-01 -3.32707054e-03 -1.83181715e+01] [-1.85971509e-02 -1.01928446e-04 9.99827053e-01 -2.58468951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.008623853 meters 0.015827560484032513 Centerline is valid? [True, True] Translation: X:104.20, Y:-18.32, Z:-2.59 [[ 9.82451431e-01 1.85605051e-01 1.84377474e-02 1.04202274e+02] [-1.85574836e-01 9.82624419e-01 -3.35137168e-03 -1.83223457e+01] [-1.87394123e-02 -1.29022049e-04 9.99824393e-01 -2.58555844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.038623853 meters 0.017125689635853977 Centerline is valid? [True, True] Translation: X:104.23, Y:-18.33, Z:-2.59 [[ 9.81972958e-01 1.88108870e-01 1.85516335e-02 1.04230712e+02] [-1.88078744e-01 9.82148167e-01 -3.37117592e-03 -1.83251926e+01] [-1.88546010e-02 -1.78764349e-04 9.99822220e-01 -2.58529273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.068623853 meters 0.017839175611729912 Centerline is valid? [True, True] Translation: X:104.26, Y:-18.33, Z:-2.59 [[ 9.81727603e-01 1.89385852e-01 1.85448825e-02 1.04259792e+02] [-1.89355994e-01 9.81902723e-01 -3.36902611e-03 -1.83286618e+01] [-1.88473165e-02 -2.04118731e-04 9.99822353e-01 -2.58584708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.098623853 meters 0.02191894669701836 Centerline is valid? [True, True] Translation: X:104.29, Y:-18.33, Z:-2.59 [[ 9.81246050e-01 1.91865023e-01 1.85472967e-02 1.04287966e+02] [-1.91835615e-01 9.81421290e-01 -3.36860523e-03 -1.83282393e+01] [-1.88490293e-02 -2.52601485e-04 9.99822309e-01 -2.58810836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12862385300001 meters 0.02114422399701938 Centerline is valid? [True, True] Translation: X:104.32, Y:-18.33, Z:-2.59 [[ 9.81044307e-01 1.92886441e-01 1.86249650e-02 1.04316022e+02] [-1.92856994e-01 9.81221048e-01 -3.38145629e-03 -1.83343471e+01] [-1.89274447e-02 -2.74596332e-04 9.99820822e-01 -2.58730200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.15862385300001 meters 0.02346215022752588 Centerline is valid? [True, True] Translation: X:104.35, Y:-18.33, Z:-2.59 [[ 9.80520776e-01 1.95453047e-01 1.94194537e-02 1.04345673e+02] [-1.95421557e-01 9.80713002e-01 -3.52468955e-03 -1.83338736e+01] [-1.97338220e-02 -3.38948549e-04 9.99805212e-01 -2.58646947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18862385300001 meters 0.024709009616864952 Centerline is valid? [True, True] Translation: X:104.37, Y:-18.34, Z:-2.59 [[ 9.80263937e-01 1.96752940e-01 1.92586199e-02 1.04374737e+02] [-1.96722238e-01 9.80453033e-01 -3.49456452e-03 -1.83361385e+01] [-1.95697381e-02 -3.63003231e-04 9.99808428e-01 -2.58765738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.21862385300001 meters 0.0265939129743934 Centerline is valid? [True, True] Translation: X:104.40, Y:-18.34, Z:-2.59 [[ 9.80037165e-01 1.97974979e-01 1.82500244e-02 1.04402346e+02] [-1.97947631e-01 9.80207005e-01 -3.31097672e-03 -1.83373649e+01] [-1.85442923e-02 -3.67668855e-04 9.99827972e-01 -2.59066056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24862385300001 meters 0.02684000144504265 Centerline is valid? [True, True] Translation: X:104.43, Y:-18.34, Z:-2.59 [[ 9.80021451e-01 1.98073857e-01 1.80195018e-02 1.04431188e+02] [-1.98047247e-01 9.80187029e-01 -3.26731443e-03 -1.83415827e+01] [-1.83096515e-02 -3.66674496e-04 9.99832297e-01 -2.59201325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.27862385300001 meters 0.026554817881436224 Centerline is valid? [True, True] Translation: X:104.46, Y:-18.35, Z:-2.59 [[ 9.80043731e-01 1.97978847e-01 1.78511093e-02 1.04459088e+02] [-1.97952728e-01 9.80206226e-01 -3.23610327e-03 -1.83455816e+01] [-1.81384485e-02 -3.62153059e-04 9.99835419e-01 -2.59287672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30862385300001 meters 0.02591852303126789 Centerline is valid? [True, True] Translation: X:104.49, Y:-18.35, Z:-2.59 [[ 9.80257507e-01 1.96868935e-01 1.83804797e-02 1.04486681e+02] [-1.96841077e-01 9.80429752e-01 -3.33059386e-03 -1.83486434e+01] [-1.86764596e-02 -3.53193775e-04 9.99825517e-01 -2.59245704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.338623853 meters 0.02504361170390917 Centerline is valid? [True, True] Translation: X:104.52, Y:-18.35, Z:-2.59 [[ 9.80452726e-01 1.95843205e-01 1.89180305e-02 1.04515080e+02] [-1.95813527e-01 9.80635162e-01 -3.42673843e-03 -1.83539300e+01] [-1.92227893e-02 -3.44651237e-04 9.99815166e-01 -2.59256403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.368623853 meters 0.02189227756743308 Centerline is valid? [True, True] Translation: X:104.54, Y:-18.36, Z:-2.59 [[ 9.81153328e-01 1.92306561e-01 1.88768027e-02 1.04541937e+02] [-1.92276371e-01 9.81334862e-01 -3.41854384e-03 -1.83623754e+01] [-1.91818730e-02 -2.75447450e-04 9.99815973e-01 -2.59282559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.398623853 meters 0.018767581470398472 Centerline is valid? [True, True] Translation: X:104.57, Y:-18.37, Z:-2.59 [[ 9.81599001e-01 1.89971853e-01 1.93415758e-02 1.04569584e+02] [-1.89939738e-01 9.81789509e-01 -3.50101357e-03 -1.83716029e+01] [-1.96544502e-02 -2.37142412e-04 9.99806805e-01 -2.59220083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.428623853 meters 0.015873405428493793 Centerline is valid? [True, True] Translation: X:104.60, Y:-18.38, Z:-2.59 [[ 9.82620152e-01 1.84555389e-01 1.99235012e-02 1.04596287e+02] [-1.84520218e-01 9.82822105e-01 -3.60537083e-03 -1.83817750e+01] [-2.02466480e-02 -1.33578755e-04 9.99795007e-01 -2.59305490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.458623853 meters 0.014049922418687202 Centerline is valid? [True, True] Translation: X:104.62, Y:-18.39, Z:-2.59 [[ 9.83247794e-01 1.81149801e-01 2.02120258e-02 1.04623590e+02] [-1.81112912e-01 9.83455513e-01 -3.65622332e-03 -1.83920511e+01] [-2.05399523e-02 -6.56853251e-05 9.99789031e-01 -2.59329752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.488623853 meters 0.016508920294166927 Centerline is valid? [True, True] Translation: X:104.65, Y:-18.41, Z:-2.59 [[ 9.84516085e-01 1.74181670e-01 1.97186217e-02 1.04648616e+02] [-1.74145178e-01 9.84713532e-01 -3.56613038e-03 -1.84080981e+01] [-2.00383482e-02 7.70098348e-05 9.99799209e-01 -2.59218958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.51862385300001 meters 0.015847861817732914 Centerline is valid? [True, True] Translation: X:104.68, Y:-18.42, Z:-2.60 [[ 9.85154612e-01 1.70556345e-01 1.95172522e-02 1.04677051e+02] [-1.70519908e-01 9.85347914e-01 -3.52842040e-03 -1.84182926e+01] [-1.98330782e-02 1.47959582e-04 9.99803294e-01 -2.59550191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54862385300001 meters 0.01974826998032648 Centerline is valid? [True, True] Translation: X:104.70, Y:-18.43, Z:-2.60 [[ 9.85774287e-01 1.66983674e-01 1.91182316e-02 1.04704432e+02] [-1.66948050e-01 9.85959637e-01 -3.45575366e-03 -1.84311355e+01] [-1.94268591e-02 2.14841633e-04 9.99811258e-01 -2.59826543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.57862385300001 meters 0.024494889922193955 Centerline is valid? [True, True] Translation: X:104.73, Y:-18.45, Z:-2.60 [[ 9.86888216e-01 1.60341506e-01 1.85000137e-02 1.04733130e+02] [-1.60306988e-01 9.87061543e-01 -3.34363712e-03 -1.84467174e+01] [-1.87967758e-02 3.34114603e-04 9.99823269e-01 -2.59933838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60862385300001 meters 0.027124729535416 Centerline is valid? [True, True] Translation: X:104.76, Y:-18.46, Z:-2.60 [[ 9.87334875e-01 1.57542912e-01 1.87103137e-02 1.04763002e+02] [-1.57507099e-01 9.87512064e-01 -3.38180321e-03 -1.84579170e+01] [-1.90094397e-02 3.91965021e-04 9.99819227e-01 -2.59936111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.63862385300001 meters 0.031523077120690406 Centerline is valid? [True, True] Translation: X:104.79, Y:-18.47, Z:-2.60 [[ 9.88018128e-01 1.53149176e-01 1.91182982e-02 1.04791655e+02] [-1.53110951e-01 9.88202961e-01 -3.45608512e-03 -1.84721353e+01] [-1.94220555e-02 4.87453930e-04 9.99811255e-01 -2.59907143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66862385300001 meters 0.030908474622534807 Centerline is valid? [True, True] Translation: X:104.82, Y:-18.48, Z:-2.60 [[ 9.88213323e-01 1.51864762e-01 1.92749194e-02 1.04823321e+02] [-1.51825676e-01 9.88401147e-01 -3.48374811e-03 -1.84785912e+01] [-1.95804110e-02 5.16258625e-04 9.99808152e-01 -2.59883584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.698623853 meters 0.03416556794495926 Centerline is valid? [True, True] Translation: X:104.85, Y:-18.49, Z:-2.60 [[ 9.88350327e-01 1.50984457e-01 1.91657377e-02 1.04852440e+02] [-1.50945574e-01 9.88535992e-01 -3.46780363e-03 -1.84900283e+01] [-1.94696060e-02 5.34421575e-04 9.99810306e-01 -2.60021474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.728623853 meters 0.035710873272706486 Centerline is valid? [True, True] Translation: X:104.88, Y:-18.50, Z:-2.60 [[ 9.88485413e-01 1.50117639e-01 1.90074543e-02 1.04881759e+02] [-1.50079211e-01 9.88667990e-01 -3.44038834e-03 -1.85009205e+01] [-1.93085246e-02 5.48149937e-04 9.99813423e-01 -2.60140763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.758623853 meters 0.03509769299981834 Centerline is valid? [True, True] Translation: X:104.91, Y:-18.51, Z:-2.60 [[ 9.88479144e-01 1.50183116e-01 1.88152363e-02 1.04914163e+02] [-1.50145423e-01 9.88658048e-01 -3.40825066e-03 -1.85075583e+01] [-1.91136965e-02 5.43963084e-04 9.99817169e-01 -2.60221135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.788623853 meters 0.034720402380540895 Centerline is valid? [True, True] Translation: X:104.94, Y:-18.52, Z:-2.60 [[ 9.88345122e-01 1.51107006e-01 1.84551552e-02 1.04944828e+02] [-1.51070836e-01 9.88517275e-01 -3.34662014e-03 -1.85161891e+01] [-1.87489375e-02 5.19579955e-04 9.99824088e-01 -2.60402588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.818623853 meters 0.03412083469042661 Centerline is valid? [True, True] Translation: X:104.98, Y:-18.52, Z:-2.60 [[ 9.88221225e-01 1.51893450e-01 1.86330389e-02 1.04976331e+02] [-1.51856659e-01 9.88396741e-01 -3.38202538e-03 -1.85231292e+01] [-1.89305424e-02 5.12638229e-04 9.99820670e-01 -2.60423222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.848623853 meters 0.03257978442923189 Centerline is valid? [True, True] Translation: X:105.01, Y:-18.53, Z:-2.60 [[ 9.87955987e-01 1.53567185e-01 1.89759712e-02 1.05007771e+02] [-1.53529273e-01 9.88138086e-01 -3.44750704e-03 -1.85301547e+01] [-1.92803038e-02 4.92618156e-04 9.99813996e-01 -2.60440567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.87862385300001 meters 0.031060996168620476 Centerline is valid? [True, True] Translation: X:105.04, Y:-18.54, Z:-2.60 [[ 9.87834978e-01 1.54363613e-01 1.88130435e-02 1.05039286e+02] [-1.54326435e-01 9.88013992e-01 -3.42097925e-03 -1.85354046e+01] [-1.91156249e-02 4.76013039e-04 9.99817166e-01 -2.60497648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90862385300001 meters 0.03100030665417265 Centerline is valid? [True, True] Translation: X:105.07, Y:-18.54, Z:-2.61 [[ 9.87638128e-01 1.55615460e-01 1.88349811e-02 1.05069041e+02] [-1.55578353e-01 9.87817605e-01 -3.42858467e-03 -1.85447473e+01] [-1.91390667e-02 4.55885599e-04 9.99816727e-01 -2.60610209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93862385300001 meters 0.029688571720994157 Centerline is valid? [True, True] Translation: X:105.10, Y:-18.55, Z:-2.61 [[ 9.87495008e-01 1.56531491e-01 1.87483584e-02 1.05100719e+02] [-1.56494864e-01 9.87672871e-01 -3.41418302e-03 -1.85510797e+01] [-1.90516722e-02 4.37466887e-04 9.99818405e-01 -2.60646471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96862385300001 meters 0.028920417603318344 Centerline is valid? [True, True] Translation: X:105.13, Y:-18.56, Z:-2.61 [[ 9.87344435e-01 1.57467934e-01 1.88365797e-02 1.05131787e+02] [-1.57431071e-01 9.87524010e-01 -3.43343639e-03 -1.85579493e+01] [-1.91422309e-02 4.24521392e-04 9.99816681e-01 -2.60708422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.99862385300001 meters 0.027577252042366045 Centerline is valid? [True, True] Translation: X:105.16, Y:-18.57, Z:-2.61 [[ 9.87011787e-01 1.59448649e-01 1.95923695e-02 1.05162103e+02] [-1.59409088e-01 9.87206141e-01 -3.57471462e-03 -1.85660167e+01] [-1.99116909e-02 4.05083720e-04 9.99801661e-01 -2.60676606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02862385300001 meters 0.026420750633846392 Centerline is valid? [True, True] Translation: X:105.19, Y:-18.57, Z:-2.61 [[ 9.86798754e-01 1.60757492e-01 1.96277385e-02 1.05193884e+02] [-1.60717986e-01 9.86993862e-01 -3.58415849e-03 -1.85724499e+01] [-1.99486377e-02 3.82312522e-04 9.99800933e-01 -2.60720920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.05862385300001 meters 0.023711741514494206 Centerline is valid? [True, True] Translation: X:105.23, Y:-18.58, Z:-2.61 [[ 9.86342423e-01 1.63530388e-01 1.96579694e-02 1.05225150e+02] [-1.63491246e-01 9.86538242e-01 -3.59294525e-03 -1.85783500e+01] [-1.99808944e-02 3.29968412e-04 9.99800308e-01 -2.60848131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.088623853 meters 0.022977634985692778 Centerline is valid? [True, True] Translation: X:105.26, Y:-18.59, Z:-2.61 [[ 9.86093450e-01 1.65062412e-01 1.93418621e-02 1.05255956e+02] [-1.65024749e-01 9.86283079e-01 -3.53839859e-03 -1.85851035e+01] [-1.96606079e-02 2.97305734e-04 9.99806667e-01 -2.60983641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.118623853 meters 0.022273619335209355 Centerline is valid? [True, True] Translation: X:105.29, Y:-18.59, Z:-2.61 [[ 9.85847198e-01 1.66591799e-01 1.87742934e-02 1.05286103e+02] [-1.66556538e-01 9.86025914e-01 -3.43736582e-03 -1.85921534e+01] [-1.90845767e-02 2.61736155e-04 9.99817839e-01 -2.61171304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.148623853 meters 0.01955574534908531 Centerline is valid? [True, True] Translation: X:105.32, Y:-18.60, Z:-2.61 [[ 9.85371214e-01 1.69451280e-01 1.81613272e-02 1.05318059e+02] [-1.69418710e-01 9.85538544e-01 -3.32839985e-03 -1.85987270e+01] [-1.84626896e-02 2.02840789e-04 9.99829529e-01 -2.61324820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.178623853 meters 0.018333902611983255 Centerline is valid? [True, True] Translation: X:105.35, Y:-18.60, Z:-2.61 [[ 9.85085739e-01 1.71126848e-01 1.79357002e-02 1.05349169e+02] [-1.71095353e-01 9.85248990e-01 -3.28745029e-03 -1.86040152e+01] [-1.82337015e-02 1.69705446e-04 9.99833738e-01 -2.61478392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.208623853 meters 0.01494710445344265 Centerline is valid? [True, True] Translation: X:105.38, Y:-18.61, Z:-2.61 [[ 9.84361991e-01 1.75277921e-01 1.75818199e-02 1.05381919e+02] [-1.75248275e-01 9.84518990e-01 -3.22498159e-03 -1.86058754e+01] [-1.78749037e-02 9.33656881e-05 9.99840227e-01 -2.61452700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.238623853 meters 0.014281818240421707 Centerline is valid? [True, True] Translation: X:105.41, Y:-18.61, Z:-2.62 [[ 9.83921411e-01 1.77736540e-01 1.75607432e-02 1.05413132e+02] [-1.77707298e-01 9.84078107e-01 -3.22433502e-03 -1.86105134e+01] [-1.78542251e-02 5.18200351e-05 9.99840599e-01 -2.61600744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26862385300001 meters 0.0142315791803694 Centerline is valid? [True, True] Translation: X:105.44, Y:-18.61, Z:-2.62 [[ 9.82966102e-01 1.82964767e-01 1.73648090e-02 1.05443012e+02] [-1.82936920e-01 9.83119470e-01 -3.19231306e-03 -1.86103426e+01] [-1.76557626e-02 -3.87291354e-05 9.99844124e-01 -2.61827520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.29862385300001 meters 0.0142315791803694 Centerline is valid? [True, True] Translation: X:105.47, Y:-18.62, Z:-2.62 [[ 9.82970231e-01 1.82942591e-01 1.73647232e-02 1.05471698e+02] [-1.82914732e-01 9.83123597e-01 -3.19277932e-03 -1.86155687e+01] [-1.76557645e-02 -3.78566697e-05 9.99844124e-01 -2.61900873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32862385300001 meters 0.016780936337634833 Centerline is valid? [True, True] Translation: X:105.50, Y:-18.62, Z:-2.62 [[ 9.82547395e-01 1.85242888e-01 1.69023346e-02 1.05502228e+02] [-1.85216843e-01 9.82692763e-01 -3.10719989e-03 -1.86191919e+01] [-1.71853886e-02 -7.76259016e-05 9.99852317e-01 -2.61581059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.35862385300001 meters 0.017028461844584963 Centerline is valid? [True, True] Translation: X:105.53, Y:-18.62, Z:-2.62 [[ 9.81863239e-01 1.88825822e-01 1.70114220e-02 1.05531746e+02] [-1.88799976e-01 9.82010585e-01 -3.12735100e-03 -1.86202534e+01] [-1.72959211e-02 -1.41125077e-04 9.99850404e-01 -2.62127448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38862385300001 meters 0.018301669139658614 Centerline is valid? [True, True] Translation: X:105.56, Y:-18.62, Z:-2.62 [[ 9.81683827e-01 1.89768787e-01 1.68721886e-02 1.05560388e+02] [-1.89743501e-01 9.81828795e-01 -3.10172659e-03 -1.86237941e+01] [-1.71542115e-02 -1.56473293e-04 9.99852843e-01 -2.62334626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.41862385300001 meters 0.017581006875078384 Centerline is valid? [True, True] Translation: X:105.59, Y:-18.63, Z:-2.62 [[ 9.81567476e-01 1.90396249e-01 1.65697776e-02 1.05589629e+02] [-1.90371963e-01 9.81707309e-01 -3.04546700e-03 -1.86312398e+01] [-1.68465173e-02 -1.65089733e-04 9.99858074e-01 -2.62327555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.448623853 meters 0.017047485813890293 Centerline is valid? [True, True] Translation: X:105.62, Y:-18.64, Z:-2.62 [[ 9.81667744e-01 1.89875450e-01 1.66058165e-02 1.05619390e+02] [-1.89850993e-01 9.81808173e-01 -3.05147415e-03 -1.86383281e+01] [-1.68831263e-02 -1.57097001e-04 9.99857458e-01 -2.62372458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.478623853 meters 0.0168902803279433 Centerline is valid? [True, True] Translation: X:105.65, Y:-18.65, Z:-2.63 [[ 9.81844166e-01 1.88958762e-01 1.66319148e-02 1.05648586e+02] [-1.88934095e-01 9.81985013e-01 -3.05637159e-03 -1.86450549e+01] [-1.69098193e-02 -1.41455161e-04 9.99857009e-01 -2.62551249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.508623853 meters 0.015658773572791218 Centerline is valid? [True, True] Translation: X:105.68, Y:-18.66, Z:-2.63 [[ 9.82309736e-01 1.86548435e-01 1.63482329e-02 1.05678005e+02] [-1.86524274e-01 9.82445760e-01 -3.00393570e-03 -1.86560347e+01] [-1.66216316e-02 -9.85469811e-05 9.99861846e-01 -2.62666301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.538623853 meters 0.023391644378532337 Centerline is valid? [True, True] Translation: X:105.71, Y:-18.66, Z:-2.62 [[ 9.82557172e-01 1.85251755e-01 1.62231681e-02 1.05707296e+02] [-1.85227785e-01 9.82691092e-01 -2.98095545e-03 -1.86638468e+01] [-1.64945900e-02 -7.60223424e-05 9.99863952e-01 -2.62099010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.568623853 meters 0.01640952375787968 Centerline is valid? [True, True] Translation: X:105.74, Y:-18.68, Z:-2.62 [[ 9.83063762e-01 1.82494856e-01 1.67710478e-02 1.05736394e+02] [-1.82468860e-01 9.83206808e-01 -3.08033462e-03 -1.86759016e+01] [-1.70515536e-02 -3.20286360e-05 9.99854611e-01 -2.62480279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.598623853 meters 0.014232591942927893 Centerline is valid? [True, True] Translation: X:105.77, Y:-18.69, Z:-2.63 [[ 9.83311519e-01 1.81128605e-01 1.70553292e-02 1.05765821e+02] [-1.81101457e-01 9.83459419e-01 -3.13589917e-03 -1.86855455e+01] [-1.73412252e-02 -5.17918977e-06 9.99849630e-01 -2.62826719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62862385300001 meters 0.020135279985742636 Centerline is valid? [True, True] Translation: X:105.80, Y:-18.70, Z:-2.62 [[ 9.83642400e-01 1.79306869e-01 1.72242823e-02 1.05796667e+02] [-1.79278882e-01 9.83793193e-01 -3.16805286e-03 -1.86950885e+01] [-1.75131853e-02 2.82810444e-05 9.99846632e-01 -2.62371199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.65862385300001 meters 0.015417248300354814 Centerline is valid? [True, True] Translation: X:105.83, Y:-18.71, Z:-2.63 [[ 9.84317223e-01 1.75454472e-01 1.83120782e-02 1.05826912e+02] [-1.75422111e-01 9.84487540e-01 -3.37135000e-03 -1.87110900e+01] [-1.86195313e-02 1.06134451e-04 9.99826636e-01 -2.62784016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68862385300001 meters 0.01803803667830806 Centerline is valid? [True, True] Translation: X:105.86, Y:-18.73, Z:-2.63 [[ 9.85039872e-01 1.71329406e-01 1.85117331e-02 1.05855901e+02] [-1.71295531e-01 9.85213783e-01 -3.41211600e-03 -1.87259534e+01] [-1.88226104e-02 1.90093144e-04 9.99822821e-01 -2.62837494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.71862385300001 meters 0.019792959700066757 Centerline is valid? [True, True] Translation: X:105.89, Y:-18.74, Z:-2.63 [[ 9.85351286e-01 1.69532650e-01 1.84803602e-02 1.05885662e+02] [-1.69498518e-01 9.85524545e-01 -3.40932675e-03 -1.87364956e+01] [-1.87908408e-02 2.26990836e-04 9.99823411e-01 -2.62928101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74862385300001 meters 0.020885940946549834 Centerline is valid? [True, True] Translation: X:105.92, Y:-18.75, Z:-2.63 [[ 9.85553554e-01 1.68305858e-01 1.89031643e-02 1.05916855e+02] [-1.68269861e-01 9.85734787e-01 -3.49038670e-03 -1.87467852e+01] [-1.92209592e-02 2.59130190e-04 9.99815227e-01 -2.63015621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.77862385300001 meters 0.022128111663266486 Centerline is valid? [True, True] Translation: X:105.95, Y:-18.76, Z:-2.63 [[ 9.85753917e-01 1.67139601e-01 1.88034372e-02 1.05947701e+02] [-1.67103710e-01 9.85933199e-01 -3.47518842e-03 -1.87571345e+01] [-1.91197746e-02 2.83556481e-04 9.99817160e-01 -2.63034395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80862385300001 meters 0.023041000841245107 Centerline is valid? [True, True] Translation: X:105.98, Y:-18.77, Z:-2.63 [[ 9.85889118e-01 1.66412212e-01 1.81554979e-02 1.05978494e+02] [-1.66378574e-01 9.86056231e-01 -3.35838948e-03 -1.87689626e+01] [-1.84612189e-02 2.90313799e-04 9.99829535e-01 -2.63183678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.838623853 meters 0.023161031892139076 Centerline is valid? [True, True] Translation: X:106.01, Y:-18.78, Z:-2.63 [[ 9.85803187e-01 1.66948629e-01 1.78950324e-02 1.06009237e+02] [-1.66915984e-01 9.85965556e-01 -3.31311239e-03 -1.87785487e+01] [-1.81970051e-02 2.79109807e-04 9.99834382e-01 -2.63364293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.868623853 meters 0.022721297136953304 Centerline is valid? [True, True] Translation: X:106.04, Y:-18.79, Z:-2.63 [[ 9.85703172e-01 1.67530915e-01 1.79624147e-02 1.06040868e+02] [-1.67498059e-01 9.85866785e-01 -3.32897837e-03 -1.87853181e+01] [-1.82662549e-02 2.72714940e-04 9.99833121e-01 -2.63419433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.898623853 meters 0.022371187534057074 Centerline is valid? [True, True] Translation: X:106.07, Y:-18.79, Z:-2.64 [[ 9.85572725e-01 1.68306020e-01 1.78741915e-02 1.06071782e+02] [-1.68273559e-01 9.85734760e-01 -3.31561877e-03 -1.87919855e+01] [-1.81772505e-02 2.60029610e-04 9.99834746e-01 -2.63568739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.928623853 meters 0.021336441192679318 Centerline is valid? [True, True] Translation: X:106.10, Y:-18.80, Z:-2.64 [[ 9.85320789e-01 1.69780632e-01 1.78179657e-02 1.06103178e+02] [-1.69748562e-01 9.85481853e-01 -3.30815953e-03 -1.88003938e+01] [-1.81209432e-02 2.35024313e-04 9.99835775e-01 -2.63649065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.958623853 meters 0.020635286555854032 Centerline is valid? [True, True] Translation: X:106.13, Y:-18.81, Z:-2.64 [[ 9.85154426e-01 1.70734258e-01 1.79044881e-02 1.06133241e+02] [-1.70701976e-01 9.85317088e-01 -3.32732047e-03 -1.88075488e+01] [-1.82096857e-02 2.21592969e-04 9.99834165e-01 -2.63699365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.988623853 meters 0.019239971663040065 Centerline is valid? [True, True] Translation: X:106.16, Y:-18.81, Z:-2.64 [[ 9.84810394e-01 1.72672862e-01 1.82365292e-02 1.06163692e+02] [-1.72639651e-01 9.84979211e-01 -3.39192470e-03 -1.88141246e+01] [-1.85482955e-02 1.92054660e-04 9.99827947e-01 -2.63794431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.01862385300001 meters 0.018366351412181507 Centerline is valid? [True, True] Translation: X:106.20, Y:-18.82, Z:-2.64 [[ 9.84604844e-01 1.73853995e-01 1.81132281e-02 1.06195564e+02] [-1.73821381e-01 9.84771425e-01 -3.37167820e-03 -1.88203168e+01] [-1.84235692e-02 1.71304363e-04 9.99830257e-01 -2.63898246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04862385300001 meters 0.017641684563434425 Centerline is valid? [True, True] Translation: X:106.23, Y:-18.83, Z:-2.64 [[ 9.84390854e-01 1.75076058e-01 1.79727492e-02 1.06226931e+02] [-1.75044099e-01 9.84554900e-01 -3.34845751e-03 -1.88270238e+01] [-1.82813930e-02 1.50167265e-04 9.99832870e-01 -2.64061214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.07862385300001 meters 0.015926311741064382 Centerline is valid? [True, True] Translation: X:106.26, Y:-18.83, Z:-2.64 [[ 9.83875623e-01 1.78015234e-01 1.73013082e-02 1.06257998e+02] [-1.77986023e-01 9.84027727e-01 -3.22614744e-03 -1.88323615e+01] [-1.75992704e-02 9.47367868e-05 9.99845116e-01 -2.64212182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10862385300001 meters 0.015079301249892433 Centerline is valid? [True, True] Translation: X:106.29, Y:-18.84, Z:-2.64 [[ 9.83517492e-01 1.79970713e-01 1.74323037e-02 1.06288656e+02] [-1.79941317e-01 9.83671967e-01 -3.25327733e-03 -1.88366601e+01] [-1.77331631e-02 6.28634785e-05 9.99842753e-01 -2.64302644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.13862385300001 meters 0.014199968935949811 Centerline is valid? [True, True] Translation: X:106.32, Y:-18.84, Z:-2.64 [[ 9.82689918e-01 1.84443324e-01 1.73547158e-02 1.06321129e+02] [-1.84414841e-01 9.82843151e-01 -3.24133837e-03 -1.88394862e+01] [-1.76548068e-02 -1.52366173e-05 9.99844142e-01 -2.64412926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16862385300001 meters 0.014507459848672459 Centerline is valid? [True, True] Translation: X:106.35, Y:-18.84, Z:-2.64 [[ 9.82232148e-01 1.86862979e-01 1.73849010e-02 1.06353522e+02] [-1.86834730e-01 9.82385985e-01 -3.24962027e-03 -1.88441599e+01] [-1.76859169e-02 -5.62217901e-05 9.99843590e-01 -2.64410399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.19862385300002 meters 0.015766619163434116 Centerline is valid? [True, True] Translation: X:106.38, Y:-18.85, Z:-2.65 [[ 9.81754678e-01 1.89370624e-01 1.72197062e-02 1.06384583e+02] [-1.89343226e-01 9.81905676e-01 -3.22265187e-03 -1.88470219e+01] [-1.75184029e-02 -9.65811690e-05 9.99846536e-01 -2.64533165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.228623853 meters 0.018559764377061264 Centerline is valid? [True, True] Translation: X:106.42, Y:-18.85, Z:-2.65 [[ 9.80945745e-01 1.93572410e-01 1.65881576e-02 1.06416865e+02] [-1.93547572e-01 9.81085977e-01 -3.10526437e-03 -1.88473883e+01] [-1.68755023e-02 -1.64501751e-04 9.99857585e-01 -2.64779746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.258623853 meters 0.018219067589869437 Centerline is valid? [True, True] Translation: X:106.45, Y:-18.85, Z:-2.65 [[ 9.80597231e-01 1.95314553e-01 1.67718781e-02 1.06448578e+02] [-1.95289370e-01 9.80740632e-01 -3.14227461e-03 -1.88548513e+01] [-1.70625943e-02 -1.94063727e-04 9.99854405e-01 -2.64650147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.288623853 meters 0.020218979147061368 Centerline is valid? [True, True] Translation: X:106.48, Y:-18.86, Z:-2.65 [[ 9.80174666e-01 1.97429043e-01 1.67152039e-02 1.06479028e+02] [-1.97404286e-01 9.80317154e-01 -3.13469211e-03 -1.88591418e+01] [-1.70050804e-02 -2.27107113e-04 9.99855377e-01 -2.64796549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.318623853 meters 0.019811626557296107 Centerline is valid? [True, True] Translation: X:106.51, Y:-18.87, Z:-2.65 [[ 9.80005274e-01 1.98260253e-01 1.68087834e-02 1.06511382e+02] [-1.98235299e-01 9.80149384e-01 -3.15468332e-03 -1.88669682e+01] [-1.71005670e-02 -2.40487902e-04 9.99853746e-01 -2.64780474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.348623853 meters 0.021097321673506315 Centerline is valid? [True, True] Translation: X:106.54, Y:-18.87, Z:-2.65 [[ 9.79935322e-01 1.98592710e-01 1.69617393e-02 1.06543204e+02] [-1.98567279e-01 9.80082076e-01 -3.18746316e-03 -1.88717080e+01] [-1.72569037e-02 -2.44538692e-04 9.99851059e-01 -2.64915446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.37862385300001 meters 0.022563630129762695 Centerline is valid? [True, True] Translation: X:106.57, Y:-18.88, Z:-2.65 [[ 9.80007690e-01 1.98183972e-01 1.75510943e-02 1.06573623e+02] [-1.98156632e-01 9.80164810e-01 -3.30074825e-03 -1.88768750e+01] [-1.78571204e-02 -2.43107074e-04 9.99840519e-01 -2.65048304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40862385300001 meters 0.020329775977909817 Centerline is valid? [True, True] Translation: X:106.60, Y:-18.89, Z:-2.65 [[ 9.80094533e-01 1.97718074e-01 1.79518624e-02 1.06604642e+02] [-1.97689369e-01 9.80258898e-01 -3.37741746e-03 -1.88870732e+01] [-1.82652493e-02 -2.38703958e-04 9.99833148e-01 -2.64909278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.43862385300001 meters 0.018173301645858363 Centerline is valid? [True, True] Translation: X:106.64, Y:-18.90, Z:-2.65 [[ 9.80449675e-01 1.95890644e-01 1.85819772e-02 1.06635099e+02] [-1.95859500e-01 9.80625725e-01 -3.49917291e-03 -1.88986425e+01] [-1.89074201e-02 -2.08693831e-04 9.99821217e-01 -2.64825510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46862385300001 meters 0.01750696678822409 Centerline is valid? [True, True] Translation: X:106.67, Y:-18.91, Z:-2.65 [[ 9.80613966e-01 1.95040691e-01 1.88514887e-02 1.06665798e+02] [-1.95008417e-01 9.80795133e-01 -3.55321011e-03 -1.89076637e+01] [-1.91824689e-02 -1.91871515e-04 9.99815981e-01 -2.64900181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.49862385300001 meters 0.020190286936431615 Centerline is valid? [True, True] Translation: X:106.70, Y:-18.91, Z:-2.65 [[ 9.80795665e-01 1.94129239e-01 1.88069746e-02 1.06696136e+02] [-1.94096887e-01 9.80975947e-01 -3.54810104e-03 -1.89130107e+01] [-1.91379799e-02 -1.70413113e-04 9.99816838e-01 -2.64889566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52862385300001 meters 0.015539677631924185 Centerline is valid? [True, True] Translation: X:106.73, Y:-18.93, Z:-2.65 [[ 9.81157206e-01 1.92214002e-01 1.96039657e-02 1.06726421e+02] [-1.92178403e-01 9.81353025e-01 -3.70162709e-03 -1.89279486e+01] [-1.99499156e-02 -1.35580736e-04 9.99800971e-01 -2.64970291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.55862385300001 meters 0.01516148925477854 Centerline is valid? [True, True] Translation: X:106.76, Y:-18.94, Z:-2.65 [[ 9.81474257e-01 1.90583415e-01 1.96530937e-02 1.06756442e+02] [-1.90547240e-01 9.81671000e-01 -3.71443550e-03 -1.89381185e+01] [-2.00007820e-02 -9.92199498e-05 9.99799959e-01 -2.65170790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.588623853 meters 0.014645242100035684 Centerline is valid? [True, True] Translation: X:106.79, Y:-18.95, Z:-2.65 [[ 9.81562734e-01 1.90169183e-01 1.92427037e-02 1.06788561e+02] [-1.90134369e-01 9.81751330e-01 -3.63969555e-03 -1.89472663e+01] [-1.95837079e-02 -8.61098154e-05 9.99808217e-01 -2.65209112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.618623853 meters 0.01468959318653248 Centerline is valid? [True, True] Translation: X:106.82, Y:-18.95, Z:-2.65 [[ 9.81633812e-01 1.89837855e-01 1.88851402e-02 1.06820092e+02] [-1.89804189e-01 9.81815453e-01 -3.57583192e-03 -1.89547805e+01] [-1.92205508e-02 -7.43212134e-05 9.99815265e-01 -2.65370994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.648623853 meters 0.014374040877020397 Centerline is valid? [True, True] Translation: X:106.85, Y:-18.96, Z:-2.65 [[ 9.81684839e-01 1.89564980e-01 1.89735422e-02 1.06852111e+02] [-1.89530880e-01 9.81868175e-01 -3.59605661e-03 -1.89636101e+01] [-1.93112036e-02 -6.58778867e-05 9.99813519e-01 -2.65438945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.678623853 meters 0.014695473329693152 Centerline is valid? [True, True] Translation: X:106.88, Y:-18.97, Z:-2.66 [[ 9.81680921e-01 1.89614570e-01 1.86784512e-02 1.06883650e+02] [-1.89581461e-01 9.81858600e-01 -3.54384338e-03 -1.89699112e+01] [-1.90115623e-02 -6.21646354e-05 9.99819262e-01 -2.65718254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.708623853 meters 0.015254440163600471 Centerline is valid? [True, True] Translation: X:106.91, Y:-18.98, Z:-2.66 [[ 9.81620231e-01 1.89964109e-01 1.83127932e-02 1.06914386e+02] [-1.89932281e-01 9.81791033e-01 -3.47786594e-03 -1.89769041e+01] [-1.86400058e-02 -6.42470074e-05 9.99826258e-01 -2.66039280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.738623853 meters 0.01443195560412754 Centerline is valid? [True, True] Translation: X:106.95, Y:-18.99, Z:-2.66 [[ 9.81499695e-01 1.90538868e-01 1.87959716e-02 1.06946892e+02] [-1.90505384e-01 9.81679650e-01 -3.57270400e-03 -1.89852151e+01] [-1.91323618e-02 -7.41259008e-05 9.99816957e-01 -2.65647071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76862385300001 meters 0.014814322901838222 Centerline is valid? [True, True] Translation: X:106.98, Y:-18.99, Z:-2.66 [[ 9.81329892e-01 1.91398383e-01 1.89288670e-02 1.06978343e+02] [-1.91364506e-01 9.81512431e-01 -3.60203012e-03 -1.89901061e+01] [-1.92683410e-02 -8.75334584e-05 9.99814344e-01 -2.65758488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.79862385300001 meters 0.015699791585021376 Centerline is valid? [True, True] Translation: X:107.01, Y:-18.99, Z:-2.66 [[ 9.80938551e-01 1.93410291e-01 1.87621425e-02 1.07009271e+02] [-1.93377296e-01 9.81117956e-01 -3.57448169e-03 -1.89929256e+01] [-1.90992164e-02 -1.21825484e-04 9.99817586e-01 -2.65906401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82862385300001 meters 0.016310750170456367 Centerline is valid? [True, True] Translation: X:107.04, Y:-19.00, Z:-2.66 [[ 9.80634446e-01 1.94926220e-01 1.89697478e-02 1.07040887e+02] [-1.94892747e-01 9.80817896e-01 -3.61542843e-03 -1.89972543e+01] [-1.93106099e-02 -1.51652593e-04 9.99813521e-01 -2.65977176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.85862385300001 meters 0.018011206915688818 Centerline is valid? [True, True] Translation: X:107.07, Y:-19.00, Z:-2.66 [[ 9.79979616e-01 1.98201712e-01 1.88688332e-02 1.07072630e+02] [-1.98169139e-01 9.80161230e-01 -3.59943077e-03 -1.89995209e+01] [-1.92079121e-02 -2.11851636e-04 9.99815489e-01 -2.65998052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88862385300001 meters 0.019601643306837696 Centerline is valid? [True, True] Translation: X:107.10, Y:-19.00, Z:-2.66 [[ 9.79584194e-01 2.00124005e-01 1.91099136e-02 1.07103747e+02] [-2.00090899e-01 9.79770545e-01 -3.64857084e-03 -1.90025321e+01] [-1.94534970e-02 -2.49637451e-04 9.99810732e-01 -2.66054784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.91862385300001 meters 0.02261307301948078 Centerline is valid? [True, True] Translation: X:107.14, Y:-19.00, Z:-2.66 [[ 9.78824017e-01 2.03888139e-01 1.82529470e-02 1.07135870e+02] [-2.03858538e-01 9.78994143e-01 -3.48773667e-03 -1.90024891e+01] [-1.85806363e-02 -3.07138664e-04 9.99827318e-01 -2.66209181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94862385300002 meters 0.025270024959599315 Centerline is valid? [True, True] Translation: X:107.17, Y:-19.00, Z:-2.66 [[ 9.78458049e-01 2.05658796e-01 1.80084885e-02 1.07167109e+02] [-2.05630230e-01 9.78623701e-01 -3.44385847e-03 -1.90026625e+01] [-1.83317935e-02 -3.33418608e-04 9.99831903e-01 -2.66459497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.978623853 meters 0.03564012763789103 Centerline is valid? [True, True] Translation: X:107.20, Y:-19.00, Z:-2.66 [[ 9.78067118e-01 2.07558327e-01 1.74428404e-02 1.07200320e+02] [-2.07531784e-01 9.78222579e-01 -3.33825086e-03 -1.90031339e+01] [-1.77558621e-02 -3.54910385e-04 9.99842289e-01 -2.65964184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.008623853 meters 0.027771797313366927 Centerline is valid? [True, True] Translation: X:107.23, Y:-19.01, Z:-2.67 [[ 9.77973334e-01 2.07936307e-01 1.81837869e-02 1.07231909e+02] [-2.07907466e-01 9.78142297e-01 -3.48325077e-03 -1.90068870e+01] [-1.85106254e-02 -3.74018689e-04 9.99828594e-01 -2.66659678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.038623853 meters 0.02685752275912865 Centerline is valid? [True, True] Translation: X:107.26, Y:-19.01, Z:-2.67 [[ 9.78017205e-01 2.07739897e-01 1.80688211e-02 1.07263626e+02] [-2.07711326e-01 9.78184033e-01 -3.46453890e-03 -1.90137580e+01] [-1.83943553e-02 -3.64720138e-04 9.99830743e-01 -2.66737768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.068623853 meters 0.025037698204112543 Centerline is valid? [True, True] Translation: X:107.29, Y:-19.02, Z:-2.67 [[ 9.78392313e-01 2.05989328e-01 1.78011043e-02 1.07294994e+02] [-2.05961255e-01 9.78554184e-01 -3.41609412e-03 -1.90223125e+01] [-1.81230240e-02 -3.24057564e-04 9.99835712e-01 -2.66860194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.098623853 meters 0.022906728094858195 Centerline is valid? [True, True] Translation: X:107.33, Y:-19.03, Z:-2.67 [[ 9.78651529e-01 2.04732171e-01 1.80533279e-02 1.07326668e+02] [-2.04703014e-01 9.78817985e-01 -3.46824996e-03 -1.90308769e+01] [-1.83809844e-02 -3.01362509e-04 9.99831010e-01 -2.66859276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12862385300001 meters 0.019741942930892705 Centerline is valid? [True, True] Translation: X:107.36, Y:-19.04, Z:-2.67 [[ 9.79319842e-01 2.01480577e-01 1.83908796e-02 1.07357352e+02] [-2.01449737e-01 9.79492480e-01 -3.53354479e-03 -1.90398487e+01] [-1.87256689e-02 -2.44367346e-04 9.99824629e-01 -2.66906857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.15862385300001 meters 0.01828219620009502 Centerline is valid? [True, True] Translation: X:107.39, Y:-19.05, Z:-2.67 [[ 9.79675140e-01 1.99761265e-01 1.82224425e-02 1.07388468e+02] [-1.99730632e-01 9.79844577e-01 -3.50428179e-03 -1.90478827e+01] [-1.85551812e-02 -2.06522203e-04 9.99827816e-01 -2.66952419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18862385300001 meters 0.0160779496853594 Centerline is valid? [True, True] Translation: X:107.42, Y:-19.06, Z:-2.67 [[ 9.80286820e-01 1.96629265e-01 1.93567334e-02 1.07419978e+02] [-1.96594007e-01 9.80477898e-01 -3.72661963e-03 -1.90571187e+01] [-1.97116118e-02 -1.52261680e-04 9.99805696e-01 -2.66809724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.21862385300001 meters 0.0160779496853594 Centerline is valid? [True, True] Translation: X:107.45, Y:-19.06, Z:-2.67 [[ 9.80248445e-01 1.96820493e-01 1.93566448e-02 1.07451844e+02] [-1.96785262e-01 9.80439529e-01 -3.72708062e-03 -1.90634375e+01] [-1.97115855e-02 -1.55637434e-04 9.99805696e-01 -2.66891467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24862385300001 meters 0.015831226168249515 Centerline is valid? [True, True] Translation: X:107.48, Y:-19.07, Z:-2.67 [[ 9.80490071e-01 1.95606955e-01 1.94201024e-02 1.07482660e+02] [-1.95571173e-01 9.80682366e-01 -3.74345134e-03 -1.90695312e+01] [-1.97771970e-02 -1.27595342e-04 9.99804404e-01 -2.67072647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.27862385300001 meters 0.01486811472595511 Centerline is valid? [True, True] Translation: X:107.51, Y:-19.08, Z:-2.67 [[ 9.80779687e-01 1.94153517e-01 1.93808674e-02 1.07513328e+02] [-1.94117523e-01 9.80971153e-01 -3.73957714e-03 -1.90784947e+01] [-1.97381239e-02 -9.44646832e-05 9.99805180e-01 -2.67074392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30862385300001 meters 0.014303101332446994 Centerline is valid? [True, True] Translation: X:107.54, Y:-19.09, Z:-2.67 [[ 9.81380666e-01 1.91098577e-01 1.93215391e-02 1.07543458e+02] [-1.91062197e-01 9.81570850e-01 -3.72880855e-03 -1.90875352e+01] [-1.96780296e-02 -3.22351012e-05 9.99806368e-01 -2.67324697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.338623853 meters 0.014139643015216552 Centerline is valid? [True, True] Translation: X:107.58, Y:-19.10, Z:-2.67 [[ 9.81649121e-01 1.89740593e-01 1.90659332e-02 1.07575734e+02] [-1.89704856e-01 9.81834257e-01 -3.68238335e-03 -1.90960063e+01] [-1.94182840e-02 -2.09174665e-06 9.99811447e-01 -2.67267934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.368623853 meters 0.01475375522789447 Centerline is valid? [True, True] Translation: X:107.61, Y:-19.11, Z:-2.67 [[ 9.82204956e-01 1.86876368e-01 1.87255727e-02 1.07607129e+02] [-1.86841306e-01 9.82383438e-01 -3.62030100e-03 -1.91055944e+01] [-1.90722412e-02 5.71671332e-05 9.99818107e-01 -2.67439419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.398623853 meters 0.023792521624148227 Centerline is valid? [True, True] Translation: X:107.64, Y:-19.11, Z:-2.67 [[ 9.82472136e-01 1.85464699e-01 1.87442469e-02 1.07639357e+02] [-1.85429238e-01 9.82650924e-01 -3.62768198e-03 -1.91130352e+01] [-1.90918585e-02 8.83650411e-05 9.99817730e-01 -2.66893136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.428623853 meters 0.01594478887947389 Centerline is valid? [True, True] Translation: X:107.67, Y:-19.12, Z:-2.68 [[ 9.82697895e-01 1.84245450e-01 1.89330652e-02 1.07669667e+02] [-1.84208968e-01 9.82880258e-01 -3.66818551e-03 -1.91222292e+01] [-1.92847825e-02 1.17077789e-04 9.99814024e-01 -2.67589570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.458623853 meters 0.03305726975629402 Centerline is valid? [True, True] Translation: X:107.70, Y:-19.13, Z:-2.67 [[ 9.83291085e-01 1.81079350e-01 1.86791628e-02 1.07700447e+02] [-1.81043202e-01 9.83468472e-01 -3.62252737e-03 -1.91313760e+01] [-1.90263326e-02 1.80263420e-04 9.99818967e-01 -2.67040103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.488623853 meters 0.01860921362451085 Centerline is valid? [True, True] Translation: X:107.73, Y:-19.14, Z:-2.68 [[ 9.83480900e-01 1.80003199e-01 1.90831806e-02 1.07730399e+02] [-1.79965198e-01 9.83666003e-01 -3.70446088e-03 -1.91410409e+01] [-1.94382908e-02 2.08958148e-04 9.99811037e-01 -2.67716363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.51862385300001 meters 0.020283121887115337 Centerline is valid? [True, True] Translation: X:107.76, Y:-19.15, Z:-2.68 [[ 9.83767583e-01 1.78385530e-01 1.94921860e-02 1.07760034e+02] [-1.78345498e-01 9.83960640e-01 -3.78718932e-03 -1.91516160e+01] [-1.98551236e-02 2.49370460e-04 9.99802837e-01 -2.67775819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54862385300001 meters 0.020505949850403528 Centerline is valid? [True, True] Translation: X:107.79, Y:-19.16, Z:-2.68 [[ 9.83788645e-01 1.78283089e-01 1.93660145e-02 1.07792001e+02] [-1.78243495e-01 9.83979205e-01 -3.76565290e-03 -1.91595027e+01] [-1.97271078e-02 2.52740468e-04 9.99805370e-01 -2.67812076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.57862385300001 meters 0.02046749738487821 Centerline is valid? [True, True] Translation: X:107.82, Y:-19.17, Z:-2.68 [[ 9.83691448e-01 1.78842628e-01 1.91428812e-02 1.07823053e+02] [-1.78803973e-01 9.83877663e-01 -3.72610822e-03 -1.91673698e+01] [-1.95006402e-02 2.42517588e-04 9.99809815e-01 -2.67939744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60862385300001 meters 0.020850586561065695 Centerline is valid? [True, True] Translation: X:107.85, Y:-19.17, Z:-2.68 [[ 9.83570235e-01 1.79479951e-01 1.94046173e-02 1.07853645e+02] [-1.79440279e-01 9.83761603e-01 -3.78087326e-03 -1.91742659e+01] [-1.97681083e-02 2.36784456e-04 9.99804564e-01 -2.68029536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.63862385300001 meters 0.019357278776749594 Centerline is valid? [True, True] Translation: X:107.89, Y:-19.18, Z:-2.68 [[ 9.83344546e-01 1.80713986e-01 1.93896676e-02 1.07885075e+02] [-1.80674556e-01 9.83535667e-01 -3.78099354e-03 -1.91787037e+01] [-1.97537081e-02 2.14799788e-04 9.99804853e-01 -2.68080994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66862385300001 meters 0.018843678532701726 Centerline is valid? [True, True] Translation: X:107.92, Y:-19.18, Z:-2.68 [[ 9.83222313e-01 1.81365020e-01 1.95092898e-02 1.07917196e+02] [-1.81325165e-01 9.83415826e-01 -3.80753494e-03 -1.91849821e+01] [-1.98762980e-02 2.06128113e-04 9.99802426e-01 -2.68140882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.69862385300002 meters 0.019059169669470143 Centerline is valid? [True, True] Translation: X:107.95, Y:-19.19, Z:-2.68 [[ 9.83168800e-01 1.81669842e-01 1.93695667e-02 1.07947632e+02] [-1.81630533e-01 9.83359562e-01 -3.78443454e-03 -1.91942194e+01] [-1.97347663e-02 2.02633230e-04 9.99805230e-01 -2.68302628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.728623853 meters 0.018194538570082013 Centerline is valid? [True, True] Translation: X:107.98, Y:-19.20, Z:-2.68 [[ 9.83157787e-01 1.81691315e-01 1.97238999e-02 1.07980428e+02] [-1.81650517e-01 9.83355593e-01 -3.85571789e-03 -1.92011108e+01] [-2.00961578e-02 2.07922440e-04 9.99798030e-01 -2.68256716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.758623853 meters 0.019312849733723984 Centerline is valid? [True, True] Translation: X:108.01, Y:-19.21, Z:-2.68 [[ 9.83170932e-01 1.81605083e-01 1.98623471e-02 1.08011213e+02] [-1.81563608e-01 9.83371521e-01 -3.88698404e-03 -1.92108489e+01] [-2.02379625e-02 2.15290317e-04 9.99795168e-01 -2.68378298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.788623853 meters 0.01875199115307478 Centerline is valid? [True, True] Translation: X:108.04, Y:-19.22, Z:-2.68 [[ 9.83207839e-01 1.81384204e-01 2.00528345e-02 1.08043511e+02] [-1.81341805e-01 9.83412284e-01 -3.92809742e-03 -1.92194800e+01] [-2.04326986e-02 2.25718961e-04 9.99791205e-01 -2.68410485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.818623853 meters 0.018861230439461855 Centerline is valid? [True, True] Translation: X:108.08, Y:-19.23, Z:-2.68 [[ 9.83168851e-01 1.81624765e-01 1.97852453e-02 1.08075554e+02] [-1.81583459e-01 9.83367884e-01 -3.87965007e-03 -1.92280535e+01] [-2.01608154e-02 2.21677810e-04 9.99796726e-01 -2.68498177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.848623853 meters 0.019872773536336503 Centerline is valid? [True, True] Translation: X:108.11, Y:-19.24, Z:-2.68 [[ 9.82969992e-01 1.82734151e-01 1.94479941e-02 1.08106653e+02] [-1.82694379e-01 9.83162342e-01 -3.81753007e-03 -1.92368758e+01] [-1.98181285e-02 1.99478291e-04 9.99803582e-01 -2.68387515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.87862385300001 meters 0.01799190994731112 Centerline is valid? [True, True] Translation: X:108.14, Y:-19.24, Z:-2.69 [[ 9.82814427e-01 1.83579330e-01 1.93502612e-02 1.08136731e+02] [-1.83540051e-01 9.83004881e-01 -3.80184488e-03 -1.92448483e+01] [-1.97193413e-02 1.84960065e-04 9.99805538e-01 -2.68796613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90862385300001 meters 0.017672397278736676 Centerline is valid? [True, True] Translation: X:108.17, Y:-19.25, Z:-2.69 [[ 9.82446610e-01 1.85635192e-01 1.83911445e-02 1.08166562e+02] [-1.85600011e-01 9.82618724e-01 -3.61664057e-03 -1.92536673e+01] [-1.87428587e-02 1.39759663e-04 9.99824327e-01 -2.69167558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.93862385300001 meters 0.02585769214330836 Centerline is valid? [True, True] Translation: X:108.20, Y:-19.26, Z:-2.69 [[ 9.82162204e-01 1.87195164e-01 1.77588336e-02 1.08199328e+02] [-1.87162598e-01 9.82322737e-01 -3.49324438e-03 -1.92569171e+01] [-1.80988245e-02 1.07143155e-04 9.99836197e-01 -2.68522218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96862385300001 meters 0.028180505095481985 Centerline is valid? [True, True] Translation: X:108.23, Y:-19.26, Z:-2.69 [[ 9.81597743e-01 1.90131893e-01 1.77689321e-02 1.08229693e+02] [-1.90099700e-01 9.81758555e-01 -3.49918065e-03 -1.92618271e+01] [-1.81101070e-02 5.69191626e-05 9.99835997e-01 -2.68635724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.99862385300001 meters 0.014622139060010971 Centerline is valid? [True, True] Translation: X:108.26, Y:-19.27, Z:-2.69 [[ 9.81229039e-01 1.91957049e-01 1.84949564e-02 1.08260260e+02] [-1.91922433e-01 9.81403327e-01 -3.64545599e-03 -1.92684987e+01] [-1.88507827e-02 2.74302504e-05 9.99822308e-01 -2.69271047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02862385300001 meters 0.014501219312612772 Centerline is valid? [True, True] Translation: X:108.29, Y:-19.27, Z:-2.69 [[ 9.80567067e-01 1.95266583e-01 1.89522542e-02 1.08292342e+02] [-1.95230795e-01 9.80750203e-01 -3.73848294e-03 -1.92746459e+01] [-1.93174279e-02 -3.42303936e-05 9.99813400e-01 -2.69257881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.05862385300001 meters 0.015006188540496592 Centerline is valid? [True, True] Translation: X:108.32, Y:-19.28, Z:-2.69 [[ 9.80198716e-01 1.97129739e-01 1.87174347e-02 1.08322958e+02] [-1.97095092e-01 9.80377408e-01 -3.69636665e-03 -1.92801217e+01] [-1.90788139e-02 -6.59406618e-05 9.99817981e-01 -2.69393012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.088623853 meters 0.016350212136653518 Centerline is valid? [True, True] Translation: X:108.35, Y:-19.28, Z:-2.70 [[ 9.79464334e-01 2.00779750e-01 1.83605876e-02 1.08354532e+02] [-2.00747028e-01 9.79636399e-01 -3.62717002e-03 -1.92835163e+01] [-1.87149622e-02 -1.33149734e-04 9.99824851e-01 -2.69513707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.118623853 meters 0.01740656730471125 Centerline is valid? [True, True] Translation: X:108.39, Y:-19.29, Z:-2.70 [[ 9.79031124e-01 2.02843544e-01 1.87764168e-02 1.08386586e+02] [-2.02809646e-01 9.79211145e-01 -3.71229393e-03 -1.92877912e+01] [-1.91390914e-02 -1.73587137e-04 9.99816816e-01 -2.69545749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.148623853 meters 0.01999965976261676 Centerline is valid? [True, True] Translation: X:108.42, Y:-19.29, Z:-2.70 [[ 9.78154967e-01 2.07008653e-01 1.89810053e-02 1.08419015e+02] [-2.06974733e-01 9.78339079e-01 -3.75597913e-03 -1.92900140e+01] [-1.93473794e-02 -2.54658871e-04 9.99812790e-01 -2.69534007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.178623853 meters 0.021320781334946408 Centerline is valid? [True, True] Translation: X:108.45, Y:-19.29, Z:-2.70 [[ 9.77710243e-01 2.09078463e-01 1.92061866e-02 1.08450853e+02] [-2.09044067e-01 9.77898823e-01 -3.80388601e-03 -1.92937724e+01] [-1.95770179e-02 -2.95841030e-04 9.99808308e-01 -2.69603987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.208623853 meters 0.023026011586305243 Centerline is valid? [True, True] Translation: X:108.48, Y:-19.30, Z:-2.70 [[ 9.77243799e-01 2.11229642e-01 1.94060763e-02 1.08482858e+02] [-2.11194883e-01 9.77436404e-01 -3.84685067e-03 -1.92973514e+01] [-1.97807743e-02 -3.39153049e-04 9.99804284e-01 -2.69637755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.238623853 meters 0.026897455533896806 Centerline is valid? [True, True] Translation: X:108.51, Y:-19.30, Z:-2.70 [[ 9.76451144e-01 2.14855729e-01 1.94981721e-02 1.08514436e+02] [-2.14821293e-01 9.76645712e-01 -3.86851703e-03 -1.92969403e+01] [-1.98739792e-02 -4.11204657e-04 9.99802408e-01 -2.69678933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26862385300001 meters 0.02842290567319626 Centerline is valid? [True, True] Translation: X:108.55, Y:-19.30, Z:-2.70 [[ 9.76045564e-01 2.16688156e-01 1.95269197e-02 1.08546661e+02] [-2.16653924e-01 9.76240772e-01 -3.87725023e-03 -1.93005437e+01] [-1.99031294e-02 -4.46210901e-04 9.99801814e-01 -2.69824507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.29862385300001 meters 0.030290677910435788 Centerline is valid? [True, True] Translation: X:108.58, Y:-19.30, Z:-2.70 [[ 9.75382814e-01 2.19652884e-01 1.95186284e-02 1.08578453e+02] [-2.19619209e-01 9.75577961e-01 -3.87892075e-03 -1.93031888e+01] [-1.98939598e-02 -5.03233093e-04 9.99801969e-01 -2.69868649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32862385300001 meters 0.03205192891328156 Centerline is valid? [True, True] Translation: X:108.61, Y:-19.31, Z:-2.70 [[ 9.75142152e-01 2.20736974e-01 1.93124752e-02 1.08609599e+02] [-2.20704158e-01 9.75333236e-01 -3.84097749e-03 -1.93067125e+01] [-1.96839447e-02 -5.16844530e-04 9.99806119e-01 -2.69966693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.35862385300001 meters 0.03486214202774526 Centerline is valid? [True, True] Translation: X:108.64, Y:-19.31, Z:-2.70 [[ 9.74800793e-01 2.22290272e-01 1.87202901e-02 1.08640821e+02] [-2.22259662e-01 9.74980387e-01 -3.72647081e-03 -1.93065711e+01] [-1.90802739e-02 -5.28198663e-04 9.99817815e-01 -2.70188031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38862385300001 meters 0.035907160094596366 Centerline is valid? [True, True] Translation: X:108.67, Y:-19.31, Z:-2.70 [[ 9.74713497e-01 2.22688102e-01 1.85366870e-02 1.08672090e+02] [-2.22658133e-01 9.74889599e-01 -3.69141106e-03 -1.93096646e+01] [-1.88932567e-02 -5.29275935e-04 9.99821366e-01 -2.70375547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.41862385300001 meters 0.03592315475482973 Centerline is valid? [True, True] Translation: X:108.70, Y:-19.32, Z:-2.70 [[ 9.74669404e-01 2.22886779e-01 1.84671970e-02 1.08704841e+02] [-2.22857050e-01 9.74844194e-01 -3.67862699e-03 -1.93152195e+01] [-1.88225571e-02 -5.30099870e-04 9.99822699e-01 -2.70450774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44862385300002 meters 0.03414366302138404 Centerline is valid? [True, True] Translation: X:108.74, Y:-19.32, Z:-2.70 [[ 9.74891887e-01 2.21890826e-01 1.87154829e-02 1.08736409e+02] [-2.21860040e-01 9.75071380e-01 -3.73175027e-03 -1.93216888e+01] [-1.90769729e-02 -5.14164707e-04 9.99817886e-01 -2.70443583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.478623853 meters 0.03369158181924377 Centerline is valid? [True, True] Translation: X:108.77, Y:-19.33, Z:-2.71 [[ 9.75126785e-01 2.20843622e-01 1.88639355e-02 1.08766905e+02] [-2.20812087e-01 9.75309105e-01 -3.76454135e-03 -1.93268899e+01] [-1.92295430e-02 -4.94479877e-04 9.99814973e-01 -2.70515149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.508623853 meters 0.030495514645564503 Centerline is valid? [True, True] Translation: X:108.80, Y:-19.34, Z:-2.71 [[ 9.75856997e-01 2.17591321e-01 1.88981258e-02 1.08795947e+02] [-2.17558998e-01 9.76039873e-01 -3.77470031e-03 -1.93351778e+01] [-1.92666664e-02 -4.27889613e-04 9.99814289e-01 -2.70656050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.538623853 meters 0.0286760799867042 Centerline is valid? [True, True] Translation: X:108.83, Y:-19.34, Z:-2.71 [[ 9.76241209e-01 2.15871082e-01 1.87823644e-02 1.08826223e+02] [-2.15838820e-01 9.76421796e-01 -3.75239273e-03 -1.93437200e+01] [-1.91495431e-02 -3.90722972e-04 9.99816554e-01 -2.70778695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.568623853 meters 0.02232863231585522 Centerline is valid? [True, True] Translation: X:108.86, Y:-19.36, Z:-2.71 [[ 9.77314230e-01 2.10991512e-01 1.84249109e-02 1.08855720e+02] [-2.10959537e-01 9.77487852e-01 -3.68428267e-03 -1.93581687e+01] [-1.87874790e-02 -2.86208798e-04 9.99823459e-01 -2.70823825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.598623853 meters 0.025259739473901772 Centerline is valid? [True, True] Translation: X:108.89, Y:-19.37, Z:-2.71 [[ 9.77830161e-01 2.08631916e-01 1.79136883e-02 1.08886646e+02] [-2.08601294e-01 9.77994207e-01 -3.58206942e-03 -1.93666908e+01] [-1.82668174e-02 -2.34163038e-04 9.99833120e-01 -2.70608233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62862385300001 meters 0.018301067540769447 Centerline is valid? [True, True] Translation: X:108.92, Y:-19.38, Z:-2.71 [[ 9.78336892e-01 2.06261006e-01 1.77009106e-02 1.08917151e+02] [-2.06230666e-01 9.78496992e-01 -3.54246193e-03 -1.93774776e+01] [-1.80509595e-02 -1.84749388e-04 9.99837051e-01 -2.71209248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.65862385300001 meters 0.015754660149933947 Centerline is valid? [True, True] Translation: X:108.95, Y:-19.39, Z:-2.71 [[ 9.79339295e-01 2.01539895e-01 1.66197640e-02 1.08947884e+02] [-2.01512414e-01 9.79480302e-01 -3.32926115e-03 -1.93902679e+01] [-1.69497105e-02 -8.86125112e-05 9.99856339e-01 -2.71415515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68862385300001 meters 0.014809276052795627 Centerline is valid? [True, True] Translation: X:108.98, Y:-19.40, Z:-2.71 [[ 9.80124979e-01 1.97667956e-01 1.68049219e-02 1.08978985e+02] [-1.97639259e-01 9.80269034e-01 -3.36818287e-03 -1.94012766e+01] [-1.71391263e-02 -2.00721407e-05 9.99853114e-01 -2.71498923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.71862385300001 meters 0.014816842006907641 Centerline is valid? [True, True] Translation: X:109.01, Y:-19.41, Z:-2.72 [[ 9.80464659e-01 1.95971911e-01 1.68541566e-02 1.09010421e+02] [-1.95942795e-01 9.80609509e-01 -3.37803726e-03 -1.94102118e+01] [-1.71893467e-02 9.59560417e-06 9.99852252e-01 -2.71563963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74862385300001 meters 0.019443963459165842 Centerline is valid? [True, True] Translation: X:109.04, Y:-19.42, Z:-2.71 [[ 9.81261777e-01 1.91961197e-01 1.66199868e-02 1.09040865e+02] [-1.91932252e-01 9.81402513e-01 -3.33448328e-03 -1.94226689e+01] [-1.69509882e-02 8.20894924e-05 9.99856318e-01 -2.71267607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.77862385300001 meters 0.017232731964832618 Centerline is valid? [True, True] Translation: X:109.07, Y:-19.43, Z:-2.72 [[ 9.81669274e-01 1.89846347e-01 1.68464034e-02 1.09071133e+02] [-1.89816245e-01 9.81813806e-01 -3.38286197e-03 -1.94331838e+01] [-1.71822554e-02 1.23130629e-04 9.99852367e-01 -2.71667119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80862385300001 meters 0.020225865498399057 Centerline is valid? [True, True] Translation: X:109.10, Y:-19.45, Z:-2.72 [[ 9.82444175e-01 1.85841183e-01 1.63247819e-02 1.09101446e+02] [-1.85812320e-01 9.82579777e-01 -3.28075180e-03 -1.94458684e+01] [-1.66500994e-02 1.89809898e-04 9.99861359e-01 -2.71859903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.838623853 meters 0.020935063987251198 Centerline is valid? [True, True] Translation: X:109.13, Y:-19.45, Z:-2.72 [[ 9.82739940e-01 1.84255164e-01 1.64998579e-02 1.09132680e+02] [-1.84225407e-01 9.82878418e-01 -3.31877414e-03 -1.94540624e+01] [-1.68288555e-02 2.21798868e-04 9.99858360e-01 -2.71865088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.868623853 meters 0.02403902480145209 Centerline is valid? [True, True] Translation: X:109.16, Y:-19.47, Z:-2.72 [[ 9.83139849e-01 1.82056569e-01 1.70716842e-02 1.09161454e+02] [-1.82024306e-01 9.83288020e-01 -3.43815477e-03 -1.94663938e+01] [-1.74123212e-02 2.72725502e-04 9.99848357e-01 -2.71950757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.898623853 meters 0.024272412783669074 Centerline is valid? [True, True] Translation: X:109.19, Y:-19.47, Z:-2.72 [[ 9.83129440e-01 1.82129151e-01 1.68960558e-02 1.09193517e+02] [-1.82097574e-01 9.83274580e-01 -3.40191197e-03 -1.94743005e+01] [-1.72330496e-02 2.67789037e-04 9.99851464e-01 -2.72043737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.928623853 meters 0.023201923756773272 Centerline is valid? [True, True] Translation: X:109.23, Y:-19.48, Z:-2.72 [[ 9.83023970e-01 1.82711218e-01 1.67477073e-02 1.09225687e+02] [-1.82680223e-01 9.83166590e-01 -3.37519360e-03 -1.94802279e+01] [-1.70824721e-02 2.58421291e-04 9.99854051e-01 -2.72092787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.958623853 meters 0.02123735099556389 Centerline is valid? [True, True] Translation: X:109.26, Y:-19.48, Z:-2.72 [[ 9.82612496e-01 1.84944459e-01 1.63777503e-02 1.09257221e+02] [-1.84915073e-01 9.82748950e-01 -3.30396508e-03 -1.94847869e+01] [-1.67062670e-02 2.18024477e-04 9.99860417e-01 -2.72175710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.988623853 meters 0.02638032993528955 Centerline is valid? [True, True] Translation: X:109.29, Y:-19.49, Z:-2.72 [[ 9.82322897e-01 1.86515863e-01 1.59235615e-02 1.09288268e+02] [-1.86488246e-01 9.82451931e-01 -3.21511265e-03 -1.94905562e+01] [-1.62438033e-02 1.88721710e-04 9.99868043e-01 -2.71902817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.01862385300001 meters 0.018570242676956644 Centerline is valid? [True, True] Translation: X:109.32, Y:-19.49, Z:-2.72 [[ 9.81748839e-01 1.89496346e-01 1.61354158e-02 1.09320281e+02] [-1.89468349e-01 9.81881415e-01 -3.26047520e-03 -1.94940945e+01] [-1.64609130e-02 1.43817158e-04 9.99864500e-01 -2.72369773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04862385300001 meters 0.0171196288730941 Centerline is valid? [True, True] Translation: X:109.35, Y:-19.50, Z:-2.72 [[ 9.81407268e-01 1.91243814e-01 1.62965623e-02 1.09352190e+02] [-1.91215449e-01 9.81542556e-01 -3.29583282e-03 -1.94985148e+01] [-1.66260770e-02 1.18399814e-04 9.99861770e-01 -2.72372315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.07862385300001 meters 0.015567682127588188 Centerline is valid? [True, True] Translation: X:109.38, Y:-19.50, Z:-2.72 [[ 9.80781193e-01 1.94406533e-01 1.65635368e-02 1.09384947e+02] [-1.94377616e-01 9.80921044e-01 -3.35366077e-03 -1.95014568e+01] [-1.68994954e-02 6.96266010e-05 9.99857191e-01 -2.72405603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10862385300001 meters 0.015567682127588188 Centerline is valid? [True, True] Translation: X:109.42, Y:-19.51, Z:-2.72 [[ 9.80744505e-01 1.94591534e-01 1.65635524e-02 1.09416740e+02] [-1.94562646e-01 9.80884361e-01 -3.35358478e-03 -1.95080950e+01] [-1.68995087e-02 6.63612646e-05 9.99857191e-01 -2.72487332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.13862385300001 meters 0.015040093605431843 Centerline is valid? [True, True] Translation: X:109.45, Y:-19.51, Z:-2.73 [[ 9.80430209e-01 1.96153970e-01 1.67399481e-02 1.09448815e+02] [-1.96124630e-01 9.80573107e-01 -3.39283721e-03 -1.95130408e+01] [-1.70802614e-02 4.33239600e-05 9.99854121e-01 -2.72505354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16862385300001 meters 0.014651939459915537 Centerline is valid? [True, True] Translation: X:109.48, Y:-19.52, Z:-2.73 [[ 9.80124236e-01 1.97636582e-01 1.72123168e-02 1.09479204e+02] [-1.97605736e-01 9.80275360e-01 -3.49174414e-03 -1.95183294e+01] [-1.75629064e-02 2.10905205e-05 9.99845760e-01 -2.72539466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19862385300002 meters 0.014491279267188698 Centerline is valid? [True, True] Translation: X:109.51, Y:-19.52, Z:-2.73 [[ 9.79605035e-01 2.00166417e-01 1.75322795e-02 1.09511130e+02] [-2.00134770e-01 9.79761912e-01 -3.55933648e-03 -1.95229969e+01] [-1.78899194e-02 -2.20748031e-05 9.99839962e-01 -2.72568503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.228623853 meters 0.022427765864321735 Centerline is valid? [True, True] Translation: X:109.54, Y:-19.53, Z:-2.72 [[ 9.79306767e-01 2.01631984e-01 1.74011461e-02 1.09544371e+02] [-2.01600986e-01 9.79461352e-01 -3.53575491e-03 -1.95274854e+01] [-1.77566713e-02 -4.54995047e-05 9.99842337e-01 -2.72136775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.258623853 meters 0.015291660358092119 Centerline is valid? [True, True] Translation: X:109.58, Y:-19.53, Z:-2.73 [[ 9.78826958e-01 2.03917715e-01 1.77581673e-02 1.09577170e+02] [-2.03885744e-01 9.78988028e-01 -3.61180573e-03 -1.95323828e+01] [-1.81215444e-02 -8.53043392e-05 9.99835788e-01 -2.72703185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.288623853 meters 0.01585545806378076 Centerline is valid? [True, True] Translation: X:109.61, Y:-19.54, Z:-2.73 [[ 9.78542080e-01 2.05273074e-01 1.78427120e-02 1.09609550e+02] [-2.05240961e-01 9.78704732e-01 -3.63243651e-03 -1.95375726e+01] [-1.82083881e-02 -1.07563378e-04 9.99834208e-01 -2.72802585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.318623853 meters 0.017154024308832127 Centerline is valid? [True, True] Translation: X:109.64, Y:-19.54, Z:-2.73 [[ 9.78113336e-01 2.07371721e-01 1.70666495e-02 1.09640355e+02] [-2.07342603e-01 9.78262209e-01 -3.47774634e-03 -1.95416325e+01] [-1.74168445e-02 -1.37013459e-04 9.99848306e-01 -2.73051004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.348623853 meters 0.018708829356459754 Centerline is valid? [True, True] Translation: X:109.67, Y:-19.54, Z:-2.73 [[ 9.77686574e-01 2.09418695e-01 1.65158253e-02 1.09671589e+02] [-2.09391677e-01 9.77826049e-01 -3.36790644e-03 -1.95446844e+01] [-1.68549068e-02 -1.65519458e-04 9.99857932e-01 -2.73281293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.37862385300001 meters 0.01956104402702438 Centerline is valid? [True, True] Translation: X:109.70, Y:-19.55, Z:-2.73 [[ 9.77467075e-01 2.10461981e-01 1.62441121e-02 1.09703718e+02] [-2.10435951e-01 9.77602027e-01 -3.31481260e-03 -1.95493605e+01] [-1.65779190e-02 -1.78225000e-04 9.99862561e-01 -2.73405328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40862385300001 meters 0.019401862894275607 Centerline is valid? [True, True] Translation: X:109.74, Y:-19.56, Z:-2.73 [[ 9.77318242e-01 2.11198561e-01 1.56276031e-02 1.09735193e+02] [-2.11174526e-01 9.77443162e-01 -3.19132933e-03 -1.95563588e+01] [-1.59490980e-02 -1.81207316e-04 9.99872789e-01 -2.73494897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.43862385300001 meters 0.020448998168786627 Centerline is valid? [True, True] Translation: X:109.77, Y:-19.56, Z:-2.74 [[ 9.77232194e-01 2.11616783e-01 1.53484856e-02 1.09766496e+02] [-2.11593613e-01 9.77352702e-01 -3.13674443e-03 -1.95614146e+01] [-1.56646716e-02 -1.82313866e-04 9.99877285e-01 -2.73776208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46862385300001 meters 0.01904251931160855 Centerline is valid? [True, True] Translation: X:109.80, Y:-19.57, Z:-2.74 [[ 9.77329485e-01 2.11131687e-01 1.58268002e-02 1.09797277e+02] [-2.11106936e-01 9.77457610e-01 -3.23760014e-03 -1.95706840e+01] [-1.61535863e-02 -1.76945218e-04 9.99869507e-01 -2.73655259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.49862385300001 meters 0.017327868641684674 Centerline is valid? [True, True] Translation: X:109.83, Y:-19.58, Z:-2.73 [[ 9.77475521e-01 2.10399160e-01 1.65469080e-02 1.09828330e+02] [-2.10371951e-01 9.77615551e-01 -3.38781205e-03 -1.95805984e+01] [-1.68893074e-02 -1.69501984e-04 9.99857351e-01 -2.73463418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52862385300001 meters 0.02477743218064877 Centerline is valid? [True, True] Translation: X:109.86, Y:-19.59, Z:-2.73 [[ 9.77428450e-01 2.10652782e-01 1.60944263e-02 1.09860593e+02] [-2.10627032e-01 9.77560933e-01 -3.29784609e-03 -1.95851896e+01] [-1.64279828e-02 -1.66512649e-04 9.99865038e-01 -2.73155250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.55862385300001 meters 0.01927719184550734 Centerline is valid? [True, True] Translation: X:109.89, Y:-19.59, Z:-2.74 [[ 9.77425439e-01 2.10658764e-01 1.61986207e-02 1.09892632e+02] [-2.10632629e-01 9.77559644e-01 -3.32228131e-03 -1.95896790e+01] [-1.65349856e-02 -1.64675801e-04 9.99863274e-01 -2.74002337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.588623853 meters 0.017947463780560304 Centerline is valid? [True, True] Translation: X:109.93, Y:-19.60, Z:-2.74 [[ 9.77414639e-01 2.10738462e-01 1.58089761e-02 1.09925012e+02] [-2.10713531e-01 9.77542467e-01 -3.24538164e-03 -1.95985245e+01] [-1.61378722e-02 -1.59081639e-04 9.99869763e-01 -2.73908321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.618623853 meters 0.017813590108029225 Centerline is valid? [True, True] Translation: X:109.96, Y:-19.61, Z:-2.74 [[ 9.77351480e-01 2.10989940e-01 1.63502077e-02 1.09957263e+02] [-2.10963251e-01 9.77488219e-01 -3.35985403e-03 -1.96058067e+01] [-1.66910308e-02 -1.65534665e-04 9.99860681e-01 -2.73926641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.648623853 meters 0.019860279168898102 Centerline is valid? [True, True] Translation: X:109.99, Y:-19.61, Z:-2.74 [[ 9.77167501e-01 2.11771204e-01 1.72229955e-02 1.09989472e+02] [-2.11741646e-01 9.77319253e-01 -3.54295101e-03 -1.96084857e+01] [-1.75826601e-02 -1.84768821e-04 9.99845396e-01 -2.74034529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.678623853 meters 0.018287703982443664 Centerline is valid? [True, True] Translation: X:110.02, Y:-19.62, Z:-2.74 [[ 9.77039078e-01 2.12316463e-01 1.77865056e-02 1.10021072e+02] [-2.12284969e-01 9.77200942e-01 -3.66219724e-03 -1.96165822e+01] [-1.81585348e-02 -1.97697963e-04 9.99835101e-01 -2.73737334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.708623853 meters 0.01832714831498407 Centerline is valid? [True, True] Translation: X:110.05, Y:-19.62, Z:-2.74 [[ 9.76708026e-01 2.13773641e-01 1.85003582e-02 1.10053435e+02] [-2.13739755e-01 9.76883195e-01 -3.81308775e-03 -1.96202905e+01] [-1.88878266e-02 -2.29988602e-04 9.99821583e-01 -2.73621759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.738623853 meters 0.01981754706273904 Centerline is valid? [True, True] Translation: X:110.08, Y:-19.62, Z:-2.74 [[ 9.76533870e-01 2.14561021e-01 1.85787127e-02 1.10084885e+02] [-2.14526928e-01 9.76710555e-01 -3.83249079e-03 -1.96238191e+01] [-1.89683279e-02 -2.43077099e-04 9.99820056e-01 -2.73779755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76862385300001 meters 0.019404320277306094 Centerline is valid? [True, True] Translation: X:110.12, Y:-19.63, Z:-2.74 [[ 9.76385353e-01 2.15209994e-01 1.88759361e-02 1.10117380e+02] [-2.15174853e-01 9.76567762e-01 -3.89739509e-03 -1.96305694e+01] [-1.92723890e-02 -2.56267288e-04 9.99814237e-01 -2.73775272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.79862385300001 meters 0.020134521418382387 Centerline is valid? [True, True] Translation: X:110.15, Y:-19.63, Z:-2.74 [[ 9.76252649e-01 2.15769524e-01 1.93462576e-02 1.10150081e+02] [-2.15732639e-01 9.76444284e-01 -3.99858565e-03 -1.96327126e+01] [-1.97533155e-02 -2.69989364e-04 9.99804848e-01 -2.73832335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82862385300001 meters 0.019680771704904804 Centerline is valid? [True, True] Translation: X:110.18, Y:-19.64, Z:-2.74 [[ 9.76288243e-01 2.15635946e-01 1.90369383e-02 1.10182890e+02] [-2.15600139e-01 9.76473795e-01 -3.93808044e-03 -1.96365972e+01] [-1.94382631e-02 -2.59664921e-04 9.99811025e-01 -2.73927694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.85862385300001 meters 0.0185263011558711 Centerline is valid? [True, True] Translation: X:110.21, Y:-19.64, Z:-2.74 [[ 9.76383594e-01 2.15197209e-01 1.91112234e-02 1.10213973e+02] [-2.15160962e-01 9.76570581e-01 -3.95737645e-03 -1.96434634e+01] [-1.95150749e-02 -2.48071773e-04 9.99809532e-01 -2.73974299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88862385300001 meters 0.019095405060769278 Centerline is valid? [True, True] Translation: X:110.25, Y:-19.65, Z:-2.74 [[ 9.76429942e-01 2.15009467e-01 1.88546276e-02 1.10245482e+02] [-2.14974089e-01 9.76611935e-01 -3.90749843e-03 -1.96482535e+01] [-1.92538035e-02 -2.37857920e-04 9.99814600e-01 -2.74194564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.91862385300001 meters 0.017633156559558844 Centerline is valid? [True, True] Translation: X:110.28, Y:-19.66, Z:-2.74 [[ 9.76861838e-01 2.13114783e-01 1.79732903e-02 1.10276199e+02] [-2.13082253e-01 9.77027151e-01 -3.72819653e-03 -1.96566821e+01] [-1.83549264e-02 -1.87856278e-04 9.99831516e-01 -2.74359535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94862385300002 meters 0.01750952466259926 Centerline is valid? [True, True] Translation: X:110.31, Y:-19.66, Z:-2.75 [[ 9.77082972e-01 2.12090322e-01 1.80710179e-02 1.10306217e+02] [-2.12057202e-01 9.77250054e-01 -3.75170697e-03 -1.96629456e+01] [-1.84556040e-02 -1.66360506e-04 9.99829667e-01 -2.74551971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.978623853 meters 0.015330101965022878 Centerline is valid? [True, True] Translation: X:110.34, Y:-19.67, Z:-2.74 [[ 9.77592103e-01 2.09650642e-01 1.89812403e-02 1.10337002e+02] [-2.09613580e-01 9.77776351e-01 -3.94386516e-03 -1.96719702e+01] [-1.93862417e-02 -1.23234297e-04 9.99812062e-01 -2.74380824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.008623853 meters 0.014640831145849631 Centerline is valid? [True, True] Translation: X:110.37, Y:-19.68, Z:-2.74 [[ 9.77824255e-01 2.08554161e-01 1.91020386e-02 1.10368576e+02] [-2.08516352e-01 9.78010814e-01 -3.97222061e-03 -1.96792881e+01] [-1.95104234e-02 -9.89537427e-05 9.99809649e-01 -2.74414978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.038623853 meters 0.01410218986310676 Centerline is valid? [True, True] Translation: X:110.40, Y:-19.69, Z:-2.75 [[ 9.78231736e-01 2.06649720e-01 1.89358105e-02 1.10398809e+02] [-2.06612145e-01 9.78414989e-01 -3.94097158e-03 -1.96872663e+01] [-1.93414815e-02 -5.71849731e-05 9.99812934e-01 -2.74560297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.068623853 meters 0.0138890655124771 Centerline is valid? [True, True] Translation: X:110.43, Y:-19.69, Z:-2.75 [[ 9.78337170e-01 2.06140177e-01 1.90423184e-02 1.10430627e+02] [-2.06102027e-01 9.78522471e-01 -3.96599602e-03 -1.96945629e+01] [-1.94508875e-02 -4.45790929e-05 9.99810813e-01 -2.74600511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.098623853 meters 0.013896737125928127 Centerline is valid? [True, True] Translation: X:110.46, Y:-19.70, Z:-2.75 [[ 9.78416385e-01 2.05781058e-01 1.88556000e-02 1.10461729e+02] [-2.05743512e-01 9.78598056e-01 -3.93090471e-03 -1.97008758e+01] [-1.92609592e-02 -3.33557842e-05 9.99814490e-01 -2.74765056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12862385300001 meters 0.013832452141070276 Centerline is valid? [True, True] Translation: X:110.49, Y:-19.71, Z:-2.75 [[ 9.78557219e-01 2.05142437e-01 1.85026899e-02 1.10494342e+02] [-2.05106107e-01 9.78732129e-01 -3.86061943e-03 -1.97071399e+01] [-1.89011540e-02 -1.71776872e-05 9.99821357e-01 -2.74891487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.15862385300001 meters 0.014040513019697077 Centerline is valid? [True, True] Translation: X:110.53, Y:-19.71, Z:-2.75 [[ 9.78644859e-01 2.04789558e-01 1.77616642e-02 1.10526414e+02] [-2.04755961e-01 9.78806026e-01 -3.70936185e-03 -1.97123583e+01] [-1.81448625e-02 -6.65872837e-06 9.99835368e-01 -2.75106162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18862385300001 meters 0.0201863407597412 Centerline is valid? [True, True] Translation: X:110.56, Y:-19.72, Z:-2.75 [[ 9.78663594e-01 2.04749507e-01 1.71816203e-02 1.10559254e+02] [-2.04718013e-01 9.78814405e-01 -3.59110557e-03 -1.97178174e+01] [-1.75528945e-02 -2.90286781e-06 9.99845936e-01 -2.74798496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.21862385300001 meters 0.01418498525026255 Centerline is valid? [True, True] Translation: X:110.59, Y:-19.73, Z:-2.75 [[ 9.78724022e-01 2.04468373e-01 1.70871973e-02 1.10590707e+02] [-2.04437119e-01 9.78873171e-01 -3.57491282e-03 -1.97250373e+01] [-1.74571556e-02 5.59567033e-06 9.99847612e-01 -2.75388791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24862385300001 meters 0.014326666583053668 Centerline is valid? [True, True] Translation: X:110.62, Y:-19.73, Z:-2.75 [[ 9.78760561e-01 2.04326307e-01 1.66890491e-02 1.10623542e+02] [-2.04296421e-01 9.78902835e-01 -3.49459605e-03 -1.97315167e+01] [-1.70509954e-02 1.08597904e-05 9.99854621e-01 -2.75483061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.27862385300001 meters 0.014374268374267175 Centerline is valid? [True, True] Translation: X:110.66, Y:-19.74, Z:-2.76 [[ 9.78775303e-01 2.04233160e-01 1.69623767e-02 1.10655662e+02] [-2.04202214e-01 9.78922273e-01 -3.55523982e-03 -1.97381677e+01] [-1.73309462e-02 1.60260581e-05 9.99849808e-01 -2.75524525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30862385300001 meters 0.014568865154755846 Centerline is valid? [True, True] Translation: X:110.69, Y:-19.74, Z:-2.76 [[ 9.78969919e-01 2.03277121e-01 1.72136336e-02 1.10687148e+02] [-2.03245041e-01 9.79121244e-01 -3.61147171e-03 -1.97445651e+01] [-1.75883639e-02 3.69365074e-05 9.99845312e-01 -2.75568689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.338623853 meters 0.014721900559805347 Centerline is valid? [True, True] Translation: X:110.72, Y:-19.75, Z:-2.76 [[ 9.79141772e-01 2.02425682e-01 1.74709316e-02 1.10719293e+02] [-2.02392443e-01 9.79297626e-01 -3.66862512e-03 -1.97520175e+01] [-1.78518658e-02 5.61195662e-05 9.99840641e-01 -2.75574567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.368623853 meters 0.01621644520907179 Centerline is valid? [True, True] Translation: X:110.75, Y:-19.76, Z:-2.76 [[ 9.79703209e-01 1.99659782e-01 1.78211618e-02 1.10748718e+02] [-1.99624668e-01 9.79865276e-01 -3.74610693e-03 -1.97629843e+01] [-1.82102845e-02 1.12529477e-04 9.99834173e-01 -2.75691498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.398623853 meters 0.01736128090415032 Centerline is valid? [True, True] Translation: X:110.78, Y:-19.77, Z:-2.76 [[ 9.79962629e-01 1.98397789e-01 1.76511552e-02 1.10779141e+02] [-1.98363085e-01 9.80121573e-01 -3.71323491e-03 -1.97717938e+01] [-1.80369756e-02 1.37493837e-04 9.99837311e-01 -2.75804166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.428623853 meters 0.018530652876588775 Centerline is valid? [True, True] Translation: X:110.81, Y:-19.78, Z:-2.76 [[ 9.80203483e-01 1.97223206e-01 1.74396031e-02 1.10809251e+02] [-1.97189095e-01 9.80358598e-01 -3.67145527e-03 -1.97801814e+01] [-1.78211610e-02 1.59873702e-04 9.99841178e-01 -2.75982622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.458623853 meters 0.019267583290585984 Centerline is valid? [True, True] Translation: X:110.84, Y:-19.79, Z:-2.76 [[ 9.80510439e-01 1.95724496e-01 1.70646213e-02 1.10840308e+02] [-1.95691566e-01 9.80658905e-01 -3.59495272e-03 -1.97885434e+01] [-1.74381931e-02 1.85486198e-04 9.99847926e-01 -2.76085104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.488623853 meters 0.02047838717325434 Centerline is valid? [True, True] Translation: X:110.87, Y:-19.80, Z:-2.76 [[ 9.80589407e-01 1.95357711e-01 1.67266283e-02 1.10870284e+02] [-1.95325970e-01 9.80732037e-01 -3.52666352e-03 -1.97975132e+01] [-1.70933011e-02 1.91064004e-04 9.99853881e-01 -2.76266538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.51862385300001 meters 0.020229095421950175 Centerline is valid? [True, True] Translation: X:110.90, Y:-19.80, Z:-2.76 [[ 9.80578675e-01 1.95426239e-01 1.65543887e-02 1.10902494e+02] [-1.95395118e-01 9.80718384e-01 -3.49267885e-03 -1.98045921e+01] [-1.69177545e-02 1.90199647e-04 9.99856866e-01 -2.76259740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54862385300001 meters 0.019794936226414157 Centerline is valid? [True, True] Translation: X:110.93, Y:-19.81, Z:-2.76 [[ 9.80443773e-01 1.96051401e-01 1.71422497e-02 1.10933999e+02] [-1.96018061e-01 9.80593602e-01 -3.62039937e-03 -1.98111871e+01] [-1.75193647e-02 1.89407471e-04 9.99846506e-01 -2.76245147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.57862385300001 meters 0.018377175677743086 Centerline is valid? [True, True] Translation: X:110.97, Y:-19.82, Z:-2.76 [[ 9.80282199e-01 1.96832620e-01 1.74278590e-02 1.10966383e+02] [-1.96798216e-01 9.80437090e-01 -3.68449692e-03 -1.98161918e+01] [-1.78121486e-02 1.82075176e-04 9.99841335e-01 -2.76147679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60862385300001 meters 0.017761018096472233 Centerline is valid? [True, True] Translation: X:111.00, Y:-19.82, Z:-2.76 [[ 9.79945049e-01 1.98473860e-01 1.77715729e-02 1.10996929e+02] [-1.98438347e-01 9.80106169e-01 -3.75763896e-03 -1.98215731e+01] [-1.81638214e-02 1.55718151e-04 9.99835012e-01 -2.76256547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.63862385300001 meters 0.017247189464488513 Centerline is valid? [True, True] Translation: X:111.03, Y:-19.83, Z:-2.76 [[ 9.79683097e-01 1.99754710e-01 1.78629575e-02 1.11027057e+02] [-1.99718990e-01 9.79845925e-01 -3.77993318e-03 -1.98281867e+01] [-1.82580056e-02 1.35564812e-04 9.99833300e-01 -2.76426318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66862385300001 meters 0.016564762941929045 Centerline is valid? [True, True] Translation: X:111.06, Y:-19.84, Z:-2.76 [[ 9.79582201e-01 2.00241729e-01 1.79432786e-02 1.11058955e+02] [-2.00205704e-01 9.79746515e-01 -3.80040736e-03 -1.98351963e+01] [-1.83408648e-02 1.30464673e-04 9.99831784e-01 -2.76449625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69862385300002 meters 0.01669091586170364 Centerline is valid? [True, True] Translation: X:111.09, Y:-19.84, Z:-2.77 [[ 9.79437668e-01 2.00980189e-01 1.75732328e-02 1.11090145e+02] [-2.00945742e-01 9.79595299e-01 -3.72265979e-03 -1.98434680e+01] [-1.79628371e-02 1.14846912e-04 9.99838649e-01 -2.76664114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.728623853 meters 0.015550057854354246 Centerline is valid? [True, True] Translation: X:111.12, Y:-19.85, Z:-2.77 [[ 9.79039640e-01 2.02974145e-01 1.68190262e-02 1.11122766e+02] [-2.02942862e-01 9.79184094e-01 -3.56424046e-03 -1.98488769e+01] [-1.71923716e-02 7.62313708e-05 9.99852197e-01 -2.76752222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.758623853 meters 0.014704626200203743 Centerline is valid? [True, True] Translation: X:111.15, Y:-19.85, Z:-2.77 [[ 9.78375556e-01 2.06169892e-01 1.65905479e-02 1.11154061e+02] [-2.06139852e-01 9.78516211e-01 -3.51941351e-03 -1.98527075e+01] [-1.69597171e-02 2.33350702e-05 9.99856173e-01 -2.76916779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.788623853 meters 0.014595618084412789 Centerline is valid? [True, True] Translation: X:111.19, Y:-19.86, Z:-2.77 [[ 9.77932601e-01 2.08248609e-01 1.67434914e-02 1.11185394e+02] [-2.08218273e-01 9.78075926e-01 -3.55442917e-03 -1.98570322e+01] [-1.71166107e-02 -1.03086982e-05 9.99853500e-01 -2.77023975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.818623853 meters 0.014863723592119744 Centerline is valid? [True, True] Translation: X:111.22, Y:-19.86, Z:-2.77 [[ 9.77421687e-01 2.10639992e-01 1.66625288e-02 1.11218534e+02] [-2.10610245e-01 9.77563702e-01 -3.54026979e-03 -1.98608105e+01] [-1.70344058e-02 -4.89628126e-05 9.99854903e-01 -2.77078927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.848623853 meters 0.01711819331169004 Centerline is valid? [True, True] Translation: X:111.25, Y:-19.86, Z:-2.77 [[ 9.76214054e-01 2.16173111e-01 1.65924005e-02 1.11252055e+02] [-2.16144355e-01 9.76355041e-01 -3.52872373e-03 -1.98595861e+01] [-1.69628890e-02 -1.41563995e-04 9.99856110e-01 -2.77137846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.87862385300001 meters 0.018912116757021553 Centerline is valid? [True, True] Translation: X:111.28, Y:-19.86, Z:-2.77 [[ 9.75541590e-01 2.19198932e-01 1.64448963e-02 1.11283998e+02] [-2.19171056e-01 9.75680169e-01 -3.50081298e-03 -1.98617623e+01] [-1.68123337e-02 -1.89056629e-04 9.99858645e-01 -2.77205603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90862385300001 meters 0.02259276069383034 Centerline is valid? [True, True] Translation: X:111.32, Y:-19.86, Z:-2.77 [[ 9.74270706e-01 2.24786606e-01 1.63576813e-02 1.11316689e+02] [-2.24759777e-01 9.74407975e-01 -3.48429672e-03 -1.98590262e+01] [-1.67222783e-02 -2.81900585e-04 9.99860133e-01 -2.77213811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.93862385300001 meters 0.02556539372862494 Centerline is valid? [True, True] Translation: X:111.35, Y:-19.86, Z:-2.77 [[ 9.73621426e-01 2.27565261e-01 1.65943200e-02 1.11348089e+02] [-2.27538046e-01 9.73762774e-01 -3.53513133e-03 -1.98593248e+01] [-1.69634042e-02 -3.33959551e-04 9.99856055e-01 -2.77277755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96862385300001 meters 0.030076364379326048 Centerline is valid? [True, True] Translation: X:111.38, Y:-19.86, Z:-2.77 [[ 9.73059840e-01 2.29934141e-01 1.68771411e-02 1.11379390e+02] [-2.29906337e-01 9.73206117e-01 -3.59591966e-03 -1.98569768e+01] [-1.72517616e-02 -3.81116673e-04 9.99851105e-01 -2.77484264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.99862385300001 meters 0.03250859346213868 Centerline is valid? [True, True] Translation: X:111.41, Y:-19.86, Z:-2.77 [[ 9.72258642e-01 2.33294407e-01 1.69367502e-02 1.11410021e+02] [-2.33266907e-01 9.72406049e-01 -3.60910780e-03 -1.98552793e+01] [-1.73113830e-02 -4.41797081e-04 9.99850049e-01 -2.77422149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02862385300001 meters 0.03250859346213868 Centerline is valid? [True, True] Translation: X:111.44, Y:-19.86, Z:-2.77 [[ 9.72264005e-01 2.33272047e-01 1.69368331e-02 1.11438557e+02] [-2.33244550e-01 9.72411414e-01 -3.60871849e-03 -1.98613143e+01] [-1.73113830e-02 -4.41796924e-04 9.99850049e-01 -2.77495521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.05862385300001 meters 0.03190652283067715 Centerline is valid? [True, True] Translation: X:111.47, Y:-19.87, Z:-2.78 [[ 9.72013184e-01 2.34284802e-01 1.73493901e-02 1.11468242e+02] [-2.34256119e-01 9.72167891e-01 -3.69619519e-03 -1.98658604e+01] [-1.77324824e-02 -4.71450340e-04 9.99842656e-01 -2.77522875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.088623853 meters 0.033897736695113805 Centerline is valid? [True, True] Translation: X:111.50, Y:-19.86, Z:-2.78 [[ 9.71989947e-01 2.34425270e-01 1.67432171e-02 1.11497583e+02] [-2.34398581e-01 9.72134036e-01 -3.56675542e-03 -1.98649896e+01] [-1.71127888e-02 -4.57735931e-04 9.99853461e-01 -2.77734928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.118623853 meters 0.03429625547386533 Centerline is valid? [True, True] Translation: X:111.53, Y:-19.87, Z:-2.78 [[ 9.72207262e-01 2.33535420e-01 1.65604074e-02 1.11525233e+02] [-2.33509189e-01 9.72348197e-01 -3.52739348e-03 -1.98677438e+01] [-1.69262536e-02 -4.37649761e-04 9.99856645e-01 -2.77868921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.148623853 meters 0.030293769578932553 Centerline is valid? [True, True] Translation: X:111.55, Y:-19.88, Z:-2.78 [[ 9.73014866e-01 2.30109805e-01 1.70747824e-02 1.11553860e+02] [-2.30081415e-01 9.73164593e-01 -3.63562921e-03 -1.98755481e+01] [-1.74531675e-02 -3.91068826e-04 9.99847605e-01 -2.77878305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.178623853 meters 0.029345937209251844 Centerline is valid? [True, True] Translation: X:111.58, Y:-19.88, Z:-2.78 [[ 9.73557556e-01 2.27783772e-01 1.73274081e-02 1.11581693e+02] [-2.27754173e-01 9.73711676e-01 -3.68908754e-03 -1.98819335e+01] [-1.77122139e-02 -3.54850460e-04 9.99843063e-01 -2.78003776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.208623853 meters 0.02297225809594024 Centerline is valid? [True, True] Translation: X:111.61, Y:-19.90, Z:-2.78 [[ 9.74160726e-01 2.25170074e-01 1.75874575e-02 1.11610812e+02] [-2.25139173e-01 9.74319424e-01 -3.74339851e-03 -1.98965547e+01] [-1.79787028e-02 -3.12953827e-04 9.99838321e-01 -2.77764590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.238623853 meters 0.019079061990217788 Centerline is valid? [True, True] Translation: X:111.64, Y:-19.91, Z:-2.78 [[ 9.75253980e-01 2.20284227e-01 1.88290559e-02 1.11640529e+02] [-2.20247887e-01 9.75435699e-01 -4.00819003e-03 -1.99057882e+01] [-1.92494743e-02 -2.38056492e-04 9.99814683e-01 -2.77676180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26862385300001 meters 0.017636994996870874 Centerline is valid? [True, True] Translation: X:111.67, Y:-19.91, Z:-2.78 [[ 9.75703521e-01 2.18269672e-01 1.89997402e-02 1.11671254e+02] [-2.18232294e-01 9.75888472e-01 -4.04423685e-03 -1.99128669e+01] [-1.94243617e-02 -2.00380775e-04 9.99811309e-01 -2.77738113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.29862385300001 meters 0.016295276459818646 Centerline is valid? [True, True] Translation: X:111.70, Y:-19.92, Z:-2.78 [[ 9.76369619e-01 2.15370268e-01 1.78329588e-02 1.11701506e+02] [-2.15336807e-01 9.76532452e-01 -3.79857074e-03 -1.99200107e+01] [-1.82325622e-02 -1.31283331e-04 9.99833764e-01 -2.78168659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32862385300001 meters 0.01548962096762847 Centerline is valid? [True, True] Translation: X:111.73, Y:-19.93, Z:-2.78 [[ 9.76652935e-01 2.14144719e-01 1.70611871e-02 1.11732151e+02] [-2.14113861e-01 9.76801939e-01 -3.63667172e-03 -1.99283305e+01] [-1.74441747e-02 -1.01270537e-04 9.99847834e-01 -2.78315864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.35862385300001 meters 0.0150163890660268 Centerline is valid? [True, True] Translation: X:111.76, Y:-19.94, Z:-2.79 [[ 9.77066753e-01 2.12315971e-01 1.62015213e-02 1.11762423e+02] [-2.12287849e-01 9.77201067e-01 -3.45613059e-03 -1.99356096e+01] [-1.65659356e-02 -6.25158019e-05 9.99862774e-01 -2.78566303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38862385300001 meters 0.014658061221569372 Centerline is valid? [True, True] Translation: X:111.79, Y:-19.94, Z:-2.79 [[ 9.77249226e-01 2.11480172e-01 1.61272006e-02 1.11793977e+02] [-2.11452153e-01 9.77382287e-01 -3.44269653e-03 -1.99427165e+01] [-1.64905023e-02 -4.57587793e-05 9.99864021e-01 -2.78612172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.41862385300001 meters 0.014572357277704874 Centerline is valid? [True, True] Translation: X:111.82, Y:-19.95, Z:-2.79 [[ 9.77440719e-01 2.10594472e-01 1.61123881e-02 1.11824255e+02] [-2.10566336e-01 9.77573510e-01 -3.44246855e-03 -1.99496537e+01] [-1.64760087e-02 -2.79176000e-05 9.99864261e-01 -2.78673228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44862385300002 meters 0.014344387173859049 Centerline is valid? [True, True] Translation: X:111.86, Y:-19.96, Z:-2.79 [[ 9.77863404e-01 2.08530334e-01 1.72703032e-02 1.11855483e+02] [-2.08497633e-01 9.78015899e-01 -3.69288086e-03 -1.99576658e+01] [-1.76607088e-02 1.03156944e-05 9.99844037e-01 -2.78591886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.478623853 meters 0.014477432382565533 Centerline is valid? [True, True] Translation: X:111.89, Y:-19.97, Z:-2.79 [[ 9.78095357e-01 2.07406485e-01 1.76641624e-02 1.11886050e+02] [-2.07372026e-01 9.78254849e-01 -3.78073690e-03 -1.99653147e+01] [-1.80642019e-02 3.48680581e-05 9.99836828e-01 -2.78566129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.508623853 meters 0.015327927613567504 Centerline is valid? [True, True] Translation: X:111.92, Y:-19.97, Z:-2.79 [[ 9.78623207e-01 2.04858967e-01 1.81500020e-02 1.11916335e+02] [-2.04822124e-01 9.78791498e-01 -3.88602217e-03 -1.99747257e+01] [-1.85611542e-02 8.54295066e-05 9.99827723e-01 -2.78645106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.538623853 meters 0.02633886993347694 Centerline is valid? [True, True] Translation: X:111.95, Y:-19.98, Z:-2.78 [[ 9.78805209e-01 2.04054659e-01 1.73798477e-02 1.11947730e+02] [-2.04020695e-01 9.78959492e-01 -3.72420144e-03 -1.99825928e+01] [-1.77741075e-02 9.94191660e-05 9.99842023e-01 -2.78210393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.568623853 meters 0.017307160316965962 Centerline is valid? [True, True] Translation: X:111.98, Y:-19.99, Z:-2.79 [[ 9.79166192e-01 2.02349476e-01 1.69781567e-02 1.11976950e+02] [-2.02316758e-01 9.79313368e-01 -3.64101326e-03 -1.99935198e+01] [-1.73636930e-02 1.30191462e-04 9.99849231e-01 -2.79102196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.598623853 meters 0.017744174691796566 Centerline is valid? [True, True] Translation: X:112.01, Y:-20.00, Z:-2.79 [[ 9.79235597e-01 2.02052085e-01 1.65106463e-02 1.12009396e+02] [-2.02021064e-01 9.79374769e-01 -3.54295322e-03 -2.00012700e+01] [-1.68859714e-02 1.33887584e-04 9.99857413e-01 -2.79225183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62862385300001 meters 0.01798284824599363 Centerline is valid? [True, True] Translation: X:112.04, Y:-20.01, Z:-2.79 [[ 9.79243582e-01 2.02034489e-01 1.62503251e-02 1.12040161e+02] [-2.02004376e-01 9.79378398e-01 -3.49076636e-03 -2.00084145e+01] [-1.66204725e-02 1.35673780e-04 9.99861861e-01 -2.79374304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.65862385300001 meters 0.025136804020163397 Centerline is valid? [True, True] Translation: X:112.07, Y:-20.01, Z:-2.79 [[ 9.79125685e-01 2.02691190e-01 1.51385089e-02 1.12072161e+02] [-2.02665118e-01 9.79242701e-01 -3.25299397e-03 -2.00139898e+01] [-1.54836276e-02 1.17042243e-04 9.99880115e-01 -2.79060347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68862385300001 meters 0.01799730871189639 Centerline is valid? [True, True] Translation: X:112.10, Y:-20.02, Z:-2.80 [[ 9.79101251e-01 2.02786383e-01 1.54409402e-02 1.12103148e+02] [-2.02759224e-01 9.79222992e-01 -3.32095899e-03 -2.00215852e+01] [-1.57935689e-02 1.20762042e-04 9.99875267e-01 -2.79700825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.71862385300001 meters 0.01759896129890594 Centerline is valid? [True, True] Translation: X:112.13, Y:-20.03, Z:-2.80 [[ 9.78850682e-01 2.04022402e-01 1.50399953e-02 1.12134224e+02] [-2.03996742e-01 9.78966215e-01 -3.23723318e-03 -2.00269225e+01] [-1.53841154e-02 1.00657850e-04 9.99881652e-01 -2.79875647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74862385300001 meters 0.017049094756215816 Centerline is valid? [True, True] Translation: X:112.17, Y:-20.03, Z:-2.80 [[ 9.78642152e-01 2.05031537e-01 1.48864552e-02 1.12165580e+02] [-2.05006462e-01 9.78755363e-01 -3.20769908e-03 -2.00323735e+01] [-1.52278774e-02 8.73700143e-05 9.99884045e-01 -2.79949629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.77862385300001 meters 0.015899037844328976 Centerline is valid? [True, True] Translation: X:112.20, Y:-20.03, Z:-2.80 [[ 9.78141124e-01 2.07396382e-01 1.50559710e-02 1.12195109e+02] [-2.07371002e-01 9.78256990e-01 -3.24492127e-03 -2.00345045e+01] [-1.54015938e-02 5.18191590e-05 9.99881387e-01 -2.80034749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80862385300001 meters 0.015186602813666197 Centerline is valid? [True, True] Translation: X:112.22, Y:-20.04, Z:-2.80 [[ 9.77809943e-01 2.08925875e-01 1.54173526e-02 1.12224770e+02] [-2.08899453e-01 9.77931479e-01 -3.32272670e-03 -2.00380837e+01] [-1.57713181e-02 2.83186736e-05 9.99875625e-01 -2.80036183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.838623853 meters 0.01496688510359686 Centerline is valid? [True, True] Translation: X:112.25, Y:-20.04, Z:-2.80 [[ 9.77228914e-01 2.11582244e-01 1.60188423e-02 1.12253311e+02] [-2.11554082e-01 9.77360197e-01 -3.45206073e-03 -2.00401695e+01] [-1.63865736e-02 -1.53979185e-05 9.99865731e-01 -2.80016954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.868623853 meters 0.015317076366050387 Centerline is valid? [True, True] Translation: X:112.28, Y:-20.04, Z:-2.80 [[ 9.76921409e-01 2.13002638e-01 1.59510632e-02 1.12282208e+02] [-2.12974913e-01 9.77051623e-01 -3.43683170e-03 -2.00441154e+01] [-1.63170664e-02 -3.96618351e-05 9.99866867e-01 -2.80073982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.898623853 meters 0.016363636300215808 Centerline is valid? [True, True] Translation: X:112.31, Y:-20.05, Z:-2.80 [[ 9.76362924e-01 2.15555941e-01 1.58453919e-02 1.12311860e+02] [-2.15528922e-01 9.76491490e-01 -3.41382691e-03 -2.00452343e+01] [-1.62087610e-02 -8.20062064e-05 9.99868626e-01 -2.80245094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.928623853 meters 0.017209650647328923 Centerline is valid? [True, True] Translation: X:112.34, Y:-20.05, Z:-2.80 [[ 9.76089014e-01 2.16797932e-01 1.57763320e-02 1.12340093e+02] [-2.16771320e-01 9.76216496e-01 -3.39833623e-03 -2.00486992e+01] [-1.61378678e-02 -1.02777658e-04 9.99869771e-01 -2.80307721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.958623853 meters 0.016691086271940853 Centerline is valid? [True, True] Translation: X:112.37, Y:-20.06, Z:-2.80 [[ 9.75783743e-01 2.18150324e-01 1.60163407e-02 1.12370005e+02] [-2.18123101e-01 9.75915170e-01 -3.44861863e-03 -2.00552504e+01] [-1.63829071e-02 -1.28427898e-04 9.99865783e-01 -2.80045266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.988623853 meters 0.020836077339198927 Centerline is valid? [True, True] Translation: X:112.40, Y:-20.05, Z:-2.80 [[ 9.75116556e-01 2.21091056e-01 1.63232037e-02 1.12399855e+02] [-2.21063187e-01 9.75253153e-01 -3.51500627e-03 -2.00521510e+01] [-1.66963923e-02 -1.80918613e-04 9.99860589e-01 -2.80328039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.01862385300001 meters 0.022309354792362644 Centerline is valid? [True, True] Translation: X:112.43, Y:-20.05, Z:-2.80 [[ 9.74807732e-01 2.22435543e-01 1.65019531e-02 1.12427506e+02] [-2.22407260e-01 9.74947376e-01 -3.55300296e-03 -2.00543071e+01] [-1.68788500e-02 -2.06659423e-04 9.99857521e-01 -2.80361046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04862385300001 meters 0.025411249240300318 Centerline is valid? [True, True] Translation: X:112.46, Y:-20.05, Z:-2.80 [[ 9.74112100e-01 2.25364624e-01 1.77877242e-02 1.12456628e+02] [-2.25332270e-01 9.74274452e-01 -3.82873913e-03 -2.00527151e+01] [-1.81929876e-02 -2.78527172e-04 9.99834455e-01 -2.80110089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.07862385300001 meters 0.022787806631198504 Centerline is valid? [True, True] Translation: X:112.48, Y:-20.06, Z:-2.80 [[ 9.73795711e-01 2.26688793e-01 1.82785229e-02 1.12484482e+02] [-2.26654883e-01 9.73967193e-01 -3.93329795e-03 -2.00610541e+01] [-1.86943162e-02 -3.12687776e-04 9.99825197e-01 -2.79814420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10862385300001 meters 0.028676938353579727 Centerline is valid? [True, True] Translation: X:112.51, Y:-20.06, Z:-2.80 [[ 9.73552106e-01 2.27754000e-01 1.80114483e-02 1.12513895e+02] [-2.27721271e-01 9.73718649e-01 -3.87502235e-03 -2.00567965e+01] [-1.84206350e-02 -3.29053732e-04 9.99830272e-01 -2.80205926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.13862385300001 meters 0.03084991560299216 Centerline is valid? [True, True] Translation: X:112.54, Y:-20.06, Z:-2.80 [[ 9.73199641e-01 2.29285574e-01 1.76234134e-02 1.12542232e+02] [-2.29254511e-01 9.73359133e-01 -3.79041882e-03 -2.00564716e+01] [-1.80229987e-02 -3.51412771e-04 9.99837511e-01 -2.80356103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16862385300001 meters 0.03172704578096528 Centerline is valid? [True, True] Translation: X:112.57, Y:-20.06, Z:-2.80 [[ 9.73015674e-01 2.30039380e-01 1.79549994e-02 1.12570799e+02] [-2.30007285e-01 9.73181249e-01 -3.86065243e-03 -2.00588186e+01] [-1.83615708e-02 -3.73305327e-04 9.99831342e-01 -2.80334774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19862385300002 meters 0.026732241820037302 Centerline is valid? [True, True] Translation: X:112.60, Y:-20.07, Z:-2.80 [[ 9.72815402e-01 2.30879883e-01 1.80186856e-02 1.12598743e+02] [-2.30847718e-01 9.72982182e-01 -3.87359787e-03 -2.00665260e+01] [-1.84261959e-02 -3.91276772e-04 9.99830147e-01 -2.80154221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.228623853 meters 0.0321032186474212 Centerline is valid? [True, True] Translation: X:112.63, Y:-20.06, Z:-2.81 [[ 9.72804615e-01 2.30946039e-01 1.77513072e-02 1.12628066e+02] [-2.30914846e-01 9.72966483e-01 -3.81533220e-03 -2.00630571e+01] [-1.81525628e-02 -3.87467589e-04 9.99835154e-01 -2.80526170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.258623853 meters 0.03328152052518751 Centerline is valid? [True, True] Translation: X:112.66, Y:-20.06, Z:-2.81 [[ 9.72976264e-01 2.30247120e-01 1.74199061e-02 1.12656887e+02] [-2.30216991e-01 9.73132122e-01 -3.74291581e-03 -2.00635179e+01] [-1.78136657e-02 -3.68590110e-04 9.99841256e-01 -2.80731161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.288623853 meters 0.025542789017057393 Centerline is valid? [True, True] Translation: X:112.68, Y:-20.08, Z:-2.80 [[ 9.73182345e-01 2.29371919e-01 1.74540964e-02 1.12683442e+02] [-2.29341543e-01 9.73338789e-01 -3.74952923e-03 -2.00772536e+01] [-1.78487857e-02 -3.53973749e-04 9.99840635e-01 -2.80472701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.318623853 meters 0.024063848557730753 Centerline is valid? [True, True] Translation: X:112.71, Y:-20.08, Z:-2.81 [[ 9.73451132e-01 2.28206686e-01 1.77370123e-02 1.12711812e+02] [-2.28175141e-01 9.73612651e-01 -3.80940036e-03 -2.00827225e+01] [-1.81383102e-02 -3.38880193e-04 9.99835430e-01 -2.80517320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.348623853 meters 0.029471951237419584 Centerline is valid? [True, True] Translation: X:112.74, Y:-20.09, Z:-2.80 [[ 9.74217410e-01 2.24900278e-01 1.78970096e-02 1.12739653e+02] [-2.24867618e-01 9.74381746e-01 -3.84292526e-03 -2.00875238e+01] [-1.83027944e-02 -2.80613217e-04 9.99832450e-01 -2.80053946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.37862385300001 meters 0.019550328006290106 Centerline is valid? [True, True] Translation: X:112.77, Y:-20.10, Z:-2.81 [[ 9.74767483e-01 2.22430422e-01 1.87899230e-02 1.12766993e+02] [-2.22393989e-01 9.74948535e-01 -4.03331426e-03 -2.00968766e+01] [-1.92163397e-02 -2.47222347e-04 9.99815319e-01 -2.80538073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40862385300001 meters 0.016413970668976634 Centerline is valid? [True, True] Translation: X:112.79, Y:-20.10, Z:-2.81 [[ 9.75821007e-01 2.17742121e-01 1.90192313e-02 1.12793881e+02] [-2.17703919e-01 9.76006324e-01 -4.08162792e-03 -2.01047888e+01] [-1.94516323e-02 -1.57622925e-04 9.99810787e-01 -2.80541581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.43862385300001 meters 0.015638198681662926 Centerline is valid? [True, True] Translation: X:112.82, Y:-20.11, Z:-2.81 [[ 9.76367710e-01 2.15275134e-01 1.90449797e-02 1.12820683e+02] [-2.15236383e-01 9.76553432e-01 -4.08594688e-03 -2.01112566e+01] [-1.94780431e-02 -1.09785948e-04 9.99810279e-01 -2.80741110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46862385300001 meters 0.014048786664841873 Centerline is valid? [True, True] Translation: X:112.85, Y:-20.12, Z:-2.81 [[ 9.77303499e-01 2.11045704e-01 1.83733746e-02 1.12848020e+02] [-2.11008912e-01 9.77476194e-01 -3.94068211e-03 -2.01222327e+01] [-1.87912003e-02 -2.57033498e-05 9.99823429e-01 -2.80820064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.49862385300001 meters 0.014210641409471423 Centerline is valid? [True, True] Translation: X:112.88, Y:-20.13, Z:-2.81 [[ 9.77727074e-01 2.09128521e-01 1.77491023e-02 1.12876095e+02] [-2.09093886e-01 9.77888164e-01 -3.80594361e-03 -2.01293526e+01] [-1.81525684e-02 9.94533442e-06 9.99835229e-01 -2.81039072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52862385300001 meters 0.014313510066143405 Centerline is valid? [True, True] Translation: X:112.90, Y:-20.14, Z:-2.81 [[ 9.78038699e-01 2.07698251e-01 1.73706420e-02 1.12904275e+02] [-2.07664867e-01 9.78192944e-01 -3.72395563e-03 -2.01353486e+01] [-1.77652985e-02 3.49006519e-05 9.99842184e-01 -2.81174802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.55862385300001 meters 0.014700911497341733 Centerline is valid? [True, True] Translation: X:112.93, Y:-20.14, Z:-2.81 [[ 9.78360943e-01 2.06218484e-01 1.68464280e-02 1.12932902e+02] [-2.06186878e-01 9.78505970e-01 -3.61077608e-03 -2.01404388e+01] [-1.72289391e-02 5.91298892e-05 9.99851569e-01 -2.81334347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.588623853 meters 0.01473617767610393 Centerline is valid? [True, True] Translation: X:112.96, Y:-20.15, Z:-2.81 [[ 9.78392418e-01 2.06075835e-01 1.67638558e-02 1.12962572e+02] [-2.06044535e-01 9.78536022e-01 -3.59203222e-03 -2.01452612e+01] [-1.71442678e-02 6.03162075e-05 9.99853024e-01 -2.81404543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.618623853 meters 0.023594817298194803 Centerline is valid? [True, True] Translation: X:112.99, Y:-20.15, Z:-2.81 [[ 9.78266953e-01 2.06734012e-01 1.59629938e-02 1.12990891e+02] [-2.06705720e-01 9.78397182e-01 -3.42042890e-03 -2.01470214e+01] [-1.63252672e-02 4.64504319e-05 9.99866733e-01 -2.81128800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.648623853 meters 0.014871731922416117 Centerline is valid? [True, True] Translation: X:113.02, Y:-20.15, Z:-2.82 [[ 9.78219591e-01 2.06931536e-01 1.63024663e-02 1.13019188e+02] [-2.06902077e-01 9.78355425e-01 -3.49182695e-03 -2.01519323e+01] [-1.66721755e-02 4.27593907e-05 9.99861009e-01 -2.81746014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.678623853 meters 0.014916164563469819 Centerline is valid? [True, True] Translation: X:113.05, Y:-20.16, Z:-2.82 [[ 9.78159220e-01 2.07240379e-01 1.59989344e-02 1.13046555e+02] [-2.07212059e-01 9.78290051e-01 -3.42615699e-03 -2.01557758e+01] [-1.63616365e-02 3.61549027e-05 9.99866139e-01 -2.81893076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.708623853 meters 0.014930129842247413 Centerline is valid? [True, True] Translation: X:113.08, Y:-20.16, Z:-2.82 [[ 9.78087326e-01 2.07617311e-01 1.54995210e-02 1.13075514e+02] [-2.07590795e-01 9.78210126e-01 -3.31820178e-03 -2.01591462e+01] [-1.58507045e-02 2.79332347e-05 9.99874369e-01 -2.82127875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.738623853 meters 0.01481682672616344 Centerline is valid? [True, True] Translation: X:113.10, Y:-20.16, Z:-2.82 [[ 9.78098220e-01 2.07528116e-01 1.59985093e-02 1.13104371e+02] [-2.07499866e-01 9.78229053e-01 -3.42422054e-03 -2.01642844e+01] [-1.63608287e-02 2.95354761e-05 9.99866152e-01 -2.82126922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76862385300001 meters 0.01455860249344289 Centerline is valid? [True, True] Translation: X:113.13, Y:-20.17, Z:-2.82 [[ 9.78114709e-01 2.07367169e-01 1.70432934e-02 1.13131609e+02] [-2.07335098e-01 9.78263184e-01 -3.64706485e-03 -2.01688928e+01] [-1.74291079e-02 3.35748786e-05 9.99848101e-01 -2.82025006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.79862385300001 meters 0.014627056314262987 Centerline is valid? [True, True] Translation: X:113.16, Y:-20.17, Z:-2.82 [[ 9.78166551e-01 2.07106531e-01 1.72360785e-02 1.13159382e+02] [-2.07073711e-01 9.78318396e-01 -3.68715330e-03 -2.01743490e+01] [-1.76260062e-02 3.75112974e-05 9.99844649e-01 -2.82098069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82862385300001 meters 0.014660860511280493 Centerline is valid? [True, True] Translation: X:113.19, Y:-20.18, Z:-2.82 [[ 9.78226057e-01 2.06829113e-01 1.71900670e-02 1.13186937e+02] [-2.06796443e-01 9.78377083e-01 -3.67628272e-03 -2.01797187e+01] [-1.75787299e-02 4.13908329e-05 9.99845481e-01 -2.82160092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.85862385300001 meters 0.01472254776613779 Centerline is valid? [True, True] Translation: X:113.22, Y:-20.18, Z:-2.82 [[ 9.78178927e-01 2.07085640e-01 1.67787237e-02 1.13215566e+02] [-2.07054570e-01 9.78322818e-01 -3.58726729e-03 -2.01836968e+01] [-1.71578798e-02 3.48778591e-05 9.99852792e-01 -2.82342453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88862385300001 meters 0.024842380975677165 Centerline is valid? [True, True] Translation: X:113.24, Y:-20.18, Z:-2.82 [[ 9.77850716e-01 2.08678198e-01 1.61674537e-02 1.13243474e+02] [-2.08649580e-01 9.77984361e-01 -3.45586327e-03 -2.01847733e+01] [-1.65326802e-02 5.98594575e-06 9.99863326e-01 -2.81914876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.91862385300001 meters 0.024842380975677165 Centerline is valid? [True, True] Translation: X:113.27, Y:-20.19, Z:-2.82 [[ 9.77864655e-01 2.08612864e-01 1.61675668e-02 1.13270385e+02] [-2.08584246e-01 9.77998299e-01 -3.45533412e-03 -2.01903791e+01] [-1.65326800e-02 6.54936877e-06 9.99863326e-01 -2.81984025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94862385300002 meters 0.014687847781737802 Centerline is valid? [True, True] Translation: X:113.30, Y:-20.19, Z:-2.83 [[ 9.77726123e-01 2.09243472e-01 1.63950802e-02 1.13296660e+02] [-2.09214150e-01 9.77863574e-01 -3.50288093e-03 -2.01943385e+01] [-1.67651067e-02 -5.22458157e-06 9.99859456e-01 -2.82633758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.978623853 meters 0.014790611532138792 Centerline is valid? [True, True] Translation: X:113.32, Y:-20.20, Z:-2.83 [[ 9.77516309e-01 2.10226219e-01 1.63340907e-02 1.13324293e+02] [-2.10197276e-01 9.77652769e-01 -3.48843514e-03 -2.01967015e+01] [-1.67024295e-02 -2.33791198e-05 9.99860504e-01 -2.82740757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.008623853 meters 0.01575313750442292 Centerline is valid? [True, True] Translation: X:113.35, Y:-20.19, Z:-2.83 [[ 9.76981584e-01 2.12724697e-01 1.59745794e-02 1.13352953e+02] [-2.12697367e-01 9.77112173e-01 -3.41048480e-03 -2.01945749e+01] [-1.63344503e-02 -6.57701217e-05 9.99866582e-01 -2.82883970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.038623853 meters 0.015979715740547892 Centerline is valid? [True, True] Translation: X:113.38, Y:-20.20, Z:-2.83 [[ 9.76642892e-01 2.14245323e-01 1.63585512e-02 1.13382052e+02] [-2.14216893e-01 9.76779879e-01 -3.49141074e-03 -2.01971253e+01] [-1.67267221e-02 -9.44165392e-05 9.99860094e-01 -2.82774969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.068623853 meters 0.017331560072675584 Centerline is valid? [True, True] Translation: X:113.41, Y:-20.20, Z:-2.83 [[ 9.75995995e-01 2.17105851e-01 1.72298512e-02 1.13411947e+02] [-2.17074774e-01 9.76148055e-01 -3.67647244e-03 -2.01950804e+01] [-1.76170694e-02 -1.51943669e-04 9.99844796e-01 -2.82627706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.098623853 meters 0.01805111426981946 Centerline is valid? [True, True] Translation: X:113.44, Y:-20.20, Z:-2.83 [[ 9.75789006e-01 2.18034450e-01 1.72277514e-02 1.13440885e+02] [-2.18003539e-01 9.75941059e-01 -3.67517155e-03 -2.01976870e+01] [-1.76145839e-02 -1.69518783e-04 9.99844837e-01 -2.82671174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12862385300001 meters 0.018601698523696707 Centerline is valid? [True, True] Translation: X:113.47, Y:-20.20, Z:-2.83 [[ 9.75652471e-01 2.18633536e-01 1.73675795e-02 1.13470061e+02] [-2.18602232e-01 9.75807022e-01 -3.70413475e-03 -2.02008263e+01] [-1.77572541e-02 -1.82643426e-04 9.99842311e-01 -2.82715871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.15862385300001 meters 0.020561680953034945 Centerline is valid? [True, True] Translation: X:113.50, Y:-20.20, Z:-2.83 [[ 9.75571945e-01 2.18946708e-01 1.79365379e-02 1.13498473e+02] [-2.18913384e-01 9.75736799e-01 -3.82480671e-03 -2.01989756e+01] [-1.83387689e-02 -1.95174085e-04 9.99831812e-01 -2.82855159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18862385300001 meters 0.020502617162077373 Centerline is valid? [True, True] Translation: X:113.53, Y:-20.20, Z:-2.83 [[ 9.75616009e-01 2.18758069e-01 1.78412561e-02 1.13525918e+02] [-2.18725097e-01 9.75779109e-01 -3.80285350e-03 -2.02021811e+01] [-1.82410299e-02 -1.92205708e-04 9.99833600e-01 -2.82944098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.21862385300001 meters 0.01960670072812575 Centerline is valid? [True, True] Translation: X:113.55, Y:-20.21, Z:-2.83 [[ 9.75866387e-01 2.17648711e-01 1.77153536e-02 1.13554647e+02] [-2.17616044e-01 9.76027156e-01 -3.77469401e-03 -2.02053155e+01] [-1.81122235e-02 -1.71548157e-04 9.99835946e-01 -2.83112736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24862385300001 meters 0.018754161238994458 Centerline is valid? [True, True] Translation: X:113.58, Y:-20.21, Z:-2.83 [[ 9.76073211e-01 2.16728406e-01 1.76035721e-02 1.13582680e+02] [-2.16696014e-01 9.76231926e-01 -3.75010372e-03 -2.02108886e+01] [-1.79979231e-02 -1.54248114e-04 9.99838012e-01 -2.83198948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.27862385300001 meters 0.01713948483062737 Centerline is valid? [True, True] Translation: X:113.61, Y:-20.22, Z:-2.83 [[ 9.76286187e-01 2.15777677e-01 1.74721399e-02 1.13610266e+02] [-2.15745628e-01 9.76442510e-01 -3.72135832e-03 -2.02177232e+01] [-1.78635262e-02 -1.36427083e-04 9.99840425e-01 -2.83153524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30862385300001 meters 0.01636220152521202 Centerline is valid? [True, True] Translation: X:113.64, Y:-20.22, Z:-2.83 [[ 9.76795191e-01 2.13451028e-01 1.76015385e-02 1.13637762e+02] [-2.13418138e-01 9.76953760e-01 -3.74815505e-03 -2.02211943e+01] [-1.79959368e-02 -9.53077558e-05 9.99838055e-01 -2.83376310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33862385300002 meters 0.01549556119588768 Centerline is valid? [True, True] Translation: X:113.66, Y:-20.23, Z:-2.83 [[ 9.77118640e-01 2.11957836e-01 1.76929361e-02 1.13664961e+02] [-2.11924378e-01 9.77278809e-01 -3.76653203e-03 -2.02280772e+01] [-1.80892775e-02 -6.92158357e-05 9.99836373e-01 -2.83423938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.368623853 meters 0.014386670946944962 Centerline is valid? [True, True] Translation: X:113.69, Y:-20.24, Z:-2.83 [[ 9.77920015e-01 2.08241587e-01 1.75466803e-02 1.13692180e+02] [-2.08208100e-01 9.78077421e-01 -3.73439986e-03 -2.02386316e+01] [-1.79396692e-02 -1.41660001e-06 9.99839071e-01 -2.83376797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.398623853 meters 0.014668782298894296 Centerline is valid? [True, True] Translation: X:113.72, Y:-20.25, Z:-2.83 [[ 9.78359892e-01 2.06186196e-01 1.72966885e-02 1.13719207e+02] [-2.06153347e-01 9.78512775e-01 -3.68048048e-03 -2.02463697e+01] [-1.76838950e-02 3.50642447e-05 9.99843627e-01 -2.83468256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.428623853 meters 0.016213419333761817 Centerline is valid? [True, True] Translation: X:113.75, Y:-20.26, Z:-2.83 [[ 9.79351733e-01 2.01413517e-01 1.74005464e-02 1.13746869e+02] [-2.01379538e-01 9.79506294e-01 -3.70149240e-03 -2.02557189e+01] [-1.77894753e-02 1.20948995e-04 9.99841747e-01 -2.83378183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.458623853 meters 0.025398614416544167 Centerline is valid? [True, True] Translation: X:113.77, Y:-20.26, Z:-2.83 [[ 9.79863271e-01 1.98925073e-01 1.72274738e-02 1.13774267e+02] [-1.98891395e-01 9.80014688e-01 -3.66393293e-03 -2.02637423e+01] [-1.76120255e-02 1.63757003e-04 9.99844883e-01 -2.82897176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.488623853 meters 0.019956442170764872 Centerline is valid? [True, True] Translation: X:113.80, Y:-20.27, Z:-2.83 [[ 9.80438210e-01 1.96014574e-01 1.78662351e-02 1.13801608e+02] [-1.95977891e-01 9.80600957e-01 -3.79856754e-03 -2.02740637e+01] [-1.82642218e-02 2.22873682e-04 9.99833170e-01 -2.83423847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.51862385300001 meters 0.024404239177322106 Centerline is valid? [True, True] Translation: X:113.83, Y:-20.29, Z:-2.84 [[ 9.81360521e-01 1.91382016e-01 1.74485509e-02 1.13828067e+02] [-1.91346312e-01 9.81515580e-01 -3.70886424e-03 -2.02875064e+01] [-1.78358345e-02 3.01017071e-04 9.99840884e-01 -2.83595240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54862385300001 meters 0.02687223264975812 Centerline is valid? [True, True] Translation: X:113.86, Y:-20.30, Z:-2.84 [[ 9.81783180e-01 1.89226448e-01 1.71795791e-02 1.13855164e+02] [-1.89191515e-01 9.81933419e-01 -3.65117399e-03 -2.02975238e+01] [-1.75601015e-02 3.34430613e-04 9.99845754e-01 -2.83753284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.57862385300001 meters 0.029870356425477442 Centerline is valid? [True, True] Translation: X:113.88, Y:-20.31, Z:-2.84 [[ 9.82315685e-01 1.86467068e-01 1.69094001e-02 1.13881663e+02] [-1.86432830e-01 9.82461139e-01 -3.59297162e-03 -2.03091041e+01] [-1.72827994e-02 3.76965049e-04 9.99850570e-01 -2.83868008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60862385300001 meters 0.029709935473826346 Centerline is valid? [True, True] Translation: X:113.91, Y:-20.32, Z:-2.84 [[ 9.82449111e-01 1.85726645e-01 1.73019592e-02 1.13909935e+02] [-1.85690699e-01 9.82601371e-01 -3.67554266e-03 -2.03156359e+01] [-1.76835751e-02 3.98220722e-04 9.99843554e-01 -2.83770925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.63862385300001 meters 0.027602143507891752 Centerline is valid? [True, True] Translation: X:113.94, Y:-20.32, Z:-2.84 [[ 9.82566703e-01 1.85074535e-01 1.76093729e-02 1.13939014e+02] [-1.85037212e-01 9.82724398e-01 -3.73991853e-03 -2.03192919e+01] [-1.79973240e-02 4.16330166e-04 9.99837948e-01 -2.83683232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66862385300001 meters 0.03220588260857074 Centerline is valid? [True, True] Translation: X:113.97, Y:-20.33, Z:-2.84 [[ 9.82668875e-01 1.84522418e-01 1.77019481e-02 1.13965213e+02] [-1.84484624e-01 9.82828212e-01 -3.75890067e-03 -2.03337284e+01] [-1.80915755e-02 4.28017447e-04 9.99836242e-01 -2.83942640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69862385300002 meters 0.031157103797291266 Centerline is valid? [True, True] Translation: X:113.99, Y:-20.34, Z:-2.84 [[ 9.82712984e-01 1.84267279e-01 1.79097851e-02 1.13993217e+02] [-1.84228562e-01 9.82876075e-01 -3.80241655e-03 -2.03398147e+01] [-1.83037602e-02 4.37190166e-04 9.99832377e-01 -2.83922288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.728623853 meters 0.0316013716358666 Centerline is valid? [True, True] Translation: X:114.02, Y:-20.35, Z:-2.84 [[ 9.82689062e-01 1.84416627e-01 1.76837438e-02 1.14020851e+02] [-1.84378921e-01 9.82848068e-01 -3.75350998e-03 -2.03493675e+01] [-1.80726431e-02 4.28023589e-04 9.99836585e-01 -2.84064460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.758623853 meters 0.0326645605134129 Centerline is valid? [True, True] Translation: X:114.05, Y:-20.36, Z:-2.84 [[ 9.82715536e-01 1.84314802e-01 1.72693383e-02 1.14048250e+02] [-1.84278838e-01 9.82867172e-01 -3.66494516e-03 -2.03581305e+01] [-1.76489693e-02 4.19224953e-04 9.99844157e-01 -2.84235541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.788623853 meters 0.029872706904808834 Centerline is valid? [True, True] Translation: X:114.08, Y:-20.36, Z:-2.84 [[ 9.82695283e-01 1.84461175e-01 1.68539603e-02 1.14077581e+02] [-1.84426954e-01 9.82839717e-01 -3.57614065e-03 -2.03621699e+01] [-1.72244007e-02 4.05931987e-04 9.99851567e-01 -2.84255721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.818623853 meters 0.0278615733581331 Centerline is valid? [True, True] Translation: X:114.11, Y:-20.37, Z:-2.84 [[ 9.82541600e-01 1.85408424e-01 1.53532170e-02 1.14107096e+02] [-1.85380146e-01 9.82661483e-01 -3.25739168e-03 -2.03680389e+01] [-1.56909628e-02 3.54341221e-04 9.99876826e-01 -2.84471728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.848623853 meters 0.030381052817951913 Centerline is valid? [True, True] Translation: X:114.13, Y:-20.38, Z:-2.85 [[ 9.82320930e-01 1.86632015e-01 1.46315083e-02 1.14133777e+02] [-1.86606473e-01 9.82429839e-01 -3.10405527e-03 -2.03783363e+01] [-1.49537464e-02 3.18844306e-04 9.99888136e-01 -2.84921617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.87862385300001 meters 0.02480247949267549 Centerline is valid? [True, True] Translation: X:114.16, Y:-20.38, Z:-2.85 [[ 9.81611536e-01 1.90358508e-01 1.42278046e-02 1.14163476e+02] [-1.90334752e-01 9.81714609e-01 -3.01801844e-03 -2.03781766e+01] [-1.45421491e-02 2.54476066e-04 9.99894225e-01 -2.84887230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90862385300001 meters 0.022013038082637503 Centerline is valid? [True, True] Translation: X:114.19, Y:-20.38, Z:-2.85 [[ 9.81098779e-01 1.92969795e-01 1.44167841e-02 1.14192492e+02] [-1.92945696e-01 9.81204673e-01 -3.05739447e-03 -2.03801856e+01] [-1.47358008e-02 2.17949531e-04 9.99891398e-01 -2.84862807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.93862385300001 meters 0.019909182529532988 Centerline is valid? [True, True] Translation: X:114.22, Y:-20.38, Z:-2.85 [[ 9.80562096e-01 1.95660767e-01 1.46574033e-02 1.14221753e+02] [-1.95636168e-01 9.80671623e-01 -3.10767770e-03 -2.03828521e+01] [-1.49821501e-02 1.79752741e-04 9.99887745e-01 -2.84881805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96862385300001 meters 0.016609660025449183 Centerline is valid? [True, True] Translation: X:114.25, Y:-20.38, Z:-2.85 [[ 9.79545735e-01 2.00658791e-01 1.50400343e-02 1.14250657e+02] [-2.00633492e-01 9.79661186e-01 -3.18802652e-03 -2.03830001e+01] [-1.53738434e-02 1.05283184e-04 9.99881810e-01 -2.84977241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.99862385300001 meters 0.015872448375821066 Centerline is valid? [True, True] Translation: X:114.28, Y:-20.39, Z:-2.85 [[ 9.79236082e-01 2.02137977e-01 1.53926499e-02 1.14279059e+02] [-2.02111672e-01 9.79357050e-01 -3.26197683e-03 -2.03877022e+01] [-1.57342696e-02 8.32112104e-05 9.99876205e-01 -2.85058390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02862385300001 meters 0.015205693239467707 Centerline is valid? [True, True] Translation: X:114.31, Y:-20.39, Z:-2.85 [[ 9.78889260e-01 2.03814099e-01 1.53502029e-02 1.14307683e+02] [-2.03788158e-01 9.79009607e-01 -3.25223442e-03 -2.03922177e+01] [-1.56908473e-02 5.53877926e-05 9.99876890e-01 -2.85084898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.05862385300001 meters 0.015707746964170183 Centerline is valid? [True, True] Translation: X:114.33, Y:-20.40, Z:-2.85 [[ 9.78839239e-01 2.04052159e-01 1.53772898e-02 1.14334424e+02] [-2.04026163e-01 9.78960016e-01 -3.25743876e-03 -2.03982717e+01] [-1.57184392e-02 5.11394467e-05 9.99876456e-01 -2.85427958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08862385300002 meters 0.015055989828253768 Centerline is valid? [True, True] Translation: X:114.36, Y:-20.41, Z:-2.85 [[ 9.78920479e-01 2.03639877e-01 1.56683395e-02 1.14361648e+02] [-2.03612854e-01 9.79045861e-01 -3.31793330e-03 -2.04051946e+01] [-1.60156864e-02 5.77175385e-05 9.99871739e-01 -2.85173630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.118623853 meters 0.018754459104423693 Centerline is valid? [True, True] Translation: X:114.39, Y:-20.41, Z:-2.85 [[ 9.79011915e-01 2.03236772e-01 1.51817378e-02 1.14389717e+02] [-2.03211373e-01 9.79129619e-01 -3.21358456e-03 -2.04129690e+01] [-1.55180077e-02 6.10357955e-05 9.99879587e-01 -2.84830260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.148623853 meters 0.015264940852520073 Centerline is valid? [True, True] Translation: X:114.42, Y:-20.42, Z:-2.85 [[ 9.79192069e-01 2.02348767e-01 1.54229665e-02 1.14416809e+02] [-2.02322457e-01 9.79313520e-01 -3.26386491e-03 -2.04217536e+01] [-1.57643586e-02 7.55381628e-05 9.99875732e-01 -2.85247333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.178623853 meters 0.017591370333987527 Centerline is valid? [True, True] Translation: X:114.44, Y:-20.44, Z:-2.86 [[ 9.79535014e-01 2.00709826e-01 1.50572668e-02 1.14442182e+02] [-2.00684565e-01 9.79650732e-01 -3.18584985e-03 -2.04355118e+01] [-1.53902938e-02 9.88904468e-05 9.99881558e-01 -2.85792940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.208623853 meters 0.021842956049421776 Centerline is valid? [True, True] Translation: X:114.47, Y:-20.44, Z:-2.85 [[ 9.79660645e-01 2.00123627e-01 1.46817953e-02 1.14470604e+02] [-2.00099560e-01 9.79770648e-01 -3.10535940e-03 -2.04417284e+01] [-1.50062479e-02 1.04377605e-04 9.99887394e-01 -2.85076190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.238623853 meters 0.016727434370884964 Centerline is valid? [True, True] Translation: X:114.50, Y:-20.45, Z:-2.85 [[ 9.79832681e-01 1.99236391e-01 1.52570205e-02 1.14497971e+02] [-1.99210305e-01 9.79951451e-01 -3.22625735e-03 -2.04511714e+01] [-1.55939272e-02 1.21836678e-04 9.99878400e-01 -2.85461225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26862385300001 meters 0.025071626250888178 Centerline is valid? [True, True] Translation: X:114.52, Y:-20.46, Z:-2.85 [[ 9.79810367e-01 1.99382890e-01 1.47685014e-02 1.14524897e+02] [-1.99358474e-01 9.79921655e-01 -3.12236154e-03 -2.04577252e+01] [-1.50945198e-02 1.15096297e-04 9.99886065e-01 -2.85027837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.29862385300001 meters 0.01687017211999161 Centerline is valid? [True, True] Translation: X:114.55, Y:-20.47, Z:-2.86 [[ 9.79782463e-01 1.99486716e-01 1.52110105e-02 1.14553146e+02] [-1.99460844e-01 9.79900524e-01 -3.21477549e-03 -2.04650360e+01] [-1.55465822e-02 1.15779652e-04 9.99879138e-01 -2.85674605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32862385300001 meters 0.01772259444059961 Centerline is valid? [True, True] Translation: X:114.58, Y:-20.47, Z:-2.85 [[ 9.79484119e-01 2.00954191e-01 1.51086960e-02 1.14581456e+02] [-2.00928853e-01 9.79600635e-01 -3.19241729e-03 -2.04718198e+01] [-1.54420178e-02 9.11490906e-05 9.99880761e-01 -2.85384989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.35862385300001 meters 0.01575918137922245 Centerline is valid? [True, True] Translation: X:114.61, Y:-20.48, Z:-2.86 [[ 9.79330312e-01 2.01690445e-01 1.52677664e-02 1.14607970e+02] [-2.01664669e-01 9.79449314e-01 -3.22539550e-03 -2.04787943e+01] [-1.56045348e-02 7.97585196e-05 9.99878239e-01 -2.85790401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38862385300001 meters 0.015100563684006127 Centerline is valid? [True, True] Translation: X:114.64, Y:-20.48, Z:-2.86 [[ 9.78943424e-01 2.03550949e-01 1.53877845e-02 1.14636490e+02] [-2.03525015e-01 9.79064354e-01 -3.24954368e-03 -2.04849017e+01] [-1.57270790e-02 4.93203428e-05 9.99876321e-01 -2.85848135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.41862385300001 meters 0.014685223989395516 Centerline is valid? [True, True] Translation: X:114.66, Y:-20.49, Z:-2.86 [[ 9.78741802e-01 2.04495237e-01 1.56902240e-02 1.14664814e+02] [-2.04468408e-01 9.78867558e-01 -3.31262297e-03 -2.04892263e+01] [-1.60360669e-02 3.40474523e-05 9.99871413e-01 -2.85755829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44862385300002 meters 0.014537497786037287 Centerline is valid? [True, True] Translation: X:114.69, Y:-20.49, Z:-2.86 [[ 9.78495053e-01 2.05646933e-01 1.60240560e-02 1.14692527e+02] [-2.05619116e-01 9.78626251e-01 -3.38236578e-03 -2.04934882e+01] [-1.63771350e-02 1.47759673e-05 9.99865886e-01 -2.85829078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.478623853 meters 0.014808970308297113 Centerline is valid? [True, True] Translation: X:114.72, Y:-20.50, Z:-2.86 [[ 9.78017701e-01 2.07908748e-01 1.59790149e-02 1.14719984e+02] [-2.07881405e-01 9.78148226e-01 -3.37184383e-03 -2.04966178e+01] [-1.63308809e-02 -2.40171248e-05 9.99866642e-01 -2.86070780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.508623853 meters 0.014991368188916051 Centerline is valid? [True, True] Translation: X:114.75, Y:-20.50, Z:-2.86 [[ 9.77785103e-01 2.08985757e-01 1.61631289e-02 1.14747555e+02] [-2.08957945e-01 9.77918684e-01 -3.40963084e-03 -2.05014651e+01] [-1.65187900e-02 -4.35279600e-05 9.99863555e-01 -2.86159295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.538623853 meters 0.01579688839975314 Centerline is valid? [True, True] Translation: X:114.78, Y:-20.50, Z:-2.86 [[ 9.77224854e-01 2.11623139e-01 1.57235945e-02 1.14776198e+02] [-2.11597176e-01 9.77351339e-01 -3.31593654e-03 -2.05046835e+01] [-1.60692051e-02 -8.66525941e-05 9.99870878e-01 -2.86148785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.568623853 meters 0.016476989410759858 Centerline is valid? [True, True] Translation: X:114.81, Y:-20.51, Z:-2.86 [[ 9.76891060e-01 2.13184107e-01 1.53751138e-02 1.14805100e+02] [-2.13159487e-01 9.77012039e-01 -3.24172136e-03 -2.05083431e+01] [-1.57127547e-02 -1.10542757e-04 9.99876541e-01 -2.86187450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.598623853 meters 0.0186841971692163 Centerline is valid? [True, True] Translation: X:114.83, Y:-20.51, Z:-2.87 [[ 9.76544683e-01 2.14774358e-01 1.52465187e-02 1.14833276e+02] [-2.14750350e-01 9.76663687e-01 -3.21407020e-03 -2.05094832e+01] [-1.55810211e-02 -1.35512076e-04 9.99878599e-01 -2.86570394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62862385300001 meters 0.020606921159594945 Centerline is valid? [True, True] Translation: X:114.86, Y:-20.51, Z:-2.86 [[ 9.75821329e-01 2.18030636e-01 1.53419657e-02 1.14862147e+02] [-2.18006749e-01 9.75941907e-01 -3.23291408e-03 -2.05101401e+01] [-1.56777416e-02 -1.89905551e-04 9.99877079e-01 -2.86477879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.65862385300001 meters 0.020741129002791008 Centerline is valid? [True, True] Translation: X:114.89, Y:-20.51, Z:-2.86 [[ 9.75406148e-01 2.19899201e-01 1.50727141e-02 1.14890770e+02] [-2.19876383e-01 9.75522575e-01 -3.17521072e-03 -2.05137534e+01] [-1.54019992e-02 -2.17013809e-04 9.99881359e-01 -2.86410635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68862385300001 meters 0.024988298005956245 Centerline is valid? [True, True] Translation: X:114.92, Y:-20.51, Z:-2.87 [[ 9.74548092e-01 2.23677440e-01 1.49806423e-02 1.14920860e+02] [-2.23655357e-01 9.74663186e-01 -3.15505475e-03 -2.05098328e+01] [-1.53067951e-02 -2.75748323e-04 9.99882806e-01 -2.86580508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.71862385300001 meters 0.026962884730581633 Centerline is valid? [True, True] Translation: X:114.95, Y:-20.51, Z:-2.87 [[ 9.74227124e-01 2.25062786e-01 1.51080815e-02 1.14948821e+02] [-2.25040503e-01 9.74344216e-01 -3.18119655e-03 -2.05113531e+01] [-1.54364408e-02 -3.00722298e-04 9.99880806e-01 -2.86673230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74862385300001 meters 0.028309946705939514 Centerline is valid? [True, True] Translation: X:114.98, Y:-20.51, Z:-2.87 [[ 9.73925717e-01 2.26357222e-01 1.52021326e-02 1.14977478e+02] [-2.26334835e-01 9.74044302e-01 -3.19993754e-03 -2.05134068e+01] [-1.55318796e-02 -3.24270705e-04 9.99879320e-01 -2.86703558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.77862385300001 meters 0.029485297779035673 Centerline is valid? [True, True] Translation: X:115.01, Y:-20.51, Z:-2.87 [[ 9.73635800e-01 2.27633729e-01 1.47042647e-02 1.15006742e+02] [-2.27612940e-01 9.73746771e-01 -3.09446533e-03 -2.05137403e+01] [-1.50226349e-02 -3.33998682e-04 9.99887098e-01 -2.86908765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80862385300001 meters 0.03035909395777791 Centerline is valid? [True, True] Translation: X:115.03, Y:-20.52, Z:-2.87 [[ 9.73608978e-01 2.27728947e-01 1.50027965e-02 1.15033490e+02] [-2.27707323e-01 9.73724504e-01 -3.15687992e-03 -2.05161151e+01] [-1.53275035e-02 -3.42679979e-04 9.99882468e-01 -2.87033223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83862385300002 meters 0.03035909395777791 Centerline is valid? [True, True] Translation: X:115.06, Y:-20.52, Z:-2.87 [[ 9.73624728e-01 2.27661585e-01 1.50030763e-02 1.15060422e+02] [-2.27639973e-01 9.73740255e-01 -3.15554900e-03 -2.05216403e+01] [-1.53274967e-02 -3.42979367e-04 9.99882468e-01 -2.87102389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.868623853 meters 0.03250260492769984 Centerline is valid? [True, True] Translation: X:115.09, Y:-20.52, Z:-2.87 [[ 9.73653793e-01 2.27521507e-01 1.52399123e-02 1.15088893e+02] [-2.27499209e-01 9.73772994e-01 -3.20411754e-03 -2.05226509e+01] [-1.55692207e-02 -3.47366806e-04 9.99878732e-01 -2.87238858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.898623853 meters 0.028004896866262324 Centerline is valid? [True, True] Translation: X:115.12, Y:-20.53, Z:-2.87 [[ 9.73987939e-01 2.26084406e-01 1.52753282e-02 1.15116357e+02] [-2.26061844e-01 9.74107661e-01 -3.21054392e-03 -2.05307240e+01] [-1.56056682e-02 -3.26137807e-04 9.99878171e-01 -2.87109577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.928623853 meters 0.026622057690585937 Centerline is valid? [True, True] Translation: X:115.14, Y:-20.54, Z:-2.87 [[ 9.74225415e-01 2.25061569e-01 1.52358698e-02 1.15144274e+02] [-2.25039010e-01 9.74344495e-01 -3.20151310e-03 -2.05367304e+01] [-1.55655235e-02 -3.09669638e-04 9.99878802e-01 -2.87134225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.958623853 meters 0.023599776105235594 Centerline is valid? [True, True] Translation: X:115.17, Y:-20.54, Z:-2.87 [[ 9.74759104e-01 2.22735258e-01 1.52870759e-02 1.15172940e+02] [-2.22712267e-01 9.74878931e-01 -3.21189844e-03 -2.05427982e+01] [-1.56184512e-02 -2.73792082e-04 9.99877987e-01 -2.87132927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.988623853 meters 0.024154673921833434 Centerline is valid? [True, True] Translation: X:115.20, Y:-20.55, Z:-2.87 [[ 9.74972586e-01 2.21802789e-01 1.52308503e-02 1.15200955e+02] [-2.21779879e-01 9.75091511e-01 -3.19843685e-03 -2.05453830e+01] [-1.55608951e-02 -2.59507889e-04 9.99878888e-01 -2.87278461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.01862385300001 meters 0.023399603239301424 Centerline is valid? [True, True] Translation: X:115.23, Y:-20.55, Z:-2.87 [[ 9.75080900e-01 2.21298353e-01 1.56293583e-02 1.15229077e+02] [-2.21274181e-01 9.75206118e-01 -3.28096817e-03 -2.05498614e+01] [-1.59679187e-02 -2.59164075e-04 9.99872471e-01 -2.87260327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04862385300001 meters 0.022225019610457305 Centerline is valid? [True, True] Translation: X:115.26, Y:-20.55, Z:-2.87 [[ 9.75303420e-01 2.20287299e-01 1.60232408e-02 1.15258080e+02] [-2.20261771e-01 9.75435002e-01 -3.36282902e-03 -2.05522735e+01] [-1.63704184e-02 -2.49528753e-04 9.99865965e-01 -2.87204365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.07862385300001 meters 0.022522298657015688 Centerline is valid? [True, True] Translation: X:115.29, Y:-20.55, Z:-2.87 [[ 9.75477829e-01 2.19502948e-01 1.61697808e-02 1.15285673e+02] [-2.19476855e-01 9.75611807e-01 -3.39286778e-03 -2.05547379e+01] [-1.65201736e-02 -2.39225348e-04 9.99863504e-01 -2.87309887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10862385300001 meters 0.02088042531659973 Centerline is valid? [True, True] Translation: X:115.31, Y:-20.56, Z:-2.87 [[ 9.75738159e-01 2.18346282e-01 1.61228524e-02 1.15314265e+02] [-2.18320201e-01 9.75871330e-01 -3.38191201e-03 -2.05609306e+01] [-1.64722573e-02 -2.20083781e-04 9.99864299e-01 -2.87353013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.13862385300001 meters 0.018241222354967196 Centerline is valid? [True, True] Translation: X:115.34, Y:-20.57, Z:-2.88 [[ 9.76571143e-01 2.14624977e-01 1.56499554e-02 1.15342199e+02] [-2.14599937e-01 9.76696522e-01 -3.28197336e-03 -2.05689612e+01] [-1.59896504e-02 -1.53398956e-04 9.99872146e-01 -2.87609846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16862385300001 meters 0.016890922051954946 Centerline is valid? [True, True] Translation: X:115.37, Y:-20.58, Z:-2.88 [[ 9.77100828e-01 2.12237720e-01 1.51367948e-02 1.15369481e+02] [-2.12214020e-01 9.77218061e-01 -3.17363923e-03 -2.05765500e+01] [-1.54655152e-02 -1.11274542e-04 9.99880396e-01 -2.87822463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19862385300002 meters 0.015117856539729054 Centerline is valid? [True, True] Translation: X:115.40, Y:-20.59, Z:-2.88 [[ 9.78152352e-01 2.07392170e-01 1.43688735e-02 1.15396550e+02] [-2.07370300e-01 9.78257883e-01 -3.01198619e-03 -2.05859652e+01] [-1.46811261e-02 -3.34962294e-05 9.99892226e-01 -2.87938653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.228623853 meters 0.014957601217312091 Centerline is valid? [True, True] Translation: X:115.42, Y:-20.59, Z:-2.88 [[ 9.78682414e-01 2.04878713e-01 1.43333386e-02 1.15422813e+02] [-2.04856686e-01 9.78787369e-01 -3.00420386e-03 -2.05926883e+01] [-1.46447882e-02 3.88124188e-06 9.99892759e-01 -2.88115599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.258623853 meters 0.01507707356423678 Centerline is valid? [True, True] Translation: X:115.45, Y:-20.60, Z:-2.88 [[ 9.79215181e-01 2.02306419e-01 1.44824873e-02 1.15451051e+02] [-2.02283675e-01 9.79322271e-01 -3.03379256e-03 -2.06005988e+01] [-1.47967781e-02 4.11649763e-05 9.99890521e-01 -2.88103774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.288623853 meters 0.017347301580464075 Centerline is valid? [True, True] Translation: X:115.48, Y:-20.61, Z:-2.88 [[ 9.80265167e-01 1.97113850e-01 1.50443792e-02 1.15476664e+02] [-1.97088702e-01 9.80380597e-01 -3.15092534e-03 -2.06118119e+01] [-1.53703084e-02 1.23665190e-04 9.99881862e-01 -2.88144719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.318623853 meters 0.018244671546813918 Centerline is valid? [True, True] Translation: X:115.50, Y:-20.62, Z:-2.88 [[ 9.80737702e-01 1.94716118e-01 1.54658791e-02 1.15504496e+02] [-1.94689266e-01 9.80859626e-01 -3.23777277e-03 -2.06192149e+01] [-1.58003029e-02 1.64365174e-04 9.99875154e-01 -2.88029271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.348623853 meters 0.019763513925616823 Centerline is valid? [True, True] Translation: X:115.53, Y:-20.63, Z:-2.88 [[ 9.81187897e-01 1.92426230e-01 1.55710367e-02 1.15532692e+02] [-1.92398737e-01 9.81311421e-01 -3.25899196e-03 -2.06269635e+01] [-1.59071517e-02 2.01835675e-04 9.99873453e-01 -2.88000639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.37862385300001 meters 0.024581245975354597 Centerline is valid? [True, True] Translation: X:115.56, Y:-20.64, Z:-2.88 [[ 9.82063286e-01 1.87820835e-01 1.65842119e-02 1.15559776e+02] [-1.87789007e-01 9.82203262e-01 -3.47002562e-03 -2.06389826e+01] [-1.69408102e-02 2.93452076e-04 9.99856451e-01 -2.88025230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40862385300001 meters 0.02747346309881898 Centerline is valid? [True, True] Translation: X:115.59, Y:-20.65, Z:-2.88 [[ 9.82467629e-01 1.85663772e-01 1.69210314e-02 1.15585911e+02] [-1.85630327e-01 9.82613276e-01 -3.54001172e-03 -2.06484042e+01] [-1.72840821e-02 3.36890330e-04 9.99850562e-01 -2.88062780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.43862385300001 meters 0.03047437318468587 Centerline is valid? [True, True] Translation: X:115.61, Y:-20.66, Z:-2.88 [[ 9.83128186e-01 1.82124497e-01 1.70187527e-02 1.15613468e+02] [-1.82090155e-01 9.83275397e-01 -3.55924584e-03 -2.06588275e+01] [-1.73823467e-02 4.00247588e-04 9.99848835e-01 -2.88124956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46862385300001 meters 0.032017847693260985 Centerline is valid? [True, True] Translation: X:115.64, Y:-20.67, Z:-2.88 [[ 9.83420809e-01 1.80566233e-01 1.67137281e-02 1.15641259e+02] [-1.80532894e-01 9.83562738e-01 -3.49496935e-03 -2.06674658e+01] [-1.70700736e-02 4.19647889e-04 9.99854208e-01 -2.88260308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.49862385300001 meters 0.034057647289560386 Centerline is valid? [True, True] Translation: X:115.67, Y:-20.68, Z:-2.88 [[ 9.83698774e-01 1.79100752e-01 1.61134100e-02 1.15668373e+02] [-1.79069582e-01 9.83830645e-01 -3.36860967e-03 -2.06768373e+01] [-1.64561871e-02 4.28275608e-04 9.99864496e-01 -2.88483531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52862385300001 meters 0.03557699114089237 Centerline is valid? [True, True] Translation: X:115.70, Y:-20.69, Z:-2.89 [[ 9.83939686e-01 1.77810069e-01 1.56931322e-02 1.15696916e+02] [-1.77780350e-01 9.84064728e-01 -3.28010897e-03 -2.06855396e+01] [-1.60262943e-02 4.37498842e-04 9.99871475e-01 -2.88645373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.55862385300001 meters 0.037305981718289784 Centerline is valid? [True, True] Translation: X:115.73, Y:-20.70, Z:-2.89 [[ 9.84203503e-01 1.76473515e-01 1.41620058e-02 1.15725345e+02] [-1.76449179e-01 9.84305302e-01 -2.95980320e-03 -2.06955506e+01] [-1.44620643e-02 4.14174386e-04 9.99895333e-01 -2.89018219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58862385300002 meters 0.03414497300947954 Centerline is valid? [True, True] Translation: X:115.75, Y:-20.70, Z:-2.89 [[ 9.84301037e-01 1.75940332e-01 1.40166891e-02 1.15753716e+02] [-1.75916437e-01 9.84400744e-01 -2.92952089e-03 -2.06982849e+01] [-1.43134601e-02 4.17764446e-04 9.99897470e-01 -2.88973729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.618623853 meters 0.033253828260902306 Centerline is valid? [True, True] Translation: X:115.78, Y:-20.70, Z:-2.89 [[ 9.84175585e-01 1.76636868e-01 1.40653406e-02 1.15781447e+02] [-1.76612893e-01 9.84276003e-01 -2.93867624e-03 -2.07046526e+01] [-1.43632558e-02 4.08052909e-04 9.99896760e-01 -2.88935194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.648623853 meters 0.03744236069042442 Centerline is valid? [True, True] Translation: X:115.81, Y:-20.72, Z:-2.89 [[ 9.84012872e-01 1.77513293e-01 1.44117851e-02 1.15808304e+02] [-1.77488228e-01 9.84118320e-01 -3.01017951e-03 -2.07166817e+01] [-1.47172487e-02 4.04133169e-04 9.99891614e-01 -2.89120274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.678623853 meters 0.03599841755746405 Centerline is valid? [True, True] Translation: X:115.84, Y:-20.72, Z:-2.89 [[ 9.83726217e-01 1.79024971e-01 1.52574440e-02 1.15836123e+02] [-1.78997069e-01 9.83844448e-01 -3.18626631e-03 -2.07214615e+01] [-1.55813728e-02 4.03375946e-04 9.99878522e-01 -2.89050840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.708623853 meters 0.03119381640153557 Centerline is valid? [True, True] Translation: X:115.87, Y:-20.72, Z:-2.89 [[ 9.82912255e-01 1.83286535e-01 1.70160214e-02 1.15866364e+02] [-1.83252487e-01 9.83059462e-01 -3.55235448e-03 -2.07226504e+01] [-1.73788596e-02 3.73424507e-04 9.99848906e-01 -2.88772509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.738623853 meters 0.025246248740811158 Centerline is valid? [True, True] Translation: X:115.90, Y:-20.72, Z:-2.89 [[ 9.81876063e-01 1.88680249e-01 1.78650714e-02 1.15897428e+02] [-1.88643614e-01 9.82038532e-01 -3.72939011e-03 -2.07219764e+01] [-1.82478508e-02 2.91667241e-04 9.99833452e-01 -2.88656700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76862385300001 meters 0.02286462428483321 Centerline is valid? [True, True] Translation: X:115.93, Y:-20.72, Z:-2.89 [[ 9.81398785e-01 1.91130101e-01 1.80474079e-02 1.15925099e+02] [-1.91093126e-01 9.81564681e-01 -3.76756999e-03 -2.07242066e+01] [-1.84347942e-02 2.48753012e-04 9.99830034e-01 -2.88715657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.79862385300001 meters 0.02053694754400741 Centerline is valid? [True, True] Translation: X:115.95, Y:-20.73, Z:-2.89 [[ 9.80945174e-01 1.93436845e-01 1.81315205e-02 1.15953781e+02] [-1.93399941e-01 9.81112707e-01 -3.78392327e-03 -2.07269866e+01] [-1.85210154e-02 2.05186270e-04 9.99828450e-01 -2.88783811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82862385300001 meters 0.018953578526503805 Centerline is valid? [True, True] Translation: X:115.98, Y:-20.73, Z:-2.89 [[ 9.80562705e-01 1.95400094e-01 1.77646903e-02 1.15981424e+02] [-1.95365003e-01 9.80723598e-01 -3.70666459e-03 -2.07298561e+01] [-1.81465336e-02 1.64018290e-04 9.99835325e-01 -2.88959331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.85862385300001 meters 0.017057098587008778 Centerline is valid? [True, True] Translation: X:116.01, Y:-20.73, Z:-2.89 [[ 9.80016313e-01 1.98234812e-01 1.64616502e-02 1.16009387e+02] [-1.98205091e-01 9.80154553e-01 -3.43413651e-03 -2.07317604e+01] [-1.68157268e-02 1.02726926e-04 9.99858600e-01 -2.89365768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88862385300001 meters 0.016598460535096667 Centerline is valid? [True, True] Translation: X:116.04, Y:-20.74, Z:-2.90 [[ 9.79859430e-01 1.99037644e-01 1.61094610e-02 1.16037152e+02] [-1.99009310e-01 9.79991841e-01 -3.35935299e-03 -2.07363558e+01] [-1.64557780e-02 8.57609822e-05 9.99864591e-01 -2.89520124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.91862385300001 meters 0.015902508616793286 Centerline is valid? [True, True] Translation: X:116.06, Y:-20.74, Z:-2.90 [[ 9.79608302e-01 2.00281852e-01 1.59610463e-02 1.16064191e+02] [-2.00254219e-01 9.79738320e-01 -3.32745797e-03 -2.07412081e+01] [-1.63040781e-02 6.33386032e-05 9.99867078e-01 -2.89605321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94862385300002 meters 0.015774468051760478 Centerline is valid? [True, True] Translation: X:116.09, Y:-20.75, Z:-2.90 [[ 9.79504040e-01 2.00790345e-01 1.59709725e-02 1.16090211e+02] [-2.00762763e-01 9.79634235e-01 -3.32848078e-03 -2.07464477e+01] [-1.63140382e-02 5.38838140e-05 9.99866916e-01 -2.89673605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.978623853 meters 0.015613290808067531 Centerline is valid? [True, True] Translation: X:116.12, Y:-20.75, Z:-2.90 [[ 9.79388745e-01 2.01361064e-01 1.58558230e-02 1.16117989e+02] [-2.01333985e-01 9.79517085e-01 -3.30246707e-03 -2.07512647e+01] [-1.61960379e-02 4.20830379e-05 9.99868835e-01 -2.89680702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.008623853 meters 0.01523277704450647 Centerline is valid? [True, True] Translation: X:116.15, Y:-20.75, Z:-2.90 [[ 9.79063226e-01 2.02925905e-01 1.60086300e-02 1.16145728e+02] [-2.02898530e-01 9.79194096e-01 -3.33312398e-03 -2.07533350e+01] [-1.63519332e-02 1.52116201e-05 9.99866298e-01 -2.89707526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.038623853 meters 0.020566845994691045 Centerline is valid? [True, True] Translation: X:116.17, Y:-20.76, Z:-2.89 [[ 9.78885887e-01 2.03797965e-01 1.57736730e-02 1.16174065e+02] [-2.03771517e-01 9.79012967e-01 -3.28325530e-03 -2.07569068e+01] [-1.61117512e-02 -2.92989955e-07 9.99870197e-01 -2.89262591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.068623853 meters 0.014799250879333519 Centerline is valid? [True, True] Translation: X:116.20, Y:-20.76, Z:-2.90 [[ 9.78708774e-01 2.04565749e-01 1.67925452e-02 1.16202805e+02] [-2.04535899e-01 9.78852826e-01 -3.49455176e-03 -2.07617344e+01] [-1.71522959e-02 -1.45298617e-05 9.99852888e-01 -2.89579670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.098623853 meters 0.01486171896447794 Centerline is valid? [True, True] Translation: X:116.23, Y:-20.77, Z:-2.90 [[ 9.78736089e-01 2.04425426e-01 1.69089443e-02 1.16229178e+02] [-2.04395145e-01 9.78882141e-01 -3.51848963e-03 -2.07675251e+01] [-1.72711324e-02 -1.24333505e-05 9.99850843e-01 -2.89633581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12862385300001 meters 0.014719079619063248 Centerline is valid? [True, True] Translation: X:116.26, Y:-20.77, Z:-2.90 [[ 9.78761390e-01 2.04280118e-01 1.71980946e-02 1.16256055e+02] [-2.04248809e-01 9.78912475e-01 -3.57637470e-03 -2.07734325e+01] [-1.75660116e-02 -1.22728721e-05 9.99845706e-01 -2.89641733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.15862385300001 meters 0.014887637591623629 Centerline is valid? [True, True] Translation: X:116.28, Y:-20.78, Z:-2.90 [[ 9.79023816e-01 2.03036079e-01 1.69917155e-02 1.16282276e+02] [-2.03005349e-01 9.79171257e-01 -3.53239073e-03 -2.07806074e+01] [-1.73550022e-02 8.88551733e-06 9.99849391e-01 -2.89796506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18862385300001 meters 0.015075991099991476 Centerline is valid? [True, True] Translation: X:116.31, Y:-20.79, Z:-2.90 [[ 9.79260494e-01 2.01894928e-01 1.69506107e-02 1.16308602e+02] [-2.01864199e-01 9.79407187e-01 -3.52248164e-03 -2.07878397e+01] [-1.73127212e-02 2.77056376e-05 9.99850123e-01 -2.89896357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.21862385300001 meters 0.021186259003241933 Centerline is valid? [True, True] Translation: X:116.33, Y:-20.80, Z:-2.90 [[ 9.79836978e-01 1.99133300e-01 1.62918824e-02 1.16334738e+02] [-1.99104555e-01 9.79972410e-01 -3.38416639e-03 -2.07990439e+01] [-1.66394954e-02 7.21433848e-05 9.99861551e-01 -2.89562506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24862385300001 meters 0.01702938513555042 Centerline is valid? [True, True] Translation: X:116.36, Y:-20.81, Z:-2.90 [[ 9.80187595e-01 1.97366996e-01 1.66897260e-02 1.16361609e+02] [-1.97336592e-01 9.80329668e-01 -3.46573859e-03 -2.08084529e+01] [-1.70454559e-02 1.03580328e-04 9.99854710e-01 -2.90131706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.27862385300001 meters 0.018274189452629725 Centerline is valid? [True, True] Translation: X:116.39, Y:-20.82, Z:-2.90 [[ 9.80489306e-01 1.95892073e-01 1.63406550e-02 1.16387929e+02] [-1.95862733e-01 9.80625453e-01 -3.39263245e-03 -2.08174903e+01] [-1.66886520e-02 1.25914492e-04 9.99860727e-01 -2.90341099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30862385300001 meters 0.01838675500474223 Centerline is valid? [True, True] Translation: X:116.42, Y:-20.83, Z:-2.90 [[ 9.80971897e-01 1.93523666e-01 1.55797277e-02 1.16415285e+02] [-1.93496710e-01 9.81095595e-01 -3.23379606e-03 -2.08265962e+01] [-1.59110183e-02 1.57637002e-04 9.99873399e-01 -2.90243217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33862385300002 meters 0.020576748299342848 Centerline is valid? [True, True] Translation: X:116.44, Y:-20.84, Z:-2.91 [[ 9.81141721e-01 1.92681708e-01 1.53193732e-02 1.16441929e+02] [-1.92655553e-01 9.81261296e-01 -3.17912323e-03 -2.08369693e+01] [-1.56448669e-02 1.67808119e-04 9.99877597e-01 -2.90610671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.368623853 meters 0.01889690276910336 Centerline is valid? [True, True] Translation: X:116.47, Y:-20.84, Z:-2.90 [[ 9.81148041e-01 1.92656515e-01 1.52311730e-02 1.16470493e+02] [-1.92630673e-01 9.81266243e-01 -3.15977289e-03 -2.08418262e+01] [-1.55545867e-02 1.66213869e-04 9.99879006e-01 -2.90451824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.398623853 meters 0.018517259366911076 Centerline is valid? [True, True] Translation: X:116.50, Y:-20.85, Z:-2.91 [[ 9.80986414e-01 1.93466571e-01 1.53733909e-02 1.16497155e+02] [-1.93440354e-01 9.81106856e-01 -3.18864304e-03 -2.08479150e+01] [-1.56998350e-02 1.54181338e-04 9.99876738e-01 -2.90537851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.428623853 meters 0.017836054893435788 Centerline is valid? [True, True] Translation: X:116.53, Y:-20.85, Z:-2.91 [[ 9.80760933e-01 1.94598743e-01 1.54700271e-02 1.16525848e+02] [-1.94572357e-01 9.80882924e-01 -3.20740118e-03 -2.08540031e+01] [-1.57984416e-02 1.35654150e-04 9.99875188e-01 -2.90565326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.458623853 meters 0.016959884369227213 Centerline is valid? [True, True] Translation: X:116.55, Y:-20.86, Z:-2.91 [[ 9.80504782e-01 1.95891203e-01 1.53951092e-02 1.16554710e+02] [-1.95865238e-01 9.80625629e-01 -3.19142263e-03 -2.08586957e+01] [-1.57220103e-02 1.13838421e-04 9.99876395e-01 -2.90623491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.488623853 meters 0.016619663130107196 Centerline is valid? [True, True] Translation: X:116.58, Y:-20.86, Z:-2.91 [[ 9.79944331e-01 1.98677939e-01 1.53683314e-02 1.16582122e+02] [-1.98652416e-01 9.80064830e-01 -3.18521075e-03 -2.08619229e+01] [-1.56947922e-02 6.83730464e-05 9.99876827e-01 -2.91035140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.51862385300001 meters 0.015286050178572135 Centerline is valid? [True, True] Translation: X:116.61, Y:-20.86, Z:-2.91 [[ 9.79418802e-01 2.01233840e-01 1.56125355e-02 1.16611755e+02] [-2.01207842e-01 9.79543231e-01 -3.23469356e-03 -2.08631950e+01] [-1.59440833e-02 2.67551124e-05 9.99872885e-01 -2.90886622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54862385300001 meters 0.015032632375786316 Centerline is valid? [True, True] Translation: X:116.64, Y:-20.87, Z:-2.91 [[ 9.79174987e-01 2.02403955e-01 1.57791988e-02 1.16639910e+02] [-2.02377564e-01 9.79302118e-01 -3.26846222e-03 -2.08675987e+01] [-1.61141525e-02 7.04063967e-06 9.99870159e-01 -2.90876971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.57862385300001 meters 0.015492804388291292 Centerline is valid? [True, True] Translation: X:116.67, Y:-20.87, Z:-2.91 [[ 9.78929868e-01 2.03617406e-01 1.53709243e-02 1.16667551e+02] [-2.03592522e-01 9.79050536e-01 -3.18327299e-03 -2.08719659e+01] [-1.56970815e-02 -1.32042453e-05 9.99876793e-01 -2.91163500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60862385300001 meters 0.01593649196463086 Centerline is valid? [True, True] Translation: X:116.70, Y:-20.87, Z:-2.91 [[ 9.78316848e-01 2.06518484e-01 1.56926932e-02 1.16696763e+02] [-2.06492938e-01 9.78442697e-01 -3.24879108e-03 -2.08739654e+01] [-1.60253365e-02 -6.20832789e-05 9.99871584e-01 -2.91095560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.63862385300001 meters 0.016112732128162787 Centerline is valid? [True, True] Translation: X:116.73, Y:-20.88, Z:-2.91 [[ 9.77973282e-01 2.08136459e-01 1.57313295e-02 1.16725268e+02] [-2.08111008e-01 9.78099794e-01 -3.25604265e-03 -2.08774196e+01] [-1.60645114e-02 -8.95401315e-05 9.99870953e-01 -2.91023110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66862385300001 meters 0.017466700281827726 Centerline is valid? [True, True] Translation: X:116.75, Y:-20.88, Z:-2.91 [[ 9.77621627e-01 2.09766256e-01 1.59396167e-02 1.16753001e+02] [-2.09740352e-01 9.77751555e-01 -3.29862487e-03 -2.08793435e+01] [-1.62769252e-02 -1.18373814e-04 9.99867515e-01 -2.91172301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.69862385300002 meters 0.018910871226383873 Centerline is valid? [True, True] Translation: X:116.78, Y:-20.88, Z:-2.91 [[ 9.77265437e-01 2.11390935e-01 1.63137368e-02 1.16780652e+02] [-2.11364055e-01 9.77401581e-01 -3.37436210e-03 -2.08810749e+01] [-1.66583817e-02 -1.50490105e-04 9.99861228e-01 -2.91244333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.728623853 meters 0.018910871226383873 Centerline is valid? [True, True] Translation: X:116.81, Y:-20.89, Z:-2.91 [[ 9.77279856e-01 2.11324250e-01 1.63139154e-02 1.16807598e+02] [-2.11297375e-01 9.77416001e-01 -3.37349839e-03 -2.08865046e+01] [-1.66583839e-02 -1.50235473e-04 9.99861228e-01 -2.91313483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.758623853 meters 0.021106722914789402 Centerline is valid? [True, True] Translation: X:116.84, Y:-20.89, Z:-2.91 [[ 9.76673577e-01 2.14034025e-01 1.72673300e-02 1.16836386e+02] [-2.14004365e-01 9.76826183e-01 -3.56923137e-03 -2.08865729e+01] [-1.76311170e-02 -2.09310018e-04 9.99844538e-01 -2.91262848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.788623853 meters 0.021465406389515603 Centerline is valid? [True, True] Translation: X:116.86, Y:-20.89, Z:-2.91 [[ 9.76385672e-01 2.15326642e-01 1.74773333e-02 1.16864755e+02] [-2.15296483e-01 9.76542053e-01 -3.61151914e-03 -2.08909256e+01] [-1.78450073e-02 -2.36572848e-04 9.99840737e-01 -2.91318863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.818623853 meters 0.02219437055019247 Centerline is valid? [True, True] Translation: X:116.89, Y:-20.89, Z:-2.91 [[ 9.76378364e-01 2.15371016e-01 1.73382848e-02 1.16891847e+02] [-2.15341356e-01 9.76532268e-01 -3.58203489e-03 -2.08947700e+01] [-1.77028610e-02 -2.36228385e-04 9.99843264e-01 -2.91483951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.848623853 meters 0.022198858431996836 Centerline is valid? [True, True] Translation: X:116.92, Y:-20.90, Z:-2.92 [[ 9.76469594e-01 2.14979403e-01 1.70583587e-02 1.16918428e+02] [-2.14950648e-01 9.76618557e-01 -3.52335349e-03 -2.08996914e+01] [-1.74169581e-02 -2.26257711e-04 9.99848288e-01 -2.91660715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.87862385300001 meters 0.021792133368724265 Centerline is valid? [True, True] Translation: X:116.95, Y:-20.91, Z:-2.92 [[ 9.76546457e-01 2.14616718e-01 1.72244737e-02 1.16946930e+02] [-2.14587374e-01 9.76698323e-01 -3.55595493e-03 -2.09052917e+01] [-1.75862820e-02 -2.23599391e-04 9.99845324e-01 -2.91693628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90862385300001 meters 0.01962132033160032 Centerline is valid? [True, True] Translation: X:116.97, Y:-20.91, Z:-2.92 [[ 9.76797707e-01 2.13462509e-01 1.73203968e-02 1.16974754e+02] [-2.13432669e-01 9.76951235e-01 -3.57495639e-03 -2.09136620e+01] [-1.76843022e-02 -2.04729308e-04 9.99843600e-01 -2.91647300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.93862385300001 meters 0.02058286338617813 Centerline is valid? [True, True] Translation: X:117.00, Y:-20.92, Z:-2.92 [[ 9.76950491e-01 2.12740035e-01 1.75902182e-02 1.17002196e+02] [-2.12709156e-01 9.77108816e-01 -3.62983081e-03 -2.09179259e+01] [-1.79597676e-02 -1.95435470e-04 9.99838691e-01 -2.91913741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96862385300001 meters 0.018224213739594056 Centerline is valid? [True, True] Translation: X:117.03, Y:-20.93, Z:-2.92 [[ 9.77288469e-01 2.11109875e-01 1.84355172e-02 1.17029455e+02] [-2.11075691e-01 9.77462322e-01 -3.80295441e-03 -2.09275908e+01] [-1.88228647e-02 -1.74706030e-04 9.99822819e-01 -2.91662378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.99862385300001 meters 0.01822094429154769 Centerline is valid? [True, True] Translation: X:117.06, Y:-20.93, Z:-2.92 [[ 9.77493321e-01 2.10107338e-01 1.90187660e-02 1.17057301e+02] [-2.10070786e-01 9.77678311e-01 -3.92228698e-03 -2.09328671e+01] [-1.94183363e-02 -1.61277791e-04 9.99811433e-01 -2.91722156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02862385300001 meters 0.01745554370996276 Centerline is valid? [True, True] Translation: X:117.08, Y:-20.94, Z:-2.92 [[ 9.77685144e-01 2.09135150e-01 1.98556790e-02 1.17084978e+02] [-2.09095130e-01 9.77886735e-01 -4.09384556e-03 -2.09401341e+01] [-2.02727722e-02 -1.49233808e-04 9.99794475e-01 -2.91686687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.05862385300001 meters 0.0156973950117469 Centerline is valid? [True, True] Translation: X:117.11, Y:-20.95, Z:-2.92 [[ 9.78160799e-01 2.06867959e-01 2.01766944e-02 1.17112871e+02] [-2.06826173e-01 9.78368865e-01 -4.15903677e-03 -2.09500439e+01] [-2.06006210e-02 -1.04861748e-04 9.99787779e-01 -2.91579039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08862385300002 meters 0.015358734142317249 Centerline is valid? [True, True] Translation: X:117.14, Y:-20.96, Z:-2.92 [[ 9.78337398e-01 2.06015751e-01 2.03333783e-02 1.17141212e+02] [-2.05973145e-01 9.78548671e-01 -4.19063120e-03 -2.09563007e+01] [-2.07605363e-02 -8.82786387e-05 9.99784473e-01 -2.91623363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.118623853 meters 0.014927733817955854 Centerline is valid? [True, True] Translation: X:117.17, Y:-20.96, Z:-2.92 [[ 9.78572454e-01 2.04883718e-01 2.04600461e-02 1.17169170e+02] [-2.04840352e-01 9.78786319e-01 -4.21572867e-03 -2.09627073e+01] [-2.08897474e-02 -6.56470963e-05 9.99781783e-01 -2.91717939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.148623853 meters 0.014484349773629683 Centerline is valid? [True, True] Translation: X:117.20, Y:-20.97, Z:-2.92 [[ 9.78863191e-01 2.03500043e-01 2.03613695e-02 1.17196901e+02] [-2.03456815e-01 9.79074936e-01 -4.19441324e-03 -2.09698507e+01] [-2.07888698e-02 -3.69026646e-05 9.99783887e-01 -2.91782354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.178623853 meters 0.018822153586630704 Centerline is valid? [True, True] Translation: X:117.22, Y:-20.98, Z:-2.92 [[ 9.78970556e-01 2.03030250e-01 1.98838818e-02 1.17223071e+02] [-2.02988946e-01 9.79172465e-01 -4.09525983e-03 -2.09751055e+01] [-2.03012112e-02 -2.70694104e-05 9.99793909e-01 -2.91728041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.208623853 meters 0.014504482331902461 Centerline is valid? [True, True] Translation: X:117.25, Y:-20.98, Z:-2.92 [[ 9.79256470e-01 2.01627650e-01 2.00762682e-02 1.17249643e+02] [-2.01585285e-01 9.79462246e-01 -4.13306074e-03 -2.09825947e+01] [-2.04972861e-02 2.46207927e-07 9.99789909e-01 -2.91992707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.238623853 meters 0.014450013387052249 Centerline is valid? [True, True] Translation: X:117.28, Y:-20.99, Z:-2.92 [[ 9.79381293e-01 2.00981978e-01 2.04579398e-02 1.17276374e+02] [-2.00937877e-01 9.79594939e-01 -4.21011753e-03 -2.09887207e+01] [-2.08866521e-02 1.25353409e-05 9.99781850e-01 -2.92046706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26862385300001 meters 0.014480359785301468 Centerline is valid? [True, True] Translation: X:117.30, Y:-20.99, Z:-2.92 [[ 9.79473578e-01 2.00514503e-01 2.06262917e-02 1.17303720e+02] [-2.00469609e-01 9.79690734e-01 -4.24290392e-03 -2.09942625e+01] [-2.10581506e-02 2.08676554e-05 9.99778252e-01 -2.92114681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.29862385300001 meters 0.014246075117558729 Centerline is valid? [True, True] Translation: X:117.33, Y:-21.00, Z:-2.92 [[ 9.79429863e-01 2.00623776e-01 2.16158066e-02 1.17331860e+02] [-2.00574536e-01 9.79668362e-01 -4.44470545e-03 -2.09986257e+01] [-2.20680354e-02 1.76968728e-05 9.99756471e-01 -2.92001889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32862385300001 meters 0.014317904344241789 Centerline is valid? [True, True] Translation: X:117.36, Y:-21.00, Z:-2.92 [[ 9.79343608e-01 2.01048736e-01 2.15755333e-02 1.17359090e+02] [-2.00999805e-01 9.79581240e-01 -4.43537658e-03 -2.10029099e+01] [-2.20267145e-02 7.07971408e-06 9.99757382e-01 -2.92083797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.35862385300001 meters 0.014299096813667126 Centerline is valid? [True, True] Translation: X:117.39, Y:-21.01, Z:-2.92 [[ 9.79057752e-01 2.02434827e-01 2.15884213e-02 1.17387098e+02] [-2.02386206e-01 9.79295737e-01 -4.43656422e-03 -2.10057744e+01] [-2.20395641e-02 -2.55460959e-05 9.99757099e-01 -2.92170361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38862385300001 meters 0.014510901342275761 Centerline is valid? [True, True] Translation: X:117.42, Y:-21.01, Z:-2.92 [[ 9.78858844e-01 2.03407738e-01 2.14628884e-02 1.17415547e+02] [-2.03359952e-01 9.79094117e-01 -4.40909809e-03 -2.10093103e+01] [-2.19110324e-02 -4.88072891e-05 9.99759923e-01 -2.92266693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.41862385300001 meters 0.015440803527398251 Centerline is valid? [True, True] Translation: X:117.44, Y:-21.01, Z:-2.93 [[ 9.78579677e-01 2.04789967e-01 2.10448426e-02 1.17443728e+02] [-2.04744365e-01 9.78805937e-01 -4.32226660e-03 -2.10105027e+01] [-2.14839737e-02 -7.91306597e-05 9.99769190e-01 -2.92541762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44862385300002 meters 0.017924387050887208 Centerline is valid? [True, True] Translation: X:117.47, Y:-21.01, Z:-2.93 [[ 9.77886940e-01 2.08086628e-01 2.09066296e-02 1.17473542e+02] [-2.08042411e-01 9.78110389e-01 -4.29219187e-03 -2.10078794e+01] [-2.13421393e-02 -1.52187257e-04 9.99772219e-01 -2.92666013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.478623853 meters 0.017468334977163213 Centerline is valid? [True, True] Translation: X:117.50, Y:-21.01, Z:-2.93 [[ 9.77604937e-01 2.09400878e-01 2.09728460e-02 1.17501560e+02] [-2.09356702e-01 9.77829862e-01 -4.30494101e-03 -2.10125282e+01] [-2.14093336e-02 -1.82274283e-04 9.99770777e-01 -2.92601458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.508623853 meters 0.018810879389425477 Centerline is valid? [True, True] Translation: X:117.53, Y:-21.01, Z:-2.93 [[ 9.77275704e-01 2.10954976e-01 2.07411594e-02 1.17529637e+02] [-2.10912145e-01 9.77495755e-01 -4.25623985e-03 -2.10137549e+01] [-2.11722702e-02 -2.15042614e-04 9.99775819e-01 -2.92726240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.538623853 meters 0.019427368816128783 Centerline is valid? [True, True] Translation: X:117.56, Y:-21.02, Z:-2.93 [[ 9.76993579e-01 2.12252753e-01 2.07922121e-02 1.17558717e+02] [-2.12210047e-01 9.77214771e-01 -4.26466704e-03 -2.10161197e+01] [-2.12236441e-02 -2.45763998e-04 9.99774723e-01 -2.92779832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.568623853 meters 0.0211987972920946 Centerline is valid? [True, True] Translation: X:117.59, Y:-21.01, Z:-2.93 [[ 9.76538999e-01 2.14283659e-01 2.13095370e-02 1.17587175e+02] [-2.14239307e-01 9.76771429e-01 -4.36972509e-03 -2.10148682e+01] [-2.17509075e-02 -2.98133465e-04 9.99763377e-01 -2.92839754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.598623853 meters 0.02163106382920472 Centerline is valid? [True, True] Translation: X:117.62, Y:-21.02, Z:-2.93 [[ 9.76398823e-01 2.14928079e-01 2.12428741e-02 1.17616171e+02] [-2.14884187e-01 9.76629829e-01 -4.35470959e-03 -2.10182862e+01] [-2.16823739e-02 -3.12824410e-04 9.99764861e-01 -2.92943954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62862385300001 meters 0.022577588058283263 Centerline is valid? [True, True] Translation: X:117.64, Y:-21.02, Z:-2.93 [[ 9.76289005e-01 2.15460962e-01 2.08890614e-02 1.17644767e+02] [-2.15418662e-01 9.76512402e-01 -4.28120991e-03 -2.10179623e+01] [-2.13208611e-02 -3.20195501e-04 9.99772633e-01 -2.93128152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.65862385300001 meters 0.02159411816951133 Centerline is valid? [True, True] Translation: X:117.67, Y:-21.02, Z:-2.93 [[ 9.76361299e-01 2.15124261e-01 2.09801185e-02 1.17673149e+02] [-2.15081542e-01 9.76586634e-01 -4.29852906e-03 -2.10233924e+01] [-2.14136212e-02 -3.15518822e-04 9.99770652e-01 -2.93159391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68862385300001 meters 0.021187313658489443 Centerline is valid? [True, True] Translation: X:117.70, Y:-21.03, Z:-2.93 [[ 9.76655426e-01 2.13787852e-01 2.09507345e-02 1.17701254e+02] [-2.13744967e-01 9.76880071e-01 -4.29149883e-03 -2.10253705e+01] [-2.13838253e-02 -2.86798422e-04 9.99771299e-01 -2.93232101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.71862385300001 meters 0.020307849436838193 Centerline is valid? [True, True] Translation: X:117.73, Y:-21.03, Z:-2.93 [[ 9.76849773e-01 2.12892089e-01 2.10113902e-02 1.17730143e+02] [-2.12848778e-01 9.77075681e-01 -4.30255020e-03 -2.10294998e+01] [-2.14456973e-02 -2.69303545e-04 9.99769978e-01 -2.93230163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74862385300001 meters 0.01916604506860736 Centerline is valid? [True, True] Translation: X:117.76, Y:-21.03, Z:-2.93 [[ 9.77106871e-01 2.11687159e-01 2.12299316e-02 1.17759053e+02] [-2.11642673e-01 9.77337447e-01 -4.34662629e-03 -2.10343537e+01] [-2.16689321e-02 -2.46041047e-04 9.99765171e-01 -2.93264939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.77862385300001 meters 0.017222536941944082 Centerline is valid? [True, True] Translation: X:117.79, Y:-21.04, Z:-2.93 [[ 9.77790814e-01 2.08390683e-01 2.23259399e-02 1.17786372e+02] [-2.08340716e-01 9.78045647e-01 -4.56701612e-03 -2.10398573e+01] [-2.27875120e-02 -1.85815902e-04 9.99740314e-01 -2.93216041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80862385300001 meters 0.016058715639043396 Centerline is valid? [True, True] Translation: X:117.81, Y:-21.05, Z:-2.93 [[ 9.78213862e-01 2.06377576e-01 2.24930461e-02 1.17813084e+02] [-2.06326373e-01 9.78472420e-01 -4.59912104e-03 -2.10471453e+01] [-2.29579807e-02 -1.41984668e-04 9.99736421e-01 -2.93246928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83862385300002 meters 0.014089516882809815 Centerline is valid? [True, True] Translation: X:117.84, Y:-21.06, Z:-2.93 [[ 9.79318128e-01 2.00969681e-01 2.33921328e-02 1.17840338e+02] [-2.00912811e-01 9.79597462e-01 -4.78073601e-03 -2.10581272e+01] [-2.38756569e-02 -1.79177105e-05 9.99714936e-01 -2.93197756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.868623853 meters 0.01436593200432283 Centerline is valid? [True, True] Translation: X:117.87, Y:-21.07, Z:-2.93 [[ 9.79929034e-01 1.97991040e-01 2.32085253e-02 1.17867374e+02] [-1.97934249e-01 9.80203829e-01 -4.74211431e-03 -2.10668529e+01] [-2.36879814e-02 5.31734784e-05 9.99719399e-01 -2.93339210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.898623853 meters 0.015347356589096417 Centerline is valid? [True, True] Translation: X:117.90, Y:-21.08, Z:-2.93 [[ 9.80611511e-01 1.94562599e-01 2.33764819e-02 1.17895241e+02] [-1.94504043e-01 9.80890094e-01 -4.77500458e-03 -2.10756292e+01] [-2.38587969e-02 1.35604221e-04 9.99715329e-01 -2.93378150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.928623853 meters 0.02119117822671199 Centerline is valid? [True, True] Translation: X:117.92, Y:-21.09, Z:-2.93 [[ 9.81240404e-01 1.91475991e-01 2.24547355e-02 1.17922085e+02] [-1.91421177e-01 9.81497277e-01 -4.58569201e-03 -2.10856024e+01] [-2.29173116e-02 2.01354377e-04 9.99737344e-01 -2.93166321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.958623853 meters 0.03432659816544925 Centerline is valid? [True, True] Translation: X:117.95, Y:-21.10, Z:-2.93 [[ 9.82437926e-01 1.85336478e-01 2.15896329e-02 1.17949143e+02] [-1.85284353e-01 9.82675064e-01 -4.40768630e-03 -2.10982966e+01] [-2.20324989e-02 3.30057019e-04 9.99757201e-01 -2.93136640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.988623853 meters 0.02491255871507734 Centerline is valid? [True, True] Translation: X:117.98, Y:-21.11, Z:-2.94 [[ 9.82994488e-01 1.82315850e-01 2.19719726e-02 1.17975080e+02] [-1.82261125e-01 9.83239934e-01 -4.48497547e-03 -2.11086215e+01] [-2.24214030e-02 4.04069734e-04 9.99748527e-01 -2.93955822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.01862385300001 meters 0.026637273955366407 Centerline is valid? [True, True] Translation: X:118.00, Y:-21.12, Z:-2.94 [[ 9.83674453e-01 1.78628243e-01 2.18293843e-02 1.18003850e+02] [-1.78573350e-01 9.83916519e-01 -4.45443202e-03 -2.11175620e+01] [-2.22739791e-02 4.83564710e-04 9.99751787e-01 -2.94033611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04862385300001 meters 0.030747380675753687 Centerline is valid? [True, True] Translation: X:118.03, Y:-21.13, Z:-2.94 [[ 9.83901626e-01 1.77342371e-01 2.20742679e-02 1.18029984e+02] [-1.77285925e-01 9.84149082e-01 -4.50396185e-03 -2.11291071e+01] [-2.25231137e-02 5.17998380e-04 9.99746188e-01 -2.94127315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.07862385300001 meters 0.03146198424659608 Centerline is valid? [True, True] Translation: X:118.06, Y:-21.14, Z:-2.94 [[ 9.83992534e-01 1.76770114e-01 2.26057440e-02 1.18057836e+02] [-1.76710805e-01 9.84252017e-01 -4.61071842e-03 -2.11355068e+01] [-2.30647864e-02 5.42233287e-04 9.99733825e-01 -2.94082152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10862385300001 meters 0.028529054853932655 Centerline is valid? [True, True] Translation: X:118.09, Y:-21.14, Z:-2.94 [[ 9.83991496e-01 1.76755312e-01 2.27660877e-02 1.18086816e+02] [-1.76695179e-01 9.84254673e-01 -4.64236567e-03 -2.11371527e+01] [-2.32281910e-02 5.45390396e-04 9.99730040e-01 -2.94057116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.13862385300001 meters 0.03130720976443314 Centerline is valid? [True, True] Translation: X:118.11, Y:-21.15, Z:-2.94 [[ 9.83914694e-01 1.77207436e-01 2.25698807e-02 1.18112954e+02] [-1.77148479e-01 9.84173381e-01 -4.60128108e-03 -2.11471322e+01] [-2.30280570e-02 5.29048039e-04 9.99734679e-01 -2.94171460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16862385300001 meters 0.028664153540835673 Centerline is valid? [True, True] Translation: X:118.14, Y:-21.15, Z:-2.94 [[ 9.83805853e-01 1.77797618e-01 2.26726655e-02 1.18142023e+02] [-1.77738312e-01 9.84066939e-01 -4.62081619e-03 -2.11498679e+01] [-2.31329906e-02 5.16184732e-04 9.99732263e-01 -2.94204720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19862385300002 meters 0.025570977191082367 Centerline is valid? [True, True] Translation: X:118.17, Y:-21.15, Z:-2.94 [[ 9.83466054e-01 1.79721870e-01 2.22389455e-02 1.18171207e+02] [-1.79665327e-01 9.83717356e-01 -4.53138357e-03 -2.11520724e+01] [-2.26912254e-02 4.60894508e-04 9.99742415e-01 -2.94285729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.228623853 meters 0.026109937032014995 Centerline is valid? [True, True] Translation: X:118.20, Y:-21.16, Z:-2.94 [[ 9.83285862e-01 1.80742650e-01 2.19319116e-02 1.18198626e+02] [-1.80687934e-01 9.83530330e-01 -4.46779412e-03 -2.11583443e+01] [-2.23782212e-02 4.30287006e-04 9.99749484e-01 -2.94392996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.258623853 meters 0.022614783921138353 Centerline is valid? [True, True] Translation: X:118.23, Y:-21.16, Z:-2.94 [[ 9.82827998e-01 1.83148061e-01 2.24925252e-02 1.18228470e+02] [-1.83091176e-01 9.83085266e-01 -4.58047374e-03 -2.11592692e+01] [-2.29509750e-02 3.83634946e-04 9.99736518e-01 -2.94358093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.288623853 meters 0.020957052275018817 Centerline is valid? [True, True] Translation: X:118.26, Y:-21.16, Z:-2.94 [[ 9.82571259e-01 1.84457049e-01 2.30069224e-02 1.18256760e+02] [-1.84397910e-01 9.82840510e-01 -4.68437564e-03 -2.11633672e+01] [-2.34762014e-02 3.60304466e-04 9.99724331e-01 -2.94398271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.318623853 meters 0.02058166745745343 Centerline is valid? [True, True] Translation: X:118.28, Y:-21.17, Z:-2.95 [[ 9.82297845e-01 1.85924483e-01 2.28698460e-02 1.18284109e+02] [-1.85866470e-01 9.82563984e-01 -4.65533727e-03 -2.11693826e+01] [-2.33366282e-02 3.22190210e-04 9.99727612e-01 -2.94511593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.348623853 meters 0.017849608501906148 Centerline is valid? [True, True] Translation: X:118.31, Y:-21.17, Z:-2.95 [[ 9.81636080e-01 1.89423365e-01 2.25697948e-02 1.18313572e+02] [-1.89367823e-01 9.81895480e-01 -4.59280292e-03 -2.11709734e+01] [-2.30311637e-02 2.34468145e-04 9.99734720e-01 -2.94656031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.37862385300001 meters 0.01718789367139047 Centerline is valid? [True, True] Translation: X:118.34, Y:-21.18, Z:-2.95 [[ 9.81329240e-01 1.91115905e-01 2.16248486e-02 1.18340639e+02] [-1.91065342e-01 9.81567459e-01 -4.39984931e-03 -2.11751351e+01] [-2.20671289e-02 1.85941685e-04 9.99756474e-01 -2.94913600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40862385300001 meters 0.015894762901215324 Centerline is valid? [True, True] Translation: X:118.37, Y:-21.18, Z:-2.95 [[ 9.81006797e-01 1.92769241e-01 2.15797308e-02 1.18369079e+02] [-1.92719325e-01 9.81244107e-01 -4.38902002e-03 -2.11779116e+01] [-2.20210518e-02 1.46827296e-04 9.99757496e-01 -2.94979930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.43862385300001 meters 0.014648402900960953 Centerline is valid? [True, True] Translation: X:118.40, Y:-21.18, Z:-2.95 [[ 9.80267468e-01 1.96467340e-01 2.18237179e-02 1.18397647e+02] [-1.96417228e-01 9.80510367e-01 -4.43762018e-03 -2.11788593e+01] [-2.22702291e-02 6.35005191e-05 9.99751986e-01 -2.95060786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46862385300001 meters 0.014434020418467355 Centerline is valid? [True, True] Translation: X:118.43, Y:-21.18, Z:-2.95 [[ 9.79901233e-01 1.98195266e-01 2.26320749e-02 1.18425527e+02] [-1.98141880e-01 9.80162556e-01 -4.59993801e-03 -2.11814182e+01] [-2.30947983e-02 2.31230635e-05 9.99733279e-01 -2.95041728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.49862385300001 meters 0.014639655027960897 Centerline is valid? [True, True] Translation: X:118.46, Y:-21.18, Z:-2.95 [[ 9.78984411e-01 2.02608946e-01 2.32193357e-02 1.18455198e+02] [-2.02554029e-01 9.79259724e-01 -4.71778256e-03 -2.11809226e+01] [-2.36936253e-02 -8.45344175e-05 9.99719263e-01 -2.94904121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52862385300001 meters 0.015469619257028595 Centerline is valid? [True, True] Translation: X:118.48, Y:-21.18, Z:-2.95 [[ 9.78550638e-01 2.04623984e-01 2.38259307e-02 1.18483204e+02] [-2.04566786e-01 9.78840644e-01 -4.83978896e-03 -2.11838920e+01] [-2.43121262e-02 -1.38015492e-04 9.99704407e-01 -2.94938875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.55862385300001 meters 0.016166497700448614 Centerline is valid? [True, True] Translation: X:118.51, Y:-21.19, Z:-2.95 [[ 9.78254254e-01 2.06030478e-01 2.38758649e-02 1.18510792e+02] [-2.05973497e-01 9.78545559e-01 -4.84840140e-03 -2.11871430e+01] [-2.43625400e-02 -1.74826085e-04 9.99703174e-01 -2.94955595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58862385300002 meters 0.017034566603450603 Centerline is valid? [True, True] Translation: X:118.54, Y:-21.19, Z:-2.95 [[ 9.77986162e-01 2.07201962e-01 2.47065669e-02 1.18538925e+02] [-2.07141361e-01 9.78298166e-01 -5.01546369e-03 -2.11903212e+01] [-2.52096031e-02 -2.12697814e-04 9.99682165e-01 -2.94902674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.618623853 meters 0.017034566603450603 Centerline is valid? [True, True] Translation: X:118.57, Y:-21.20, Z:-2.95 [[ 9.78000788e-01 2.07132880e-01 2.47068690e-02 1.18565885e+02] [-2.07072294e-01 9.78312795e-01 -5.01397516e-03 -2.11956566e+01] [-2.52096052e-02 -2.12436391e-04 9.99682165e-01 -2.94971821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.648623853 meters 0.01703003361478315 Centerline is valid? [True, True] Translation: X:118.59, Y:-21.20, Z:-2.95 [[ 9.77980651e-01 2.07171708e-01 2.51739857e-02 1.18593329e+02] [-2.07108871e-01 9.78304572e-01 -5.10688576e-03 -2.12014817e+01] [-2.56858276e-02 -2.19320316e-04 9.99670041e-01 -2.94973527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.678623853 meters 0.016875276336022836 Centerline is valid? [True, True] Translation: X:118.62, Y:-21.21, Z:-2.95 [[ 9.78061268e-01 2.06761605e-01 2.54124921e-02 1.18621106e+02] [-2.06697482e-01 9.78391330e-01 -5.15339633e-03 -2.12080086e+01] [-2.59288865e-02 -2.12360775e-04 9.99663767e-01 -2.95036476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.708623853 meters 0.015936254303785227 Centerline is valid? [True, True] Translation: X:118.65, Y:-21.22, Z:-2.95 [[ 9.78374897e-01 2.05316806e-01 2.50513367e-02 1.18648755e+02] [-2.05254050e-01 9.78695550e-01 -5.07894311e-03 -2.12163151e+01] [-2.55604241e-02 -1.72777871e-04 9.99673264e-01 -2.95213721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.738623853 meters 0.0155492065084593 Centerline is valid? [True, True] Translation: X:118.68, Y:-21.22, Z:-2.95 [[ 9.78632964e-01 2.04176696e-01 2.42775496e-02 1.18676184e+02] [-2.04117436e-01 9.78934041e-01 -4.92088438e-03 -2.12231972e+01] [-2.47708497e-02 -1.39731517e-04 9.99693146e-01 -2.95442649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76862385300001 meters 0.014718899369300837 Centerline is valid? [True, True] Translation: X:118.70, Y:-21.23, Z:-2.96 [[ 9.79206470e-01 2.01537446e-01 2.31807629e-02 1.18702485e+02] [-2.01482713e-01 9.79480808e-01 -4.69719325e-03 -2.12338186e+01] [-2.36517727e-02 -7.10009613e-05 9.99720255e-01 -2.95815733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.79862385300001 meters 0.014484042431087722 Centerline is valid? [True, True] Translation: X:118.73, Y:-21.24, Z:-2.96 [[ 9.79422847e-01 2.00491629e-01 2.31083064e-02 1.18729184e+02] [-2.00436979e-01 9.79695414e-01 -4.68109710e-03 -2.12420475e+01] [-2.35776226e-02 -4.69856873e-05 9.99722008e-01 -2.95907947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82862385300001 meters 0.014288381362509749 Centerline is valid? [True, True] Translation: X:118.76, Y:-21.25, Z:-2.96 [[ 9.79671989e-01 1.99296923e-01 2.28807723e-02 1.18755997e+02] [-1.99243058e-01 9.79939149e-01 -4.63334528e-03 -2.12495786e+01] [-2.33451760e-02 -1.96764369e-05 9.99727464e-01 -2.95982387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.85862385300001 meters 0.014276747134635955 Centerline is valid? [True, True] Translation: X:118.78, Y:-21.26, Z:-2.96 [[ 9.79871840e-01 1.98272915e-01 2.32169730e-02 1.18783421e+02] [-1.98217208e-01 9.80146852e-01 -4.69970348e-03 -2.12568591e+01] [-2.36878669e-02 3.10354197e-06 9.99719403e-01 -2.96016602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88862385300001 meters 0.014426119834649804 Centerline is valid? [True, True] Translation: X:118.81, Y:-21.27, Z:-2.96 [[ 9.80298683e-01 1.96052783e-01 2.40374355e-02 1.18808630e+02] [-1.95992446e-01 9.80593342e-01 -4.86396642e-03 -2.12661922e+01] [-2.45245434e-02 5.69841028e-05 9.99699227e-01 -2.95953766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.91862385300001 meters 0.014727290026541728 Centerline is valid? [True, True] Translation: X:118.84, Y:-21.27, Z:-2.96 [[ 9.80480208e-01 1.95164281e-01 2.38634678e-02 1.18836558e+02] [-1.95104601e-01 9.80770563e-01 -4.82671943e-03 -2.12742604e+01] [-2.43465900e-02 7.66305103e-05 9.99703575e-01 -2.96043087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94862385300002 meters 0.015620053135898766 Centerline is valid? [True, True] Translation: X:118.86, Y:-21.28, Z:-2.96 [[ 9.80970061e-01 1.92716616e-01 2.36229836e-02 1.18863879e+02] [-1.92657450e-01 9.81254446e-01 -4.77694911e-03 -2.12849186e+01] [-2.41007551e-02 1.34900276e-04 9.99709526e-01 -2.96206052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.978623853 meters 0.016132823599112528 Centerline is valid? [True, True] Translation: X:118.89, Y:-21.29, Z:-2.96 [[ 9.81172302e-01 1.91729627e-01 2.32521807e-02 1.18890554e+02] [-1.91672053e-01 9.81447770e-01 -4.70088125e-03 -2.12927909e+01] [-2.37220991e-02 1.55581261e-04 9.99718579e-01 -2.96325650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.008623853 meters 0.01669750539031222 Centerline is valid? [True, True] Translation: X:118.92, Y:-21.30, Z:-2.96 [[ 9.81358472e-01 1.90815147e-01 2.29156851e-02 1.18918715e+02] [-1.90759010e-01 9.81625972e-01 -4.63148424e-03 -2.13008937e+01] [-2.33783890e-02 1.73772904e-04 9.99726673e-01 -2.96470985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.038623853 meters 0.017027033731511584 Centerline is valid? [True, True] Translation: X:118.95, Y:-21.31, Z:-2.97 [[ 9.81653300e-01 1.89353873e-01 2.24033160e-02 1.18946565e+02] [-1.89299861e-01 9.81908891e-01 -4.52689261e-03 -2.13104465e+01] [-2.28551998e-02 2.02894454e-04 9.99738765e-01 -2.96641402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.068623853 meters 0.01849339841849603 Centerline is valid? [True, True] Translation: X:118.97, Y:-21.32, Z:-2.97 [[ 9.81812226e-01 1.88555569e-01 2.21709400e-02 1.18972818e+02] [-1.88502494e-01 9.82062498e-01 -4.47885514e-03 -2.13205145e+01] [-2.26177618e-02 2.18117250e-04 9.99744162e-01 -2.96760592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.098623853 meters 0.01819964783442732 Centerline is valid? [True, True] Translation: X:119.00, Y:-21.33, Z:-2.97 [[ 9.81950501e-01 1.87796739e-01 2.24855342e-02 1.19001156e+02] [-1.87741981e-01 9.82207885e-01 -4.54093844e-03 -2.13282654e+01] [-2.29382424e-02 2.37498044e-04 9.99736856e-01 -2.96727351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.12862385300001 meters 0.018179293593400675 Centerline is valid? [True, True] Translation: X:119.03, Y:-21.33, Z:-2.97 [[ 9.81981991e-01 1.87616914e-01 2.26111177e-02 1.19029644e+02] [-1.87561521e-01 9.82242249e-01 -4.56517214e-03 -2.13347517e+01] [-2.30660986e-02 2.41941197e-04 9.99733913e-01 -2.96748993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.15862385300001 meters 0.018263451544869223 Centerline is valid? [True, True] Translation: X:119.06, Y:-21.34, Z:-2.97 [[ 9.81898102e-01 1.88048347e-01 2.26701575e-02 1.19057098e+02] [-1.87992804e-01 9.82159746e-01 -4.57598733e-03 -2.13415923e+01] [-2.31262229e-02 2.31326792e-04 9.99732526e-01 -2.96842073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18862385300001 meters 0.029580266894319144 Centerline is valid? [True, True] Translation: X:119.09, Y:-21.35, Z:-2.96 [[ 9.81502159e-01 1.90166051e-01 2.21446250e-02 1.19085529e+02] [-1.90113624e-01 9.81751925e-01 -4.46854960e-03 -2.13461441e+01] [-2.25902946e-02 1.75896185e-04 9.99744791e-01 -2.96163046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.21862385300001 meters 0.015732012800149808 Centerline is valid? [True, True] Translation: X:119.11, Y:-21.35, Z:-2.97 [[ 9.81175882e-01 1.91730194e-01 2.30958969e-02 1.19114272e+02] [-1.91673626e-01 9.81447661e-01 -4.65932578e-03 -2.13507291e+01] [-2.35607475e-02 1.44743770e-04 9.99722397e-01 -2.96884025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24862385300001 meters 0.01436523876658703 Centerline is valid? [True, True] Translation: X:119.14, Y:-21.35, Z:-2.97 [[ 9.80308292e-01 1.96159831e-01 2.27370597e-02 1.19142886e+02] [-1.96106222e-01 9.80571935e-01 -4.58586655e-03 -2.13507653e+01] [-2.31948854e-02 3.66841160e-05 9.99730962e-01 -2.96997245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.27862385300001 meters 0.014194581359277562 Centerline is valid? [True, True] Translation: X:119.17, Y:-21.35, Z:-2.97 [[ 9.79857537e-01 1.98355304e-01 2.31166630e-02 1.19170139e+02] [-1.98300534e-01 9.80130182e-01 -4.66103479e-03 -2.13525645e+01] [-2.35818801e-02 -1.68965440e-05 9.99721909e-01 -2.97027558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30862385300001 meters 0.01458314551849783 Centerline is valid? [True, True] Translation: X:119.20, Y:-21.35, Z:-2.97 [[ 9.79351167e-01 2.00849138e-01 2.30416206e-02 1.19199646e+02] [-2.00795459e-01 9.79622181e-01 -4.64391734e-03 -2.13543667e+01] [-2.35048094e-02 -7.86269276e-05 9.99723721e-01 -2.97082471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33862385300002 meters 0.01737591292390855 Centerline is valid? [True, True] Translation: X:119.23, Y:-21.35, Z:-2.97 [[ 9.78244221e-01 2.06221699e-01 2.26021219e-02 1.19228108e+02] [-2.06171505e-01 9.78505273e-01 -4.55428059e-03 -2.13508917e+01] [-2.30554869e-02 -2.04714811e-04 9.99734166e-01 -2.97265231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.368623853 meters 0.019137603149653504 Centerline is valid? [True, True] Translation: X:119.26, Y:-21.35, Z:-2.97 [[ 9.77736598e-01 2.08631993e-01 2.24462900e-02 1.19257159e+02] [-2.08583164e-01 9.77994184e-01 -4.52115376e-03 -2.13523809e+01] [-2.28955984e-02 -2.61420679e-04 9.99737827e-01 -2.97403839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.398623853 meters 0.022310302379895657 Centerline is valid? [True, True] Translation: X:119.29, Y:-21.35, Z:-2.98 [[ 9.77241701e-01 2.10991844e-01 2.19339865e-02 1.19285802e+02] [-2.10945835e-01 9.77487773e-01 -4.41693562e-03 -2.13518152e+01] [-2.23721410e-02 -3.10469425e-04 9.99749664e-01 -2.97590214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.428623853 meters 0.025594579084113004 Centerline is valid? [True, True] Translation: X:119.31, Y:-21.35, Z:-2.98 [[ 9.76581293e-01 2.14080023e-01 2.14177954e-02 1.19313888e+02] [-2.14036924e-01 9.76816054e-01 -4.31172765e-03 -2.13501049e+01] [-2.18443012e-02 -3.73446480e-04 9.99761315e-01 -2.97798734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.458623853 meters 0.026712487346574186 Centerline is valid? [True, True] Translation: X:119.34, Y:-21.35, Z:-2.98 [[ 9.76400231e-01 2.14903905e-01 2.14219591e-02 1.19342818e+02] [-2.14861022e-01 9.76635120e-01 -4.31097332e-03 -2.13529953e+01] [-2.18478825e-02 -3.93508665e-04 9.99761229e-01 -2.97873488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.488623853 meters 0.02709381565360221 Centerline is valid? [True, True] Translation: X:119.37, Y:-21.36, Z:-2.98 [[ 9.76308908e-01 2.15299325e-01 2.16128975e-02 1.19371722e+02] [-2.15255793e-01 9.76548020e-01 -4.34837536e-03 -2.13570567e+01] [-2.20422346e-02 -4.06943798e-04 9.99756958e-01 -2.97917003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.51862385300001 meters 0.02529031803242271 Centerline is valid? [True, True] Translation: X:119.40, Y:-21.36, Z:-2.98 [[ 9.76426416e-01 2.14726459e-01 2.20000233e-02 1.19400254e+02] [-2.14681232e-01 9.76674145e-01 -4.42521528e-03 -2.13628028e+01] [-2.24370648e-02 -4.02095017e-04 9.99748177e-01 -2.97898856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54862385300001 meters 0.024729842582564714 Centerline is valid? [True, True] Translation: X:119.43, Y:-21.37, Z:-2.98 [[ 9.76547409e-01 2.14158349e-01 2.21666228e-02 1.19428406e+02] [-2.14112312e-01 9.76798878e-01 -4.45764139e-03 -2.13681437e+01] [-2.26069734e-02 -3.93048707e-04 9.99744352e-01 -2.97934968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.57862385300001 meters 0.02298367467223128 Centerline is valid? [True, True] Translation: X:119.46, Y:-21.37, Z:-2.98 [[ 9.76914323e-01 2.12430845e-01 2.26172744e-02 1.19456615e+02] [-2.12382481e-01 9.77176036e-01 -4.54714259e-03 -2.13741916e+01] [-2.30670118e-02 -3.61344112e-04 9.99733856e-01 -2.97914168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60862385300001 meters 0.02157997517756588 Centerline is valid? [True, True] Translation: X:119.49, Y:-21.38, Z:-2.98 [[ 9.77193764e-01 2.11129380e-01 2.27317559e-02 1.19485128e+02] [-2.11080199e-01 9.77458067e-01 -4.56902280e-03 -2.13807991e+01] [-2.31839932e-02 -3.33402975e-04 9.99731160e-01 -2.97989552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.63862385300001 meters 0.02816073322621749 Centerline is valid? [True, True] Translation: X:119.51, Y:-21.39, Z:-2.98 [[ 9.77452938e-01 2.09979896e-01 2.22305360e-02 1.19512795e+02] [-2.09932579e-01 9.77705658e-01 -4.46753851e-03 -2.13863229e+01] [-2.26730141e-02 -3.00105111e-04 9.99742889e-01 -2.97505774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66862385300001 meters 0.019256389763801472 Centerline is valid? [True, True] Translation: X:119.54, Y:-21.39, Z:-2.98 [[ 9.78054281e-01 2.07163209e-01 2.22087397e-02 1.19540277e+02] [-2.07115289e-01 9.78306368e-01 -4.46179828e-03 -2.13916400e+01] [-2.26512719e-02 -2.35888647e-04 9.99743399e-01 -2.98259583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69862385300002 meters 0.01748622775975911 Centerline is valid? [True, True] Translation: X:119.57, Y:-21.40, Z:-2.98 [[ 9.78380387e-01 2.05623894e-01 2.21502381e-02 1.19568660e+02] [-2.05575863e-01 9.78631071e-01 -4.44867423e-03 -2.13988361e+01] [-2.25916650e-02 -2.01058690e-04 9.99744756e-01 -2.98317482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.728623853 meters 0.016354005058647824 Centerline is valid? [True, True] Translation: X:119.60, Y:-21.41, Z:-2.98 [[ 9.78744242e-01 2.03860801e-01 2.23714508e-02 1.19597143e+02] [-2.03811371e-01 9.78999871e-01 -4.49199940e-03 -2.14055962e+01] [-2.28173900e-02 -1.63037497e-04 9.99739636e-01 -2.98426637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.758623853 meters 0.014501075363205556 Centerline is valid? [True, True] Translation: X:119.62, Y:-21.42, Z:-2.99 [[ 9.79619994e-01 1.99640017e-01 2.21027199e-02 1.19623968e+02] [-1.99590716e-01 9.79869307e-01 -4.43697938e-03 -2.14158154e+01] [-2.25435754e-02 -6.49439699e-05 9.99745859e-01 -2.98525136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.788623853 meters 0.013995419043174162 Centerline is valid? [True, True] Translation: X:119.65, Y:-21.42, Z:-2.99 [[ 9.80087513e-01 1.97308058e-01 2.23158716e-02 1.19651079e+02] [-1.97257220e-01 9.80341538e-01 -4.47870169e-03 -2.14243193e+01] [-2.27608598e-02 -1.24471947e-05 9.99740938e-01 -2.98575316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.818623853 meters 0.014637548970931356 Centerline is valid? [True, True] Translation: X:119.68, Y:-21.44, Z:-2.98 [[ 9.80963629e-01 1.92870124e-01 2.26157934e-02 1.19678774e+02] [-1.92816763e-01 9.81224290e-01 -4.53748895e-03 -2.14351619e+01] [-2.30663119e-02 9.04075599e-05 9.99733933e-01 -2.98498937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.848623853 meters 0.01555588770070609 Centerline is valid? [True, True] Translation: X:119.71, Y:-21.44, Z:-2.99 [[ 9.81377839e-01 1.90725097e-01 2.28358103e-02 1.19706011e+02] [-1.90670136e-01 9.81643478e-01 -4.58056901e-03 -2.14433502e+01] [-2.32902537e-02 1.41161867e-04 9.99728735e-01 -2.98520770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.87862385300001 meters 0.01679710574854237 Centerline is valid? [True, True] Translation: X:119.73, Y:-21.45, Z:-2.99 [[ 9.81782171e-01 1.88597082e-01 2.31281252e-02 1.19734130e+02] [-1.88540154e-01 9.82054532e-01 -4.63753877e-03 -2.14517934e+01] [-2.35877065e-02 1.92472589e-04 9.99721753e-01 -2.98556523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90862385300001 meters 0.02012312727949658 Centerline is valid? [True, True] Translation: X:119.76, Y:-21.46, Z:-2.99 [[ 9.82552197e-01 1.84560458e-01 2.29916660e-02 1.19759820e+02] [-1.84503119e-01 9.82821121e-01 -4.60911969e-03 -2.14629333e+01] [-2.34473562e-02 2.86666587e-04 9.99725032e-01 -2.98645520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.93862385300001 meters 0.02173335065758276 Centerline is valid? [True, True] Translation: X:119.79, Y:-21.47, Z:-2.99 [[ 9.82845251e-01 1.82995517e-01 2.29750761e-02 1.19786511e+02] [-1.82937865e-01 9.83113695e-01 -4.60441019e-03 -2.14712441e+01] [-2.34296983e-02 3.22411324e-04 9.99725435e-01 -2.98731103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96862385300001 meters 0.021602113921316706 Centerline is valid? [True, True] Translation: X:119.81, Y:-21.48, Z:-2.99 [[ 9.83237035e-01 1.80962465e-01 2.23051468e-02 1.19814567e+02] [-1.80907633e-01 9.83489938e-01 -4.46888091e-03 -2.14780831e+01] [-2.27455871e-02 3.58797915e-04 9.99741221e-01 -2.98822256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.99862385300001 meters 0.021702164649661192 Centerline is valid? [True, True] Translation: X:119.84, Y:-21.48, Z:-2.99 [[ 9.83338169e-01 1.80500041e-01 2.15819405e-02 1.19842984e+02] [-1.80448619e-01 9.83574912e-01 -4.32295326e-03 -2.14843500e+01] [-2.20077485e-02 3.56493597e-04 9.99757737e-01 -2.98983251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02862385300001 meters 0.022613213247573635 Centerline is valid? [True, True] Translation: X:119.87, Y:-21.49, Z:-2.99 [[ 9.83359939e-01 1.80436005e-01 2.11205652e-02 1.19870150e+02] [-1.80386765e-01 9.83586664e-01 -4.22954376e-03 -2.14909203e+01] [-2.15370683e-02 3.49293453e-04 9.99767989e-01 -2.99228087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.05862385300001 meters 0.02348729836625139 Centerline is valid? [True, True] Translation: X:119.90, Y:-21.50, Z:-2.99 [[ 9.83226635e-01 1.81266985e-01 2.01906874e-02 1.19898881e+02] [-1.81222186e-01 9.83433872e-01 -4.04207037e-03 -2.14952617e+01] [-2.05888998e-02 3.15270748e-04 9.99787976e-01 -2.99168391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08862385300002 meters 0.030799969430103703 Centerline is valid? [True, True] Translation: X:119.93, Y:-21.50, Z:-2.99 [[ 9.83085820e-01 1.82084573e-01 1.96844546e-02 1.19926397e+02] [-1.82042175e-01 9.83282830e-01 -3.93986170e-03 -2.14999251e+01] [-2.00727743e-02 2.89821252e-04 9.99798480e-01 -2.98986008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.118623853 meters 0.020931093860756415 Centerline is valid? [True, True] Translation: X:119.95, Y:-21.50, Z:-3.00 [[ 9.82963787e-01 1.82718263e-01 1.99055421e-02 1.19954425e+02] [-1.82675063e-01 9.83165275e-01 -3.98283243e-03 -2.15040692e+01] [-2.02981740e-02 2.78733896e-04 9.99793932e-01 -2.99733039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.148623853 meters 0.019850355421121246 Centerline is valid? [True, True] Translation: X:119.98, Y:-21.51, Z:-3.00 [[ 9.82731687e-01 1.83972043e-01 1.98171327e-02 1.19982593e+02] [-1.83929499e-01 9.82931444e-01 -3.96419178e-03 -2.15080159e+01] [-2.02081833e-02 2.50781575e-04 9.99795762e-01 -2.99872981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.178623853 meters 0.018935919207237164 Centerline is valid? [True, True] Translation: X:120.01, Y:-21.51, Z:-3.00 [[ 9.82659709e-01 1.84347278e-01 1.98991993e-02 1.20010993e+02] [-1.84304477e-01 9.82861141e-01 -3.97964969e-03 -2.15118676e+01] [-2.02917873e-02 2.43129893e-04 9.99794071e-01 -2.99847678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.208623853 meters 0.019694114318769107 Centerline is valid? [True, True] Translation: X:120.04, Y:-21.52, Z:-3.00 [[ 9.82625877e-01 1.84475932e-01 2.03719334e-02 1.20038136e+02] [-1.84431122e-01 9.82837001e-01 -4.07319919e-03 -2.15189672e+01] [-2.07736971e-02 2.45212403e-04 9.99784173e-01 -2.99954452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.238623853 meters 0.01891518268765662 Centerline is valid? [True, True] Translation: X:120.07, Y:-21.52, Z:-3.00 [[ 9.82635749e-01 1.84427841e-01 2.03311375e-02 1.20066601e+02] [-1.84383227e-01 9.82846026e-01 -4.06373087e-03 -2.15234309e+01] [-2.07318428e-02 2.44446483e-04 9.99785042e-01 -2.99993328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26862385300001 meters 0.01964812095613413 Centerline is valid? [True, True] Translation: X:120.09, Y:-21.53, Z:-3.00 [[ 9.82578484e-01 1.84755730e-01 2.01207220e-02 1.20093671e+02] [-1.84712123e-01 9.82784445e-01 -4.02074340e-03 -2.15311883e+01] [-2.05171880e-02 2.34154668e-04 9.99789473e-01 -3.00191304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.29862385300001 meters 0.01934248868002091 Centerline is valid? [True, True] Translation: X:120.12, Y:-21.54, Z:-3.00 [[ 9.82587180e-01 1.84760981e-01 1.96421575e-02 1.20121963e+02] [-1.84719449e-01 9.82783460e-01 -3.92385919e-03 -2.15371048e+01] [-2.00289635e-02 2.27245227e-04 9.99799374e-01 -3.00362570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32862385300001 meters 0.01856316188846692 Centerline is valid? [True, True] Translation: X:120.15, Y:-21.54, Z:-3.00 [[ 9.82380151e-01 1.85891211e-01 1.93312438e-02 1.20150185e+02] [-1.85851221e-01 9.82570312e-01 -3.86084376e-03 -2.15421862e+01] [-1.97120032e-02 2.00081013e-04 9.99805680e-01 -3.00433733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.35862385300001 meters 0.017423809769587222 Centerline is valid? [True, True] Translation: X:120.18, Y:-21.55, Z:-3.00 [[ 9.82126905e-01 1.87216328e-01 1.94110592e-02 1.20179032e+02] [-1.87176284e-01 9.82318694e-01 -3.87586091e-03 -2.15455463e+01] [-1.97934708e-02 1.73297353e-04 9.99804075e-01 -3.00456778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38862385300001 meters 0.01564033415610733 Centerline is valid? [True, True] Translation: X:120.21, Y:-21.55, Z:-3.01 [[ 9.81532209e-01 1.90335726e-01 1.91529201e-02 1.20208039e+02] [-1.90297352e-01 9.81719053e-01 -3.82334236e-03 -2.15464608e+01] [-1.95305052e-02 1.07983687e-04 9.99809256e-01 -3.00570083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.41862385300001 meters 0.015138439895897962 Centerline is valid? [True, True] Translation: X:120.24, Y:-21.55, Z:-3.01 [[ 9.81219468e-01 1.91911394e-01 1.94518077e-02 1.20235747e+02] [-1.91872134e-01 9.81412253e-01 -3.88241442e-03 -2.15493429e+01] [-1.98353220e-02 7.72407447e-05 9.99803258e-01 -3.00640127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44862385300002 meters 0.014195946307014411 Centerline is valid? [True, True] Translation: X:120.26, Y:-21.55, Z:-3.00 [[ 9.80577635e-01 1.94994417e-01 2.10874043e-02 1.20264090e+02] [-1.94949020e-01 9.80804352e-01 -4.20745705e-03 -2.15487747e+01] [-2.15030485e-02 1.47694971e-05 9.99768783e-01 -3.00466596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.478623853 meters 0.01406593968437954 Centerline is valid? [True, True] Translation: X:120.29, Y:-21.55, Z:-3.00 [[ 9.80331509e-01 1.96214302e-01 2.12150717e-02 1.20291675e+02] [-1.96168664e-01 9.80561037e-01 -4.23174732e-03 -2.15518892e+01] [-2.16330021e-02 -1.32170385e-05 9.99765979e-01 -3.00466316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.508623853 meters 0.01406593968437954 Centerline is valid? [True, True] Translation: X:120.32, Y:-21.56, Z:-3.01 [[ 9.80345013e-01 1.96146790e-01 2.12153624e-02 1.20318654e+02] [-1.96101168e-01 9.80574544e-01 -4.23028973e-03 -2.15571312e+01] [-2.16330020e-02 -1.32138981e-05 9.99765979e-01 -3.00535461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.538623853 meters 0.014281342408055706 Centerline is valid? [True, True] Translation: X:120.35, Y:-21.56, Z:-3.01 [[ 9.80122994e-01 1.97224717e-01 2.14785483e-02 1.20345978e+02] [-1.97178248e-01 9.80358307e-01 -4.28124560e-03 -2.15602477e+01] [-2.19010407e-02 -3.89552771e-05 9.99760143e-01 -3.00638270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.568623853 meters 0.014329148675336864 Centerline is valid? [True, True] Translation: X:120.37, Y:-21.56, Z:-3.01 [[ 9.80001418e-01 1.97817752e-01 2.15721622e-02 1.20373585e+02] [-1.97771061e-01 9.80238815e-01 -4.29806783e-03 -2.15641802e+01] [-2.19961048e-02 -5.42368305e-05 9.99758055e-01 -3.00666952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.598623853 meters 0.014775565437466328 Centerline is valid? [True, True] Translation: X:120.40, Y:-21.57, Z:-3.01 [[ 9.79820341e-01 1.98728633e-01 2.14250045e-02 1.20401523e+02] [-1.98682828e-01 9.80054552e-01 -4.26718898e-03 -2.15665022e+01] [-2.18456858e-02 -7.57019275e-05 9.99761352e-01 -3.00777509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.62862385300001 meters 0.014908843543372772 Centerline is valid? [True, True] Translation: X:120.43, Y:-21.57, Z:-3.01 [[ 9.79774155e-01 1.98994692e-01 2.10646300e-02 1.20429091e+02] [-1.98950503e-01 9.80000564e-01 -4.19418422e-03 -2.15708639e+01] [-2.14779697e-02 -8.14654347e-05 9.99769318e-01 -3.00976139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.65862385300001 meters 0.01540863686624043 Centerline is valid? [True, True] Translation: X:120.46, Y:-21.57, Z:-3.01 [[ 9.79647074e-01 1.99710780e-01 2.01795707e-02 1.20457965e+02] [-1.99670403e-01 9.79854885e-01 -4.01678076e-03 -2.15748944e+01] [-2.05752454e-02 -9.42355045e-05 9.99788303e-01 -3.01267946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68862385300001 meters 0.015532410118326822 Centerline is valid? [True, True] Translation: X:120.49, Y:-21.58, Z:-3.01 [[ 9.79666444e-01 1.99657924e-01 1.97578275e-02 1.20486227e+02] [-1.99619225e-01 9.79865657e-01 -3.93193345e-03 -2.15797561e+01] [-2.01450583e-02 -9.20589482e-05 9.99797063e-01 -3.01420395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.71862385300001 meters 0.015613248646006841 Centerline is valid? [True, True] Translation: X:120.51, Y:-21.58, Z:-3.02 [[ 9.79660986e-01 1.99716817e-01 1.94305455e-02 1.20514702e+02] [-1.99679419e-01 9.79853655e-01 -3.86591914e-03 -2.15843968e+01] [-1.98111801e-02 -9.25898735e-05 9.99803735e-01 -3.01530487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74862385300001 meters 0.015483365059255997 Centerline is valid? [True, True] Translation: X:120.54, Y:-21.59, Z:-3.02 [[ 9.79784003e-01 1.99127860e-01 1.92718392e-02 1.20541374e+02] [-1.99090970e-01 9.79973514e-01 -3.83364316e-03 -2.15885742e+01] [-1.96492772e-02 -8.07069251e-05 9.99806931e-01 -3.01636010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.77862385300001 meters 0.015352794275580707 Centerline is valid? [True, True] Translation: X:120.57, Y:-21.59, Z:-3.02 [[ 9.79869999e-01 1.98711931e-01 1.91925162e-02 1.20569073e+02] [-1.98675296e-01 9.80057939e-01 -3.81625478e-03 -2.15936643e+01] [-1.95681132e-02 -7.36452605e-05 9.99808523e-01 -3.01710021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80862385300001 meters 0.01494853770277823 Centerline is valid? [True, True] Translation: X:120.60, Y:-21.60, Z:-3.02 [[ 9.79957070e-01 1.98291203e-01 1.90981801e-02 1.20596644e+02] [-1.98254872e-01 9.80143150e-01 -3.79621029e-03 -2.15991313e+01] [-1.94717055e-02 -6.61841428e-05 9.99810406e-01 -3.01724847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83862385300002 meters 0.01467528959577894 Centerline is valid? [True, True] Translation: X:120.62, Y:-21.60, Z:-3.02 [[ 9.80205669e-01 1.97039719e-01 1.92923759e-02 1.20624344e+02] [-1.97002433e-01 9.80395505e-01 -3.83332491e-03 -2.16033001e+01] [-1.96694759e-02 -4.31981764e-05 9.99806536e-01 -3.01784419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.868623853 meters 0.014644433435601263 Centerline is valid? [True, True] Translation: X:120.65, Y:-21.61, Z:-3.02 [[ 9.80256444e-01 1.96770727e-01 1.94572725e-02 1.20651021e+02] [-1.96732768e-01 9.80449529e-01 -3.86502994e-03 -2.16073324e+01] [-1.98373985e-02 -3.91625780e-05 9.99803219e-01 -3.01934673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.898623853 meters 0.014599807292195241 Centerline is valid? [True, True] Translation: X:120.68, Y:-21.61, Z:-3.02 [[ 9.80264214e-01 1.96754063e-01 1.92330124e-02 1.20679416e+02] [-1.96717004e-01 9.80452873e-01 -3.81883857e-03 -2.16103764e+01] [-1.96084342e-02 -3.99897738e-05 9.99807735e-01 -3.01941686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.928623853 meters 0.014938298389641691 Centerline is valid? [True, True] Translation: X:120.71, Y:-21.61, Z:-3.02 [[ 9.80230288e-01 1.96938919e-01 1.90694545e-02 1.20706468e+02] [-1.96902547e-01 9.80415759e-01 -3.78506834e-03 -2.16128816e+01] [-1.94414210e-02 -4.45855314e-05 9.99810997e-01 -3.02183716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.958623853 meters 0.015056293785859131 Centerline is valid? [True, True] Translation: X:120.74, Y:-21.62, Z:-3.02 [[ 9.80175631e-01 1.97224956e-01 1.89221964e-02 1.20735023e+02] [-1.97189231e-01 9.80358258e-01 -3.75405795e-03 -2.16162079e+01] [-1.92909254e-02 -5.16172288e-05 9.99813911e-01 -3.02301669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.988623853 meters 0.014826028522682803 Centerline is valid? [True, True] Translation: X:120.76, Y:-21.62, Z:-3.02 [[ 9.80143447e-01 1.97438681e-01 1.83518432e-02 1.20764063e+02] [-1.97405130e-01 9.80315237e-01 -3.64014054e-03 -2.16180080e+01] [-1.87092961e-02 -5.48880902e-05 9.99824964e-01 -3.02314666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.01862385300001 meters 0.01468342635297146 Centerline is valid? [True, True] Translation: X:120.79, Y:-21.62, Z:-3.02 [[ 9.80201221e-01 1.97125126e-01 1.86346558e-02 1.20792688e+02] [-1.97090493e-01 9.80378336e-01 -3.69532004e-03 -2.16217410e+01] [-1.89974533e-02 -5.05562864e-05 9.99819531e-01 -3.02309296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04862385300001 meters 0.014535470905781245 Centerline is valid? [True, True] Translation: X:120.82, Y:-21.63, Z:-3.02 [[ 9.80317743e-01 1.96539563e-01 1.86901584e-02 1.20820488e+02] [-1.96504633e-01 9.80495894e-01 -3.70553724e-03 -2.16258067e+01] [-1.90539083e-02 -4.00988040e-05 9.99818457e-01 -3.02382703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.07862385300001 meters 0.014356991151380729 Centerline is valid? [True, True] Translation: X:120.85, Y:-21.63, Z:-3.02 [[ 9.80891657e-01 1.93630209e-01 1.89446647e-02 1.20848122e+02] [-1.93593806e-01 9.81074585e-01 -3.75448434e-03 -2.16315818e+01] [-1.93131106e-02 1.51726258e-05 9.99813484e-01 -3.02419629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10862385300001 meters 0.01457303590464982 Centerline is valid? [True, True] Translation: X:120.88, Y:-21.64, Z:-3.03 [[ 9.81297111e-01 1.91575594e-01 1.88353729e-02 1.20875382e+02] [-1.91539254e-01 9.81477860e-01 -3.73166655e-03 -2.16380981e+01] [-1.92013978e-02 5.41603274e-05 9.99815635e-01 -3.02514833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.13862385300001 meters 0.022724562086944095 Centerline is valid? [True, True] Translation: X:120.90, Y:-21.65, Z:-3.02 [[ 9.82059376e-01 1.87691396e-01 1.82022215e-02 1.20903619e+02] [-1.87656812e-01 9.82228041e-01 -3.60510205e-03 -2.16458899e+01] [-1.85553790e-02 1.24653404e-04 9.99827826e-01 -3.02046032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16862385300001 meters 0.017252472818593507 Centerline is valid? [True, True] Translation: X:120.93, Y:-21.65, Z:-3.03 [[ 9.82458535e-01 1.85566861e-01 1.84436407e-02 1.20929735e+02] [-1.85530994e-01 9.82631626e-01 -3.65212319e-03 -2.16536710e+01] [-1.88010177e-02 1.66192598e-04 9.99823231e-01 -3.02757313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19862385300002 meters 0.018731035478421337 Centerline is valid? [True, True] Translation: X:120.96, Y:-21.66, Z:-3.03 [[ 9.82833975e-01 1.83601319e-01 1.81089182e-02 1.20956332e+02] [-1.83566434e-01 9.83000771e-01 -3.58441850e-03 -2.16608058e+01] [-1.84591846e-02 1.98698744e-04 9.99829595e-01 -3.02830949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22862385300002 meters 0.021804139568724568 Centerline is valid? [True, True] Translation: X:120.98, Y:-21.67, Z:-3.03 [[ 9.83449714e-01 1.80248137e-01 1.83649026e-02 1.20982876e+02] [-1.80211696e-01 9.83621136e-01 -3.63394460e-03 -2.16691689e+01] [-1.87191181e-02 2.64231533e-04 9.99824747e-01 -3.02875178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.258623853 meters 0.02199512922825382 Centerline is valid? [True, True] Translation: X:121.01, Y:-21.67, Z:-3.03 [[ 9.83742100e-01 1.78638911e-01 1.84288083e-02 1.21011580e+02] [-1.78601955e-01 9.83914657e-01 -3.64540852e-03 -2.16740914e+01] [-1.87835864e-02 2.94720643e-04 9.99823529e-01 -3.02878076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.288623853 meters 0.024112553899881446 Centerline is valid? [True, True] Translation: X:121.04, Y:-21.68, Z:-3.03 [[ 9.84188758e-01 1.76114713e-01 1.88705173e-02 1.21039673e+02] [-1.76075519e-01 9.84369588e-01 -3.73182184e-03 -2.16807203e+01] [-1.92327921e-02 3.50180987e-04 9.99814971e-01 -3.02885107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.318623853 meters 0.024727239506757242 Centerline is valid? [True, True] Translation: X:121.07, Y:-21.69, Z:-3.03 [[ 9.84330122e-01 1.75307081e-01 1.90167798e-02 1.21067803e+02] [-1.75267144e-01 9.84513734e-01 -3.75980576e-03 -2.16854371e+01] [-1.93814015e-02 3.67873364e-04 9.99812095e-01 -3.02922329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.348623853 meters 0.024912634437077644 Centerline is valid? [True, True] Translation: X:121.10, Y:-21.69, Z:-3.03 [[ 9.84465657e-01 1.74515465e-01 1.92801146e-02 1.21096392e+02] [-1.74474282e-01 9.84654357e-01 -3.81091471e-03 -2.16897326e+01] [-1.96493124e-02 3.87830502e-04 9.99806858e-01 -3.02912906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.37862385300001 meters 0.025602848607582017 Centerline is valid? [True, True] Translation: X:121.12, Y:-21.70, Z:-3.03 [[ 9.84543433e-01 1.74013687e-01 1.98359875e-02 1.21123727e+02] [-1.73970011e-01 9.84743149e-01 -3.91983076e-03 -2.16952835e+01] [-2.02154570e-02 4.08376665e-04 9.99795563e-01 -3.02941233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40862385300001 meters 0.026916735552728548 Centerline is valid? [True, True] Translation: X:121.15, Y:-21.70, Z:-3.03 [[ 9.84744505e-01 1.72862207e-01 1.99228072e-02 1.21152066e+02] [-1.72817940e-01 9.84945923e-01 -3.93563933e-03 -2.17019090e+01] [-2.03032110e-02 4.32580700e-04 9.99793775e-01 -3.03038474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.43862385300001 meters 0.027811104290831983 Centerline is valid? [True, True] Translation: X:121.18, Y:-21.71, Z:-3.03 [[ 9.84883090e-01 1.72086241e-01 1.97895091e-02 1.21179143e+02] [-1.72042420e-01 9.85081787e-01 -3.90871020e-03 -2.17076558e+01] [-2.01669202e-02 4.44987545e-04 9.99796528e-01 -3.03142845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46862385300001 meters 0.02893493155475989 Centerline is valid? [True, True] Translation: X:121.21, Y:-21.71, Z:-3.03 [[ 9.85045915e-01 1.71163316e-01 1.96892094e-02 1.21205934e+02] [-1.71119777e-01 9.85242563e-01 -3.88778541e-03 -2.17134661e+01] [-2.00640934e-02 4.60434018e-04 9.99798590e-01 -3.03284735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.49862385300001 meters 0.02864782897593434 Centerline is valid? [True, True] Translation: X:121.23, Y:-21.72, Z:-3.03 [[ 9.85058620e-01 1.71084343e-01 1.97398557e-02 1.21233849e+02] [-1.71040594e-01 9.85256278e-01 -3.89626408e-03 -2.17180706e+01] [-2.01154065e-02 4.61731878e-04 9.99797558e-01 -3.03319138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52862385300001 meters 0.029044543984034943 Centerline is valid? [True, True] Translation: X:121.26, Y:-21.72, Z:-3.03 [[ 9.85130604e-01 1.70685449e-01 1.96002831e-02 1.21261894e+02] [-1.70642268e-01 9.85325459e-01 -3.86718928e-03 -2.17232423e+01] [-1.99727308e-02 4.65049754e-04 9.99800417e-01 -3.03420465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.55862385300001 meters 0.034263276728470425 Centerline is valid? [True, True] Translation: X:121.29, Y:-21.73, Z:-3.03 [[ 9.85254054e-01 1.70027100e-01 1.91111191e-02 1.21288901e+02] [-1.69985939e-01 9.85439277e-01 -3.76994121e-03 -2.17291102e+01] [-1.94738396e-02 4.65728336e-04 9.99810258e-01 -3.03030158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58862385300002 meters 0.03048744759497111 Centerline is valid? [True, True] Translation: X:121.32, Y:-21.73, Z:-3.04 [[ 9.85332315e-01 1.69531563e-01 1.94750509e-02 1.21316621e+02] [-1.69488754e-01 9.85524640e-01 -3.84009204e-03 -2.17349489e+01] [-1.98441594e-02 4.82964665e-04 9.99802969e-01 -3.03607892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.618623853 meters 0.02869765415445901 Centerline is valid? [True, True] Translation: X:121.35, Y:-21.74, Z:-3.04 [[ 9.85469411e-01 1.68752089e-01 1.93073312e-02 1.21345164e+02] [-1.68709883e-01 9.85658404e-01 -3.80612481e-03 -2.17374551e+01] [-1.96727248e-02 4.93481988e-04 9.99806351e-01 -3.03663231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.648623853 meters 0.03166535306957672 Centerline is valid? [True, True] Translation: X:121.37, Y:-21.75, Z:-3.04 [[ 9.85494722e-01 1.68646602e-01 1.89334767e-02 1.21372383e+02] [-1.68606010e-01 9.85676462e-01 -3.73166365e-03 -2.17453669e+01] [-1.92916147e-02 4.85236874e-04 9.99813782e-01 -3.03541984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.678623853 meters 0.031112248991869772 Centerline is valid? [True, True] Translation: X:121.40, Y:-21.75, Z:-3.04 [[ 9.85451410e-01 1.68861718e-01 1.92675377e-02 1.21399072e+02] [-1.68819752e-01 9.85639631e-01 -3.79594966e-03 -2.17517167e+01] [-1.96318394e-02 4.87982995e-04 9.99807158e-01 -3.03885001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.708623853 meters 0.03064437329975601 Centerline is valid? [True, True] Translation: X:121.43, Y:-21.76, Z:-3.04 [[ 9.85391108e-01 1.69208435e-01 1.93098387e-02 1.21427510e+02] [-1.69166382e-01 9.85580172e-01 -3.80271848e-03 -2.17568592e+01] [-1.96748462e-02 4.80589422e-04 9.99806316e-01 -3.03935964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.738623853 meters 0.03128856246387094 Centerline is valid? [True, True] Translation: X:121.45, Y:-21.76, Z:-3.04 [[ 9.85229787e-01 1.70190960e-01 1.89024994e-02 1.21454258e+02] [-1.70150859e-01 9.85410998e-01 -3.72169392e-03 -2.17631837e+01] [-1.92601294e-02 4.50447200e-04 9.99814405e-01 -3.04210405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76862385300001 meters 0.03411087749359586 Centerline is valid? [True, True] Translation: X:121.48, Y:-21.77, Z:-3.04 [[ 9.85185959e-01 1.70492621e-01 1.84632534e-02 1.21481098e+02] [-1.70454434e-01 9.85358858e-01 -3.63421889e-03 -2.17718752e+01] [-1.88125378e-02 4.33238013e-04 9.99822935e-01 -3.04482830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.79862385300001 meters 0.027079924345329315 Centerline is valid? [True, True] Translation: X:121.51, Y:-21.77, Z:-3.04 [[ 9.85036207e-01 1.71398120e-01 1.80652997e-02 1.21511386e+02] [-1.71361738e-01 9.85201766e-01 -3.55456904e-03 -2.17677062e+01] [-1.84072116e-02 4.05678047e-04 9.99830491e-01 -3.04420521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82862385300001 meters 0.02734682890688272 Centerline is valid? [True, True] Translation: X:121.54, Y:-21.77, Z:-3.05 [[ 9.84992841e-01 1.71622169e-01 1.83011843e-02 1.21538455e+02] [-1.71584885e-01 9.85162761e-01 -3.60014074e-03 -2.17734057e+01] [-1.86475092e-02 4.05906263e-04 9.99826038e-01 -3.04505296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.85862385300001 meters 0.025979866994337932 Centerline is valid? [True, True] Translation: X:121.57, Y:-21.78, Z:-3.04 [[ 9.85000258e-01 1.71549814e-01 1.85782728e-02 1.21565922e+02] [-1.71511399e-01 9.85175361e-01 -3.65357772e-03 -2.17769588e+01] [-1.89296272e-02 4.12389436e-04 9.99820734e-01 -3.04483555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88862385300001 meters 0.027785544339798875 Centerline is valid? [True, True] Translation: X:121.59, Y:-21.79, Z:-3.05 [[ 9.85166086e-01 1.70603070e-01 1.85033937e-02 1.21592238e+02] [-1.70564825e-01 9.85339743e-01 -3.63738515e-03 -2.17853725e+01] [-1.88526783e-02 4.27400389e-04 9.99822181e-01 -3.04640309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.91862385300001 meters 0.029793629812284114 Centerline is valid? [True, True] Translation: X:121.62, Y:-21.79, Z:-3.05 [[ 9.85344152e-01 1.69618692e-01 1.80666038e-02 1.21619052e+02] [-1.69582085e-01 9.85509670e-01 -3.55052993e-03 -2.17939926e+01] [-1.84070490e-02 4.34721563e-04 9.99830481e-01 -3.04789581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94862385300002 meters 0.02914730787578949 Centerline is valid? [True, True] Translation: X:121.65, Y:-21.80, Z:-3.05 [[ 9.85571101e-01 1.68317407e-01 1.78565071e-02 1.21647740e+02] [-1.68281461e-01 9.85732746e-01 -3.50768809e-03 -2.17994291e+01] [-1.81921488e-02 4.52156914e-04 9.99834407e-01 -3.04864429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97862385300002 meters 0.031182009491482393 Centerline is valid? [True, True] Translation: X:121.67, Y:-21.81, Z:-3.05 [[ 9.85728288e-01 1.67425148e-01 1.75659420e-02 1.21674639e+02] [-1.67390235e-01 9.85884683e-01 -3.44985046e-03 -2.18087724e+01] [-1.78955849e-02 4.60248033e-04 9.99839755e-01 -3.05003517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00862385300002 meters 0.03132540401017083 Centerline is valid? [True, True] Translation: X:121.70, Y:-21.82, Z:-3.05 [[ 9.86030008e-01 1.65656882e-01 1.73960145e-02 1.21702143e+02] [-1.65622386e-01 9.86183330e-01 -3.41533122e-03 -2.18169868e+01] [-1.77214327e-02 4.86449638e-04 9.99842845e-01 -3.05062681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03862385300002 meters 0.03418336577372583 Centerline is valid? [True, True] Translation: X:121.73, Y:-21.83, Z:-3.05 [[ 9.86132579e-01 1.65056569e-01 1.72877260e-02 1.21728519e+02] [-1.65022423e-01 9.86283978e-01 -3.39331055e-03 -2.18278603e+01] [-1.76106954e-02 4.93391662e-04 9.99844798e-01 -3.05239886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06862385300002 meters 0.04019726132670861 Centerline is valid? [True, True] Translation: X:121.75, Y:-21.84, Z:-3.05 [[ 9.86285227e-01 1.64034425e-01 1.82800122e-02 1.21753594e+02] [-1.63996093e-01 9.86454467e-01 -3.58684675e-03 -2.18445190e+01] [-1.86207660e-02 5.39803391e-04 9.99826473e-01 -3.05222047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09862385300002 meters 0.03353062883038724 Centerline is valid? [True, True] Translation: X:121.78, Y:-21.84, Z:-3.05 [[ 9.86316376e-01 1.63769515e-01 1.89618794e-02 1.21783640e+02] [-1.63728244e-01 9.86498468e-01 -3.71941113e-03 -2.18427309e+01] [-1.93149912e-02 5.63920876e-04 9.99813289e-01 -3.04971785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12862385300002 meters 0.034543028896482475 Centerline is valid? [True, True] Translation: X:121.81, Y:-21.85, Z:-3.05 [[ 9.86305907e-01 1.63822462e-01 1.90488494e-02 1.21809896e+02] [-1.63780838e-01 9.86489677e-01 -3.73559869e-03 -2.18530082e+01] [-1.94034682e-02 5.64606538e-04 9.99811576e-01 -3.05050946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.15862385300002 meters 0.04192206108342496 Centerline is valid? [True, True] Translation: X:121.84, Y:-21.86, Z:-3.05 [[ 9.86340829e-01 1.63686468e-01 1.83986456e-02 1.21836163e+02] [-1.63647634e-01 9.86512261e-01 -3.60701886e-03 -2.18620480e+01] [-1.87409097e-02 5.46855141e-04 9.99824224e-01 -3.04623433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.188623853 meters 0.03564306686799395 Centerline is valid? [True, True] Translation: X:121.86, Y:-21.87, Z:-3.05 [[ 9.86249316e-01 1.64185641e-01 1.88510500e-02 1.21864095e+02] [-1.64144989e-01 9.86429305e-01 -3.69447142e-03 -2.18700937e+01] [-1.92018073e-02 5.49364518e-04 9.99815477e-01 -3.05341416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.218623853 meters 0.03268913615491318 Centerline is valid? [True, True] Translation: X:121.89, Y:-21.87, Z:-3.05 [[ 9.86193652e-01 1.64527871e-01 1.87792417e-02 1.21892579e+02] [-1.64487607e-01 9.86372287e-01 -3.67953338e-03 -2.18740455e+01] [-1.91287093e-02 5.39779944e-04 9.99816884e-01 -3.05323255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.248623853 meters 0.03534820741334869 Centerline is valid? [True, True] Translation: X:121.92, Y:-21.89, Z:-3.05 [[ 9.85996506e-01 1.65643577e-01 1.93156621e-02 1.21918671e+02] [-1.65601213e-01 9.86185542e-01 -3.78365473e-03 -2.18883846e+01] [-1.96755648e-02 5.31973280e-04 9.99806276e-01 -3.05443732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.278623853 meters 0.03084981178004958 Centerline is valid? [True, True] Translation: X:121.95, Y:-21.89, Z:-3.05 [[ 9.85919650e-01 1.66099797e-01 1.93210177e-02 1.21948056e+02] [-1.66057515e-01 9.86108810e-01 -3.78377019e-03 -2.18905341e+01] [-1.96811092e-02 5.22093203e-04 9.99806172e-01 -3.05432210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.308623853 meters 0.030652762903493995 Centerline is valid? [True, True] Translation: X:121.98, Y:-21.90, Z:-3.06 [[ 9.85651559e-01 1.67685393e-01 1.93032121e-02 1.21975002e+02] [-1.67643512e-01 9.85840438e-01 -3.77932848e-03 -2.19001177e+01] [-1.96636252e-02 4.89042756e-04 9.99806533e-01 -3.05520808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.338623853 meters 0.030777104683802677 Centerline is valid? [True, True] Translation: X:122.00, Y:-21.91, Z:-3.06 [[ 9.85506107e-01 1.68573588e-01 1.89909981e-02 1.22001744e+02] [-1.68533232e-01 9.85688963e-01 -3.71734810e-03 -2.19076102e+01] [-1.93458640e-02 4.62854967e-04 9.99812744e-01 -3.05634572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.368623853 meters 0.028176689297467156 Centerline is valid? [True, True] Translation: X:122.03, Y:-21.91, Z:-3.06 [[ 9.85356764e-01 1.69495329e-01 1.85305586e-02 1.22030445e+02] [-1.69457091e-01 9.85530895e-01 -3.62608271e-03 -2.19120645e+01] [-1.88770421e-02 4.32850580e-04 9.99821719e-01 -3.05742786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.398623853 meters 0.027097272941604682 Centerline is valid? [True, True] Translation: X:122.06, Y:-21.92, Z:-3.06 [[ 9.84968236e-01 1.71766883e-01 1.82677805e-02 1.22057084e+02] [-1.71730127e-01 9.85137549e-01 -3.57386165e-03 -2.19201803e+01] [-1.86101476e-02 3.83011947e-04 9.99826743e-01 -3.05931364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.428623853 meters 0.024821599646731293 Centerline is valid? [True, True] Translation: X:122.09, Y:-21.92, Z:-3.06 [[ 9.84736483e-01 1.73096824e-01 1.82084842e-02 1.22085764e+02] [-1.73060554e-01 9.84904748e-01 -3.56108390e-03 -2.19238048e+01] [-1.85500349e-02 3.55558865e-04 9.99827870e-01 -3.05903811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.458623853 meters 0.024821599646731293 Centerline is valid? [True, True] Translation: X:122.11, Y:-21.93, Z:-3.06 [[ 9.84744778e-01 1.73049606e-01 1.82086547e-02 1.22113580e+02] [-1.73013345e-01 9.84913046e-01 -3.56021171e-03 -2.19291561e+01] [-1.85500348e-02 3.55559627e-04 9.99827870e-01 -3.05975071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.488623853 meters 0.02346463216243306 Centerline is valid? [True, True] Translation: X:122.14, Y:-21.93, Z:-3.06 [[ 9.84463198e-01 1.74628922e-01 1.83562450e-02 1.22141373e+02] [-1.74592363e-01 9.84634263e-01 -3.58814369e-03 -2.19345211e+01] [-1.87007814e-02 3.27535224e-04 9.99825071e-01 -3.06039358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.518623853 meters 0.02144141145319402 Centerline is valid? [True, True] Translation: X:122.17, Y:-21.94, Z:-3.06 [[ 9.83861245e-01 1.77946118e-01 1.87677611e-02 1.22168311e+02] [-1.77908522e-01 9.84040196e-01 -3.66762585e-03 -2.19408153e+01] [-1.91208711e-02 2.69490301e-04 9.99817143e-01 -3.06042885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.548623853 meters 0.019409289767875898 Centerline is valid? [True, True] Translation: X:122.20, Y:-21.94, Z:-3.06 [[ 9.83564196e-01 1.79560785e-01 1.89577483e-02 1.22196655e+02] [-1.79522742e-01 9.83746851e-01 -3.70381176e-03 -2.19447297e+01] [-1.93146846e-02 2.39589681e-04 9.99813425e-01 -3.06078309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.578623853 meters 0.019183472789670718 Centerline is valid? [True, True] Translation: X:122.22, Y:-21.95, Z:-3.06 [[ 9.83295534e-01 1.81056593e-01 1.86655573e-02 1.22224004e+02] [-1.81020000e-01 9.83472657e-01 -3.64581055e-03 -2.19510604e+01] [-1.90171633e-02 2.06070050e-04 9.99819136e-01 -3.06272750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.608623853 meters 0.016837315016420225 Centerline is valid? [True, True] Translation: X:122.25, Y:-21.96, Z:-3.06 [[ 9.82800342e-01 1.83684455e-01 1.90658791e-02 1.22252222e+02] [-1.83646789e-01 9.82985247e-01 -3.72303210e-03 -2.19555226e+01] [-1.94253410e-02 1.57609751e-04 9.99811298e-01 -3.06216303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.638623853 meters 0.01632310681232136 Centerline is valid? [True, True] Translation: X:122.28, Y:-21.96, Z:-3.06 [[ 9.82619992e-01 1.84607162e-01 1.94460240e-02 1.22279113e+02] [-1.84568177e-01 9.82812381e-01 -3.79634305e-03 -2.19610446e+01] [-1.98126253e-02 1.41245364e-04 9.99803701e-01 -3.06220985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.668623853 meters 0.01522026364524178 Centerline is valid? [True, True] Translation: X:122.31, Y:-21.97, Z:-3.06 [[ 9.82275797e-01 1.86351351e-01 2.01849558e-02 1.22307940e+02] [-1.86309742e-01 9.82483161e-01 -3.93926414e-03 -2.19659374e+01] [-2.05654664e-02 1.08789908e-04 9.99788503e-01 -3.06154490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.69862385300002 meters 0.01498678263775724 Centerline is valid? [True, True] Translation: X:122.34, Y:-21.97, Z:-3.06 [[ 9.82141734e-01 1.87051446e-01 2.02329354e-02 1.22335261e+02] [-1.87009808e-01 9.82350115e-01 -3.94766391e-03 -2.19715210e+01] [-2.06142427e-02 9.34081020e-05 9.99787500e-01 -3.06229372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72862385300002 meters 0.014814887764216637 Centerline is valid? [True, True] Translation: X:122.36, Y:-21.98, Z:-3.06 [[ 9.82009056e-01 1.87756808e-01 2.01393972e-02 1.22362059e+02] [-1.87715728e-01 9.82215544e-01 -3.92815792e-03 -2.19769853e+01] [-2.05187674e-02 7.70050535e-05 9.99789465e-01 -3.06353092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75862385300002 meters 0.014540718726486001 Centerline is valid? [True, True] Translation: X:122.39, Y:-21.98, Z:-3.06 [[ 9.81845843e-01 1.88598847e-01 2.02290703e-02 1.22389796e+02] [-1.88557606e-01 9.82054210e-01 -3.94432699e-03 -2.19826307e+01] [-2.06099392e-02 5.83759909e-05 9.99787591e-01 -3.06468304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78862385300002 meters 0.01424817887537521 Centerline is valid? [True, True] Translation: X:122.42, Y:-21.99, Z:-3.07 [[ 9.81493659e-01 1.90480409e-01 1.96827852e-02 1.22416320e+02] [-1.90441757e-01 9.81690997e-01 -3.83717473e-03 -2.19864582e+01] [-2.00533196e-02 1.77384748e-05 9.99798912e-01 -3.06636582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.81862385300002 meters 0.014304326297709554 Centerline is valid? [True, True] Translation: X:122.44, Y:-21.99, Z:-3.07 [[ 9.81298242e-01 1.91534446e-01 1.91915720e-02 1.22444588e+02] [-1.91497944e-01 9.81485892e-01 -3.73915160e-03 -2.19913413e+01] [-1.95524335e-02 -5.92368649e-06 9.99808833e-01 -3.06792195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84862385300002 meters 0.01442878522510903 Centerline is valid? [True, True] Translation: X:122.47, Y:-22.00, Z:-3.07 [[ 9.81056635e-01 1.92786825e-01 1.90031508e-02 1.22472748e+02] [-1.92751289e-01 9.81240663e-01 -3.70154579e-03 -2.19958282e+01] [-1.93602736e-02 -3.14557503e-05 9.99812572e-01 -3.06893153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.87862385300002 meters 0.0149003781650399 Centerline is valid? [True, True] Translation: X:122.50, Y:-22.00, Z:-3.07 [[ 9.80631700e-01 1.94925470e-01 1.91188264e-02 1.22501005e+02] [-1.94889924e-01 9.80818054e-01 -3.72316031e-03 -2.19995789e+01] [-1.94778289e-02 -7.50175991e-05 9.99810286e-01 -3.06902130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90862385300002 meters 0.015363916588519879 Centerline is valid? [True, True] Translation: X:122.53, Y:-22.00, Z:-3.07 [[ 9.80421600e-01 1.95984797e-01 1.90642670e-02 1.22528174e+02] [-1.95949671e-01 9.80606929e-01 -3.71166120e-03 -2.20032926e+01] [-1.94219815e-02 -9.66440435e-05 9.99811371e-01 -3.06973208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.938623853 meters 0.016028669332578082 Centerline is valid? [True, True] Translation: X:122.56, Y:-22.01, Z:-3.07 [[ 9.80038429e-01 1.97825296e-01 1.97441320e-02 1.22556890e+02] [-1.97788019e-01 9.80237284e-01 -3.84270470e-03 -2.20075032e+01] [-2.01141186e-02 -1.39154491e-04 9.99797681e-01 -3.06894759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.968623853 meters 0.016871567166352196 Centerline is valid? [True, True] Translation: X:122.58, Y:-22.01, Z:-3.07 [[ 9.79801165e-01 1.98964195e-01 2.00730031e-02 1.22584119e+02] [-1.98925925e-01 9.80006746e-01 -3.90573363e-03 -2.20115132e+01] [-2.04487796e-02 -1.66198358e-04 9.99790888e-01 -3.06889641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.998623853 meters 0.01789695185528984 Centerline is valid? [True, True] Translation: X:122.61, Y:-22.01, Z:-3.07 [[ 9.79562589e-01 2.00091634e-01 2.05054097e-02 1.22611656e+02] [-2.00051972e-01 9.79777169e-01 -3.98853829e-03 -2.20147228e+01] [-2.08888054e-02 -1.95124748e-04 9.99781786e-01 -3.06889307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.028623853 meters 0.020151202921602676 Centerline is valid? [True, True] Translation: X:122.64, Y:-22.02, Z:-3.07 [[ 9.78979831e-01 2.02908744e-01 2.06526398e-02 1.22640364e+02] [-2.02869164e-01 9.79197618e-01 -4.01589576e-03 -2.20152461e+01] [-2.10378760e-02 -2.58302805e-04 9.99778646e-01 -3.06891855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.058623853 meters 0.01991969882851461 Centerline is valid? [True, True] Translation: X:122.67, Y:-22.02, Z:-3.07 [[ 9.78704383e-01 2.04255265e-01 2.04332622e-02 1.22668386e+02] [-2.04216840e-01 9.78917619e-01 -3.97203314e-03 -2.20198544e+01] [-2.08137891e-02 -2.85369998e-04 9.99783329e-01 -3.06930279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.088623853 meters 0.02132658755430151 Centerline is valid? [True, True] Translation: X:122.70, Y:-22.02, Z:-3.07 [[ 9.78403549e-01 2.05673716e-01 2.06110904e-02 1.22696044e+02] [-2.05634962e-01 9.78620570e-01 -4.00526439e-03 -2.20220539e+01] [-2.09942146e-02 -3.19595881e-04 9.99779546e-01 -3.07002989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.118623853 meters 0.022728319158992146 Centerline is valid? [True, True] Translation: X:122.73, Y:-22.02, Z:-3.07 [[ 9.78010880e-01 2.07508407e-01 2.08561747e-02 1.22725194e+02] [-2.07469172e-01 9.78233167e-01 -4.05149208e-03 -2.20243637e+01] [-2.12429205e-02 -3.64609948e-04 9.99774277e-01 -3.07093435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.148623853 meters 0.023116445319217242 Centerline is valid? [True, True] Translation: X:122.75, Y:-22.03, Z:-3.07 [[ 9.77943748e-01 2.07821996e-01 2.08816612e-02 1.22754097e+02] [-2.07782759e-01 9.78166591e-01 -4.05537566e-03 -2.20288557e+01] [-2.12685397e-02 -3.72919917e-04 9.99773729e-01 -3.07200155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.178623853 meters 0.024285642996269365 Centerline is valid? [True, True] Translation: X:122.78, Y:-22.03, Z:-3.07 [[ 9.77932721e-01 2.07952441e-01 2.00841898e-02 1.22781866e+02] [-2.07916190e-01 9.78138871e-01 -3.89958262e-03 -2.20305174e+01] [-2.04560545e-02 -3.62298789e-04 9.99790687e-01 -3.07484478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.208623853 meters 0.025267136110128922 Centerline is valid? [True, True] Translation: X:122.81, Y:-22.03, Z:-3.08 [[ 9.78001593e-01 2.07707325e-01 1.92497202e-02 1.22808812e+02] [-2.07673998e-01 9.78190957e-01 -3.73652877e-03 -2.20327868e+01] [-1.96060067e-02 -3.43335258e-04 9.99807725e-01 -3.07702507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.238623853 meters 0.024288172096652835 Centerline is valid? [True, True] Translation: X:122.84, Y:-22.04, Z:-3.08 [[ 9.78147754e-01 2.07073749e-01 1.86395719e-02 1.22837170e+02] [-2.07042419e-01 9.78325283e-01 -3.61633419e-03 -2.20383159e+01] [-1.89844123e-02 -3.21872885e-04 9.99819728e-01 -3.07918611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.268623853 meters 0.023063274171747698 Centerline is valid? [True, True] Translation: X:122.86, Y:-22.04, Z:-3.08 [[ 9.78530427e-01 2.05316487e-01 1.79817833e-02 1.22864291e+02] [-2.05287043e-01 9.78695593e-01 -3.48815222e-03 -2.20430877e+01] [-1.83148673e-02 -2.78164044e-04 9.99832230e-01 -3.08124386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.298623853 meters 0.02220434340135913 Centerline is valid? [True, True] Translation: X:122.89, Y:-22.05, Z:-3.08 [[ 9.78751719e-01 2.04237414e-01 1.82250423e-02 1.22892904e+02] [-2.04207016e-01 9.78921350e-01 -3.53342803e-03 -2.20487295e+01] [-1.85625412e-02 -2.63332765e-04 9.99827667e-01 -3.08171076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.328623853 meters 0.02114214267400957 Centerline is valid? [True, True] Translation: X:122.92, Y:-22.05, Z:-3.08 [[ 9.79045951e-01 2.02815556e-01 1.82996427e-02 1.22920790e+02] [-2.02784677e-01 9.79216929e-01 -3.54700628e-03 -2.20545925e+01] [-1.86387080e-02 -2.38204994e-04 9.99826256e-01 -3.08293091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.358623853 meters 0.017812372038644386 Centerline is valid? [True, True] Translation: X:122.95, Y:-22.06, Z:-3.08 [[ 9.79761974e-01 1.99290044e-01 1.87070071e-02 1.22948219e+02] [-1.99257150e-01 9.79940533e-01 -3.62505371e-03 -2.20636106e+01] [-1.90541916e-02 -1.75815124e-04 9.99818437e-01 -3.08208301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.388623853 meters 0.017577676878561186 Centerline is valid? [True, True] Translation: X:122.98, Y:-22.07, Z:-3.08 [[ 9.80166936e-01 1.97206118e-01 1.95582437e-02 1.22976252e+02] [-1.97169767e-01 9.80362039e-01 -3.78898466e-03 -2.20678594e+01] [-1.99213707e-02 -1.42456868e-04 9.99801540e-01 -3.08265497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.418623853 meters 0.014220651503606152 Centerline is valid? [True, True] Translation: X:123.00, Y:-22.08, Z:-3.08 [[ 9.81205642e-01 1.91879274e-01 2.04409308e-02 1.23002821e+02] [-1.91838433e-01 9.81418536e-01 -3.95892443e-03 -2.20809121e+01] [-2.08207439e-02 -3.68371395e-05 9.99783224e-01 -3.08038751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44862385300002 meters 0.014147920761408738 Centerline is valid? [True, True] Translation: X:123.03, Y:-22.09, Z:-3.08 [[ 9.81846595e-01 1.88538165e-01 2.07514837e-02 1.23028283e+02] [-1.88495345e-01 9.82065863e-01 -4.01817778e-03 -2.20901327e+01] [-2.11369036e-02 3.36760789e-05 9.99776590e-01 -3.08058690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47862385300002 meters 0.015125909993776386 Centerline is valid? [True, True] Translation: X:123.06, Y:-22.10, Z:-3.08 [[ 9.82499278e-01 1.85046560e-01 2.12823828e-02 1.23055473e+02] [-1.85000744e-01 9.82729749e-01 -4.11898599e-03 -2.21000803e+01] [-2.16770349e-02 1.09644103e-04 9.99765019e-01 -3.08052734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50862385300002 meters 0.017264462039205924 Centerline is valid? [True, True] Translation: X:123.08, Y:-22.11, Z:-3.08 [[ 9.83214594e-01 1.81202505e-01 2.13240222e-02 1.23082952e+02] [-1.81155627e-01 9.83445786e-01 -4.12601187e-03 -2.21107960e+01] [-2.17186635e-02 1.93788472e-04 9.99764103e-01 -3.08058588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53862385300002 meters 0.02441227250912893 Centerline is valid? [True, True] Translation: X:123.11, Y:-22.13, Z:-3.08 [[ 9.84709168e-01 1.72959445e-01 2.08059009e-02 1.23108827e+02] [-1.72912998e-01 9.84928879e-01 -4.02469036e-03 -2.21295095e+01] [-2.11884409e-02 3.65538782e-04 9.99775433e-01 -3.08288951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56862385300002 meters 0.028489496385331 Centerline is valid? [True, True] Translation: X:123.14, Y:-22.14, Z:-3.08 [[ 9.85414714e-01 1.68887612e-01 2.08522235e-02 1.23136738e+02] [-1.68840058e-01 9.85635211e-01 -4.03314883e-03 -2.21422310e+01] [-2.12338346e-02 4.53633585e-04 9.99774434e-01 -3.08402055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.59862385300002 meters 0.0367027385095601 Centerline is valid? [True, True] Translation: X:123.16, Y:-22.16, Z:-3.08 [[ 9.86694155e-01 1.61222311e-01 2.10240776e-02 1.23163296e+02] [-1.61172241e-01 9.86917919e-01 -4.06577283e-03 -2.21621714e+01] [-2.14045322e-02 6.23176568e-04 9.99770703e-01 -3.08463083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62862385300002 meters 0.0409895197892368 Centerline is valid? [True, True] Translation: X:123.19, Y:-22.18, Z:-3.09 [[ 9.87253252e-01 1.57763787e-01 2.10143794e-02 1.23191780e+02] [-1.57712978e-01 9.87476633e-01 -4.06401882e-03 -2.21754506e+01] [-2.13923637e-02 6.97975439e-04 9.99770914e-01 -3.08518865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.65862385300002 meters 0.04455133538884674 Centerline is valid? [True, True] Translation: X:123.22, Y:-22.19, Z:-3.09 [[ 9.87735210e-01 1.54744369e-01 2.08166869e-02 1.23220582e+02] [-1.54693837e-01 9.87954254e-01 -4.02602548e-03 -2.21879105e+01] [-2.11889391e-02 7.56433963e-04 9.99775203e-01 -3.08619693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.688623853 meters 0.05062953993464063 Centerline is valid? [True, True] Translation: X:123.25, Y:-22.21, Z:-3.09 [[ 9.88476189e-01 1.50057275e-01 1.99408764e-02 1.23247669e+02] [-1.50009947e-01 9.88676964e-01 -3.85695937e-03 -2.22054007e+01] [-2.02938499e-02 8.21182694e-04 9.99793721e-01 -3.08853624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.718623853 meters 0.05243552344873629 Centerline is valid? [True, True] Translation: X:123.28, Y:-22.22, Z:-3.09 [[ 9.88699959e-01 1.48670902e-01 1.92185849e-02 1.23277997e+02] [-1.48626688e-01 9.88886390e-01 -3.71677484e-03 -2.22162742e+01] [-1.95575733e-02 8.18380502e-04 9.99808397e-01 -3.09126692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.748623853 meters 0.05362534862562528 Centerline is valid? [True, True] Translation: X:123.31, Y:-22.23, Z:-3.09 [[ 9.88774082e-01 1.48253544e-01 1.86198974e-02 1.23309103e+02] [-1.48211966e-01 9.88949061e-01 -3.60112300e-03 -2.22264961e+01] [-1.89480093e-02 8.01005500e-04 9.99820149e-01 -3.09296580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.778623853 meters 0.05386968900267404 Centerline is valid? [True, True] Translation: X:123.34, Y:-22.24, Z:-3.09 [[ 9.88738494e-01 1.48466644e-01 1.88107753e-02 1.23341192e+02] [-1.48424192e-01 9.88917086e-01 -3.64093604e-03 -2.22355615e+01] [-1.91428546e-02 8.07959498e-04 9.99816432e-01 -3.09343992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.808623853 meters 0.04628691100053014 Centerline is valid? [True, True] Translation: X:123.37, Y:-22.24, Z:-3.09 [[ 9.88380778e-01 1.50771743e-01 1.92696513e-02 1.23373244e+02] [-1.50727545e-01 9.88568290e-01 -3.73415966e-03 -2.22365090e+01] [-1.96123720e-02 7.86304400e-04 9.99807350e-01 -3.09239465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.838623853 meters 0.05060804575219437 Centerline is valid? [True, True] Translation: X:123.40, Y:-22.25, Z:-3.09 [[ 9.88147570e-01 1.52284395e-01 1.93350275e-02 1.23401190e+02] [-1.52240169e-01 9.88336424e-01 -3.74765834e-03 -2.22502343e+01] [-1.96802218e-02 7.59671637e-04 9.99806037e-01 -3.09426998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.868623853 meters 0.039901603768635316 Centerline is valid? [True, True] Translation: X:123.43, Y:-22.25, Z:-3.09 [[ 9.87527779e-01 1.56266403e-01 1.92274871e-02 1.23432742e+02] [-1.56223417e-01 9.87714712e-01 -3.72704069e-03 -2.22472366e+01] [-1.95736832e-02 6.76772481e-04 9.99808188e-01 -3.09389699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.898623853 meters 0.03805558276495829 Centerline is valid? [True, True] Translation: X:123.46, Y:-22.25, Z:-3.09 [[ 9.87149359e-01 1.58628546e-01 1.93164798e-02 1.23463298e+02] [-1.58585609e-01 9.87338130e-01 -3.74446053e-03 -2.22532326e+01] [-1.96658753e-02 6.33026100e-04 9.99806408e-01 -3.09465581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.928623853 meters 0.03295947227024895 Centerline is valid? [True, True] Translation: X:123.50, Y:-22.25, Z:-3.09 [[ 9.86718991e-01 1.61252768e-01 1.95749305e-02 1.23495415e+02] [-1.61209182e-01 9.86912964e-01 -3.79497563e-03 -2.22547293e+01] [-1.99307030e-02 5.88915996e-04 9.99801190e-01 -3.09439196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.958623853 meters 0.029523941717126384 Centerline is valid? [True, True] Translation: X:123.53, Y:-22.26, Z:-3.10 [[ 9.85849464e-01 1.66446259e-01 1.99117463e-02 1.23525228e+02] [-1.66402198e-01 9.86050404e-01 -3.86123150e-03 -2.22599466e+01] [-2.02766731e-02 4.93234655e-04 9.99794285e-01 -3.09531909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.988623853 meters 0.028487725344898567 Centerline is valid? [True, True] Translation: X:123.55, Y:-22.27, Z:-3.10 [[ 9.85412665e-01 1.69043150e-01 1.96543178e-02 1.23554483e+02] [-1.69000738e-01 9.85608556e-01 -3.81124947e-03 -2.22669215e+01] [-2.00157294e-02 4.34059282e-04 9.99799571e-01 -3.09632146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.018623853 meters 0.022739942304064727 Centerline is valid? [True, True] Translation: X:123.59, Y:-22.27, Z:-3.10 [[ 9.84592380e-01 1.73740774e-01 1.97987167e-02 1.23586255e+02] [-1.73698684e-01 9.84791362e-01 -3.83928093e-03 -2.22697882e+01] [-2.01646448e-02 3.41115714e-04 9.99796615e-01 -3.09580283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.048623853 meters 0.021915293956200833 Centerline is valid? [True, True] Translation: X:123.62, Y:-22.28, Z:-3.10 [[ 9.84183377e-01 1.76027411e-01 1.99356958e-02 1.23616697e+02] [-1.75985193e-01 9.84385221e-01 -3.86647093e-03 -2.22766829e+01] [-2.03050091e-02 2.96929155e-04 9.99793788e-01 -3.09683745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.078623853 meters 0.019273428743404163 Centerline is valid? [True, True] Translation: X:123.65, Y:-22.28, Z:-3.10 [[ 9.83804392e-01 1.78111627e-01 2.01287608e-02 1.23648001e+02] [-1.78068942e-01 9.84010254e-01 -3.90788792e-03 -2.22805988e+01] [-2.05029473e-02 2.60290178e-04 9.99789759e-01 -3.09699867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.108623853 meters 0.01861130867291851 Centerline is valid? [True, True] Translation: X:123.68, Y:-22.29, Z:-3.10 [[ 9.83416242e-01 1.80255677e-01 2.00096690e-02 1.23678516e+02] [-1.80213941e-01 9.83619767e-01 -3.88461986e-03 -2.22878778e+01] [-2.03821308e-02 2.14176943e-04 9.99792240e-01 -3.09845413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.138623853 meters 0.015983956955556593 Centerline is valid? [True, True] Translation: X:123.71, Y:-22.29, Z:-3.10 [[ 9.82619961e-01 1.84546420e-01 2.00157579e-02 1.23707523e+02] [-1.84505464e-01 9.82823790e-01 -3.88994621e-03 -2.22918623e+01] [-2.03898387e-02 1.29322111e-04 9.99792097e-01 -3.09884676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.168623853 meters 0.014888629789729659 Centerline is valid? [True, True] Translation: X:123.74, Y:-22.30, Z:-3.10 [[ 9.82176907e-01 1.86898011e-01 1.99413595e-02 1.23737461e+02] [-1.86857849e-01 9.82379319e-01 -3.87518662e-03 -2.22954399e+01] [-2.03142438e-02 7.99192758e-05 9.99793641e-01 -3.09924878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.19862385300002 meters 0.014204365252116246 Centerline is valid? [True, True] Translation: X:123.77, Y:-22.30, Z:-3.10 [[ 9.81672287e-01 1.89502715e-01 2.02050146e-02 1.23767728e+02] [-1.89462036e-01 9.81880196e-01 -3.92642249e-03 -2.22983339e+01] [-2.05829714e-02 2.63769482e-05 9.99788148e-01 -3.09926402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22862385300002 meters 0.014724561817278492 Centerline is valid? [True, True] Translation: X:123.80, Y:-22.30, Z:-3.10 [[ 9.80709756e-01 1.94392435e-01 2.04928178e-02 1.23797078e+02] [-1.94351652e-01 9.80923838e-01 -3.98246061e-03 -2.22986534e+01] [-2.08760537e-02 -7.71750151e-05 9.99782068e-01 -3.09975917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25862385300002 meters 0.015606258249149284 Centerline is valid? [True, True] Translation: X:123.83, Y:-22.30, Z:-3.10 [[ 9.80295291e-01 1.96480000e-01 2.04144974e-02 1.23825986e+02] [-1.96439990e-01 9.80507825e-01 -3.96680895e-03 -2.23024163e+01] [-2.07959730e-02 -1.21579521e-04 9.99783733e-01 -3.10035531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28862385300002 meters 0.016707555766668908 Centerline is valid? [True, True] Translation: X:123.85, Y:-22.31, Z:-3.10 [[ 9.79930030e-01 1.98303331e-01 2.03205839e-02 1.23853114e+02] [-1.98264101e-01 9.80140685e-01 -3.94753437e-03 -2.23058615e+01] [-2.06998403e-02 -1.60534833e-04 9.99785722e-01 -3.10169979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.31862385300002 meters 0.018717908154469155 Centerline is valid? [True, True] Translation: X:123.88, Y:-22.31, Z:-3.10 [[ 9.79401886e-01 2.00899987e-01 2.02765898e-02 1.23880965e+02] [-2.00861499e-01 9.79611734e-01 -3.93818912e-03 -2.23077565e+01] [-2.06543675e-02 -2.15716381e-04 9.99786653e-01 -3.10264022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34862385300002 meters 0.018717908154469155 Centerline is valid? [True, True] Translation: X:123.91, Y:-22.31, Z:-3.10 [[ 9.79411214e-01 2.00854486e-01 2.02768310e-02 1.23908786e+02] [-2.00816014e-01 9.79621064e-01 -3.93694704e-03 -2.23130669e+01] [-2.06543642e-02 -2.16022294e-04 9.99786653e-01 -3.10335272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.37862385300002 meters 0.019109778497765992 Centerline is valid? [True, True] Translation: X:123.94, Y:-22.32, Z:-3.10 [[ 9.79278307e-01 2.01478393e-01 2.05049997e-02 1.23937456e+02] [-2.01439209e-01 9.79492932e-01 -3.98024844e-03 -2.23176979e+01] [-2.08864364e-02 -2.32739971e-04 9.99781828e-01 -3.10318793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40862385300002 meters 0.019758077966941994 Centerline is valid? [True, True] Translation: X:123.97, Y:-22.32, Z:-3.10 [[ 9.79180325e-01 2.01911842e-01 2.09164634e-02 1.23965120e+02] [-2.01871188e-01 9.79403669e-01 -4.05914234e-03 -2.23216394e+01] [-2.13052499e-02 -2.47799002e-04 9.99772987e-01 -3.10305797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.438623853 meters 0.018502043805335055 Centerline is valid? [True, True] Translation: X:123.99, Y:-22.33, Z:-3.10 [[ 9.79253428e-01 2.01552709e-01 2.09578181e-02 1.23993386e+02] [-2.01511842e-01 9.79477640e-01 -4.06573098e-03 -2.23292130e+01] [-2.13471733e-02 -2.41867550e-04 9.99772094e-01 -3.10325656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.468623853 meters 0.01826948412802676 Centerline is valid? [True, True] Translation: X:124.02, Y:-22.34, Z:-3.10 [[ 9.79398483e-01 2.00864294e-01 2.07881361e-02 1.24020619e+02] [-2.00823953e-01 9.79619051e-01 -4.03181443e-03 -2.23354427e+01] [-2.11743017e-02 -2.26002715e-04 9.99775774e-01 -3.10436496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.498623853 meters 0.017289397600675556 Centerline is valid? [True, True] Translation: X:124.05, Y:-22.34, Z:-3.11 [[ 9.79678015e-01 1.99515461e-01 2.06050209e-02 1.24048889e+02] [-1.99475560e-01 9.79894659e-01 -3.99486556e-03 -2.23438918e+01] [-2.09877874e-02 -1.96516119e-04 9.99779713e-01 -3.10564531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.528623853 meters 0.015439300674035195 Centerline is valid? [True, True] Translation: X:124.08, Y:-22.36, Z:-3.11 [[ 9.80525151e-01 1.95319774e-01 2.05088680e-02 1.24076138e+02] [-1.95279335e-01 9.80739606e-01 -3.97575861e-03 -2.23558089e+01] [-2.08904034e-02 -1.06626793e-04 9.99781766e-01 -3.10693160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.558623853 meters 0.014363049983578758 Centerline is valid? [True, True] Translation: X:124.10, Y:-22.37, Z:-3.11 [[ 9.81563131e-01 1.90063329e-01 2.02422985e-02 1.24102977e+02] [-1.90022834e-01 9.81771833e-01 -3.92321222e-03 -2.23701035e+01] [-2.06189773e-02 4.38154259e-06 9.99787406e-01 -3.10843308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.588623853 meters 0.014943523015972677 Centerline is valid? [True, True] Translation: X:124.13, Y:-22.38, Z:-3.11 [[ 9.82168849e-01 1.86929227e-01 2.00453767e-02 1.24132510e+02] [-1.86888871e-01 9.82373381e-01 -3.88463524e-03 -2.23811201e+01] [-2.04181964e-02 6.91098920e-05 9.99791525e-01 -3.10964108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.618623853 meters 0.016310681844891223 Centerline is valid? [True, True] Translation: X:124.16, Y:-22.39, Z:-3.11 [[ 9.82781143e-01 1.83721015e-01 1.96930031e-02 1.24162999e+02] [-1.83681428e-01 9.82978418e-01 -3.81606559e-03 -2.23930078e+01] [-2.00588885e-02 1.33118379e-04 9.99798791e-01 -3.11048001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.648623853 meters 0.018874519250346233 Centerline is valid? [True, True] Translation: X:124.19, Y:-22.41, Z:-3.11 [[ 9.83405539e-01 1.80370324e-01 1.94959317e-02 1.24192504e+02] [-1.80330797e-01 9.83598752e-01 -3.78134128e-03 -2.24060492e+01] [-1.98582158e-02 2.02875059e-04 9.99802786e-01 -3.11204415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.678623853 meters 0.024889801920712204 Centerline is valid? [True, True] Translation: X:124.22, Y:-22.43, Z:-3.11 [[ 9.84653587e-01 1.73483346e-01 1.89958373e-02 1.24220663e+02] [-1.73444465e-01 9.84836745e-01 -3.68811821e-03 -2.24263792e+01] [-1.93476257e-02 3.36795974e-04 9.99812760e-01 -3.11423448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.708623853 meters 0.02736752662846841 Centerline is valid? [True, True] Translation: X:124.25, Y:-22.44, Z:-3.11 [[ 9.85167997e-01 1.70520092e-01 1.91550417e-02 1.24251326e+02] [-1.70479990e-01 9.85354119e-01 -3.71936306e-03 -2.24384317e+01] [-1.95087253e-02 3.98646150e-04 9.99809607e-01 -3.11446207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.738623853 meters 0.03359783235566103 Centerline is valid? [True, True] Translation: X:124.28, Y:-22.46, Z:-3.12 [[ 9.85939503e-01 1.65966755e-01 1.94507976e-02 1.24278170e+02] [-1.65924495e-01 9.86131223e-01 -3.77801721e-03 -2.24561672e+01] [-1.98080641e-02 4.97532648e-04 9.99803677e-01 -3.11519905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.768623853 meters 0.037178830696967285 Centerline is valid? [True, True] Translation: X:124.31, Y:-22.46, Z:-3.11 [[ 9.86200171e-01 1.64440915e-01 1.91939401e-02 1.24309188e+02] [-1.64399491e-01 9.86386798e-01 -3.72726682e-03 -2.24635269e+01] [-1.95455643e-02 5.20357180e-04 9.99808832e-01 -3.10956290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.798623853 meters 0.03343397744718751 Centerline is valid? [True, True] Translation: X:124.34, Y:-22.47, Z:-3.11 [[ 9.86344457e-01 1.63502731e-01 1.97855798e-02 1.24340588e+02] [-1.63458463e-01 9.86542723e-01 -3.84527935e-03 -2.24702091e+01] [-2.01480335e-02 5.58649504e-04 9.99796852e-01 -3.11192409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.828623853 meters 0.03695826672313636 Centerline is valid? [True, True] Translation: X:124.37, Y:-22.49, Z:-3.12 [[ 9.86526277e-01 1.62349669e-01 2.02111239e-02 1.24369152e+02] [-1.62303157e-01 9.86733108e-01 -3.93168718e-03 -2.24857081e+01] [-2.05812932e-02 5.98383491e-04 9.99788004e-01 -3.11619250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.858623853 meters 0.03435247250882177 Centerline is valid? [True, True] Translation: X:124.40, Y:-22.49, Z:-3.12 [[ 9.86519703e-01 1.62357149e-01 2.04702713e-02 1.24402145e+02] [-1.62309372e-01 9.86731871e-01 -3.98531074e-03 -2.24906676e+01] [-2.08457128e-02 6.09070692e-04 9.99782519e-01 -3.11589398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.888623853 meters 0.03568208738470715 Centerline is valid? [True, True] Translation: X:124.43, Y:-22.50, Z:-3.12 [[ 9.86508177e-01 1.62442020e-01 2.03520701e-02 1.24432893e+02] [-1.62394726e-01 9.86717903e-01 -3.96639259e-03 -2.25006775e+01] [-2.07260607e-02 6.07809884e-04 9.99785007e-01 -3.11637085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.918623853 meters 0.034727374311750096 Centerline is valid? [True, True] Translation: X:124.46, Y:-22.51, Z:-3.12 [[ 9.86371316e-01 1.63295303e-01 2.01561681e-02 1.24463986e+02] [-1.63249016e-01 9.86577061e-01 -3.93201686e-03 -2.25094739e+01] [-2.05276929e-02 5.87954049e-04 9.99789112e-01 -3.11766951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94862385300002 meters 0.03578722406580002 Centerline is valid? [True, True] Translation: X:124.49, Y:-22.52, Z:-3.12 [[ 9.86249947e-01 1.64083668e-01 1.96873695e-02 1.24494456e+02] [-1.64039599e-01 9.86446265e-01 -3.84391135e-03 -2.25180644e+01] [-2.00512552e-02 5.61549171e-04 9.99798796e-01 -3.11918548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97862385300002 meters 0.033390981693142835 Centerline is valid? [True, True] Translation: X:124.53, Y:-22.52, Z:-3.12 [[ 9.85891026e-01 1.66245492e-01 1.95274671e-02 1.24526316e+02] [-1.66202499e-01 9.86084261e-01 -3.81569750e-03 -2.25236639e+01] [-1.98900705e-02 5.16348075e-04 9.99802040e-01 -3.12046552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00862385300002 meters 0.032213226114314174 Centerline is valid? [True, True] Translation: X:124.56, Y:-22.53, Z:-3.12 [[ 9.85644728e-01 1.67713323e-01 1.94090741e-02 1.24558456e+02] [-1.67671059e-01 9.85835688e-01 -3.79636267e-03 -2.25299491e+01] [-1.97708585e-02 4.87524846e-04 9.99804419e-01 -3.12086729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03862385300002 meters 0.029829718327381467 Centerline is valid? [True, True] Translation: X:124.59, Y:-22.53, Z:-3.12 [[ 9.85363477e-01 1.69318755e-01 1.97478515e-02 1.24590259e+02] [-1.69275312e-01 9.85561233e-01 -3.86328574e-03 -2.25342069e+01] [-2.01168436e-02 4.63916957e-04 9.99797528e-01 -3.12128913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06862385300002 meters 0.025875003067255205 Centerline is valid? [True, True] Translation: X:124.62, Y:-22.54, Z:-3.12 [[ 9.84718886e-01 1.72986065e-01 2.01130848e-02 1.24622113e+02] [-1.72941679e-01 9.84924190e-01 -3.93885210e-03 -2.25371223e+01] [-2.04912303e-02 4.00271399e-04 9.99789953e-01 -3.12103375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09862385300002 meters 0.023971975586361775 Centerline is valid? [True, True] Translation: X:124.65, Y:-22.54, Z:-3.12 [[ 9.84332356e-01 1.75154901e-01 2.02626133e-02 1.24653939e+02] [-1.75110309e-01 9.84540823e-01 -3.96828725e-03 -2.25413676e+01] [-2.06444349e-02 3.57921067e-04 9.99786817e-01 -3.12169452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12862385300002 meters 0.023159534600458748 Centerline is valid? [True, True] Translation: X:124.68, Y:-22.55, Z:-3.12 [[ 9.83942324e-01 1.77357721e-01 2.00435155e-02 1.24684512e+02] [-1.77314473e-01 9.84146402e-01 -3.92888021e-03 -2.25472810e+01] [-2.04225709e-02 3.11786127e-04 9.99791389e-01 -3.12295824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.15862385300002 meters 0.020179017954475797 Centerline is valid? [True, True] Translation: X:124.72, Y:-22.55, Z:-3.12 [[ 9.83513757e-01 1.79717074e-01 2.00614789e-02 1.24717005e+02] [-1.79674174e-01 9.83718304e-01 -3.93556999e-03 -2.25500330e+01] [-2.04421332e-02 2.66157569e-04 9.99791002e-01 -3.12347597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.188623853 meters 0.01789415669748282 Centerline is valid? [True, True] Translation: X:124.75, Y:-22.55, Z:-3.13 [[ 9.82769863e-01 1.83800649e-01 1.95119838e-02 1.24748424e+02] [-1.83760797e-01 9.82963524e-01 -3.83148609e-03 -2.25530135e+01] [-1.98837980e-02 1.79931358e-04 9.99802282e-01 -3.12569076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.218623853 meters 0.01645308860207022 Centerline is valid? [True, True] Translation: X:124.78, Y:-22.56, Z:-3.13 [[ 9.82331800e-01 1.86147972e-01 1.93175513e-02 1.24781201e+02] [-1.86109322e-01 9.82521712e-01 -3.79543590e-03 -2.25556715e+01] [-1.96864263e-02 1.33201002e-04 9.99806195e-01 -3.12650555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.248623853 meters 0.01463154926699849 Centerline is valid? [True, True] Translation: X:124.81, Y:-22.55, Z:-3.13 [[ 9.81377637e-01 1.91132918e-01 1.91348353e-02 1.24813478e+02] [-1.91095930e-01 9.81564163e-01 -3.76015199e-03 -2.25542102e+01] [-1.95007574e-02 3.35399288e-05 9.99809842e-01 -3.12796206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.278623853 meters 0.014351221478185756 Centerline is valid? [True, True] Translation: X:124.85, Y:-22.56, Z:-3.13 [[ 9.80970287e-01 1.93179375e-01 1.94685867e-02 1.24846227e+02] [-1.93141430e-01 9.81163457e-01 -3.82870004e-03 -2.25579836e+01] [-1.98414917e-02 -4.34969496e-06 9.99803138e-01 -3.12840593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.308623853 meters 0.014520101138374458 Centerline is valid? [True, True] Translation: X:124.88, Y:-22.56, Z:-3.13 [[ 9.80609373e-01 1.94994171e-01 1.95583990e-02 1.24878411e+02] [-1.94956158e-01 9.80804400e-01 -3.85029498e-03 -2.25620839e+01] [-1.99337488e-02 -3.73949720e-05 9.99801302e-01 -3.12885308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.338623853 meters 0.01502862341883748 Centerline is valid? [True, True] Translation: X:124.91, Y:-22.56, Z:-3.13 [[ 9.80098159e-01 1.97582368e-01 1.92043480e-02 1.24910557e+02] [-1.97546154e-01 9.80286285e-01 -3.78375378e-03 -2.25643577e+01] [-1.95733620e-02 -8.52949720e-05 9.99808420e-01 -3.12952440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.368623853 meters 0.01751353341012794 Centerline is valid? [True, True] Translation: X:124.94, Y:-22.57, Z:-3.13 [[ 9.79836742e-01 1.98849411e-01 1.94645989e-02 1.24942822e+02] [-1.98812389e-01 9.80030051e-01 -3.83845995e-03 -2.25685052e+01] [-1.98391674e-02 -1.08739326e-04 9.99803178e-01 -3.12694365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.398623853 meters 0.016128516937775263 Centerline is valid? [True, True] Translation: X:124.97, Y:-22.57, Z:-3.13 [[ 9.79602331e-01 1.99887672e-01 2.05958974e-02 1.24973498e+02] [-1.99846357e-01 9.79818810e-01 -4.06601359e-03 -2.25719141e+01] [-2.09929937e-02 -1.32938681e-04 9.99779614e-01 -3.12934026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.428623853 meters 0.015951724605417297 Centerline is valid? [True, True] Translation: X:125.00, Y:-22.58, Z:-3.13 [[ 9.79569941e-01 2.00042408e-01 2.06340847e-02 1.25004196e+02] [-2.00000970e-01 9.79787230e-01 -4.07375772e-03 -2.25776914e+01] [-2.10319370e-02 -1.36306349e-04 9.99778795e-01 -3.12959180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.458623853 meters 0.01572409715337073 Centerline is valid? [True, True] Translation: X:125.04, Y:-22.58, Z:-3.13 [[ 9.79542345e-01 2.00221318e-01 2.02044329e-02 1.25036301e+02] [-2.00181630e-01 9.79750685e-01 -3.98872833e-03 -2.25834306e+01] [-2.05939354e-02 -1.37428003e-04 9.99787913e-01 -3.13021318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.488623853 meters 0.01608788785065104 Centerline is valid? [True, True] Translation: X:125.07, Y:-22.59, Z:-3.13 [[ 9.79524690e-01 2.00359575e-01 1.96830229e-02 1.25066977e+02] [-2.00321868e-01 9.79722421e-01 -3.88923677e-03 -2.25863837e+01] [-2.00631447e-02 -1.33336475e-04 9.99798706e-01 -3.13287916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.518623853 meters 0.016447436030740708 Centerline is valid? [True, True] Translation: X:125.10, Y:-22.59, Z:-3.13 [[ 9.79563641e-01 2.00199152e-01 1.93745358e-02 1.25097198e+02] [-2.00162509e-01 9.79755216e-01 -3.83218509e-03 -2.25908165e+01] [-1.97495027e-02 -1.24186520e-04 9.99804952e-01 -3.13473465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.548623853 meters 0.01603290991892869 Centerline is valid? [True, True] Translation: X:125.13, Y:-22.60, Z:-3.13 [[ 9.79604403e-01 1.99979308e-01 1.95829195e-02 1.25126937e+02] [-1.99941823e-01 9.79800113e-01 -3.87370215e-03 -2.25958486e+01] [-1.99620070e-02 -1.20748939e-04 9.99800732e-01 -3.13409746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.578623853 meters 0.015826429230206565 Centerline is valid? [True, True] Translation: X:125.16, Y:-22.60, Z:-3.13 [[ 9.79549754e-01 2.00212406e-01 1.99316842e-02 1.25157545e+02] [-2.00173624e-01 9.79752508e-01 -3.94257295e-03 -2.26011433e+01] [-2.03174696e-02 -1.27851109e-04 9.99793571e-01 -3.13349452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.608623853 meters 0.016528054903868706 Centerline is valid? [True, True] Translation: X:125.19, Y:-22.60, Z:-3.13 [[ 9.79501746e-01 2.00406419e-01 2.03370599e-02 1.25188154e+02] [-2.00366073e-01 9.79712840e-01 -4.02333333e-03 -2.26037387e+01] [-2.07307806e-02 -1.33994820e-04 9.99785085e-01 -3.13449099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.638623853 meters 0.016107194650718495 Centerline is valid? [True, True] Translation: X:125.22, Y:-22.61, Z:-3.13 [[ 9.79480938e-01 2.00476581e-01 2.06454018e-02 1.25217811e+02] [-2.00435012e-01 9.79698485e-01 -4.08464472e-03 -2.26089058e+01] [-2.10451445e-02 -1.37229713e-04 9.99778517e-01 -3.13359258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.668623853 meters 0.01650200440189291 Centerline is valid? [True, True] Translation: X:125.25, Y:-22.61, Z:-3.13 [[ 9.79488902e-01 2.00358271e-01 2.14022200e-02 1.25247332e+02] [-2.00313567e-01 9.79722687e-01 -4.23449748e-03 -2.26096894e+01] [-2.18166571e-02 -1.39511747e-04 9.99761979e-01 -3.13403875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.69862385300002 meters 0.015575894280584604 Centerline is valid? [True, True] Translation: X:125.28, Y:-22.62, Z:-3.13 [[ 9.79560033e-01 2.00008465e-01 2.14185816e-02 1.25277290e+02] [-1.99963628e-01 9.79794160e-01 -4.23684294e-03 -2.26153920e+01] [-2.18332056e-02 -1.32695273e-04 9.99761618e-01 -3.13436024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72862385300002 meters 0.015723203431839226 Centerline is valid? [True, True] Translation: X:125.31, Y:-22.62, Z:-3.14 [[ 9.79777825e-01 1.98936340e-01 2.14416892e-02 1.25307428e+02] [-1.98891151e-01 9.80012408e-01 -4.24137414e-03 -2.26176783e+01] [-2.18568850e-02 -1.08957925e-04 9.99761104e-01 -3.13647745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75862385300002 meters 0.015461340932307081 Centerline is valid? [True, True] Translation: X:125.34, Y:-22.62, Z:-3.14 [[ 9.79930199e-01 1.98235170e-01 2.09671988e-02 1.25335812e+02] [-1.98191788e-01 9.80154482e-01 -4.14797820e-03 -2.26230146e+01] [-2.13733690e-02 -9.07975288e-05 9.99771559e-01 -3.13810380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78862385300002 meters 0.015339262686641231 Centerline is valid? [True, True] Translation: X:125.36, Y:-22.63, Z:-3.14 [[ 9.80087990e-01 1.97517409e-01 2.03569193e-02 1.25362862e+02] [-1.97476379e-01 9.80299377e-01 -4.02641336e-03 -2.26281616e+01] [-2.07511620e-02 -7.37713176e-05 9.99784669e-01 -3.14069170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.81862385300002 meters 0.01503253419879023 Centerline is valid? [True, True] Translation: X:125.39, Y:-22.63, Z:-3.14 [[ 9.80381535e-01 1.96167734e-01 1.92422760e-02 1.25390353e+02] [-1.96130835e-01 9.80570353e-01 -3.80494977e-03 -2.26318061e+01] [-1.96148138e-02 -4.37011594e-05 9.99807610e-01 -3.14381509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84862385300002 meters 0.014725717834126555 Centerline is valid? [True, True] Translation: X:125.42, Y:-22.64, Z:-3.14 [[ 9.80665214e-01 1.94778880e-01 1.88924567e-02 1.25419575e+02] [-1.94743076e-01 9.80847178e-01 -3.73457591e-03 -2.26362132e+01] [-1.92580294e-02 -1.68064394e-05 9.99814547e-01 -3.14332248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.87862385300002 meters 0.01461556994102408 Centerline is valid? [True, True] Translation: X:125.45, Y:-22.64, Z:-3.14 [[ 9.80813254e-01 1.94017416e-01 1.90421329e-02 1.25448487e+02] [-1.93980908e-01 9.80998085e-01 -3.76369807e-03 -2.26412788e+01] [-1.94105189e-02 -2.32527586e-06 9.99811598e-01 -3.14353860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90862385300002 meters 0.014674616293894811 Centerline is valid? [True, True] Translation: X:125.48, Y:-22.65, Z:-3.14 [[ 9.81010471e-01 1.93001317e-01 1.92079937e-02 1.25477507e+02] [-1.92963984e-01 9.81198497e-01 -3.79601234e-03 -2.26466998e+01] [-1.95794899e-02 1.74768681e-05 9.99808303e-01 -3.14356482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.938623853 meters 0.01476150113922422 Centerline is valid? [True, True] Translation: X:125.51, Y:-22.65, Z:-3.14 [[ 9.81191754e-01 1.92076972e-01 1.92140377e-02 1.25506321e+02] [-1.92039447e-01 9.81379863e-01 -3.79673873e-03 -2.26520321e+01] [-1.95855357e-02 3.54755757e-05 9.99808184e-01 -3.14387978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.968623853 meters 0.015357949947583634 Centerline is valid? [True, True] Translation: X:125.54, Y:-22.66, Z:-3.14 [[ 9.81648804e-01 1.89657248e-01 1.98935410e-02 1.25536544e+02] [-1.89616537e-01 9.81850356e-01 -3.93038840e-03 -2.26584380e+01] [-2.02779070e-02 8.61167050e-05 9.99794378e-01 -3.14396135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.998623853 meters 0.015679504071342304 Centerline is valid? [True, True] Translation: X:125.57, Y:-22.66, Z:-3.14 [[ 9.81927071e-01 1.88166785e-01 2.03098108e-02 1.25566293e+02] [-1.88124033e-01 9.82137081e-01 -4.01263127e-03 -2.26648936e+01] [-2.07020622e-02 1.19347739e-04 9.99785682e-01 -3.14329236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.028623853 meters 0.01648175994674561 Centerline is valid? [True, True] Translation: X:125.60, Y:-22.67, Z:-3.14 [[ 9.82223967e-01 1.86563770e-01 2.07373748e-02 1.25597965e+02] [-1.86518856e-01 9.82442841e-01 -4.09640678e-03 -2.26722502e+01] [-2.11375265e-02 1.55677489e-04 9.99776565e-01 -3.14363764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.058623853 meters 0.01955410955222243 Centerline is valid? [True, True] Translation: X:125.63, Y:-22.68, Z:-3.14 [[ 9.82915581e-01 1.82874029e-01 2.08338795e-02 1.25627006e+02] [-1.82827781e-01 9.83136324e-01 -4.11953320e-03 -2.26831698e+01] [-2.12358993e-02 2.40141405e-04 9.99774464e-01 -3.14474751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.088623853 meters 0.019927368197644277 Centerline is valid? [True, True] Translation: X:125.66, Y:-22.69, Z:-3.15 [[ 9.83177667e-01 1.81479273e-01 2.06627341e-02 1.25658316e+02] [-1.81433444e-01 9.83394733e-01 -4.08714725e-03 -2.26900510e+01] [-2.10613564e-02 2.69480883e-04 9.99778149e-01 -3.14522392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.118623853 meters 0.022285562126366565 Centerline is valid? [True, True] Translation: X:125.69, Y:-22.70, Z:-3.15 [[ 9.83617200e-01 1.79117209e-01 2.03526445e-02 1.25688314e+02] [-1.79072158e-01 9.83827690e-01 -4.02969129e-03 -2.26990321e+01] [-2.07452823e-02 3.19081683e-04 9.99784743e-01 -3.14607149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.148623853 meters 0.028448686931835717 Centerline is valid? [True, True] Translation: X:125.72, Y:-22.71, Z:-3.15 [[ 9.83735879e-01 1.78479766e-01 2.02161651e-02 1.25717055e+02] [-1.78435151e-01 9.83943526e-01 -4.00424469e-03 -2.27138735e+01] [-2.06062415e-02 3.31844695e-04 9.99787614e-01 -3.14979020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.178623853 meters 0.02347518079937471 Centerline is valid? [True, True] Translation: X:125.75, Y:-22.71, Z:-3.15 [[ 9.83823628e-01 1.78019081e-01 2.00069162e-02 1.25749968e+02] [-1.77975226e-01 9.84026977e-01 -3.96591460e-03 -2.27129718e+01] [-2.03933538e-02 3.41025052e-04 9.99791976e-01 -3.14897819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.208623853 meters 0.024614696653488435 Centerline is valid? [True, True] Translation: X:125.78, Y:-22.72, Z:-3.15 [[ 9.83955887e-01 1.77309014e-01 1.98072336e-02 1.25780339e+02] [-1.77265817e-01 9.84155164e-01 -3.92977558e-03 -2.27204727e+01] [-2.01901759e-02 3.55580367e-04 9.99796094e-01 -3.14961091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.238623853 meters 0.024399314682766692 Centerline is valid? [True, True] Translation: X:125.81, Y:-22.73, Z:-3.15 [[ 9.83926087e-01 1.77458927e-01 1.99445145e-02 1.25812475e+02] [-1.77415098e-01 9.84128143e-01 -3.96005172e-03 -2.27266709e+01] [-2.03307045e-02 3.57940204e-04 9.99793246e-01 -3.15012920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.268623853 meters 0.024399314682766692 Centerline is valid? [True, True] Translation: X:125.84, Y:-22.73, Z:-3.15 [[ 9.83892435e-01 1.77645500e-01 1.99437623e-02 1.25844318e+02] [-1.77601632e-01 9.84094481e-01 -3.96383585e-03 -2.27331860e+01] [-2.03307040e-02 3.57943362e-04 9.99793246e-01 -3.15094714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.298623853 meters 0.02338395436166998 Centerline is valid? [True, True] Translation: X:125.88, Y:-22.74, Z:-3.15 [[ 9.83844706e-01 1.77912105e-01 1.99217813e-02 1.25876834e+02] [-1.77868309e-01 9.84046318e-01 -3.96335526e-03 -2.27381391e+01] [-2.03090845e-02 3.55872526e-04 9.99793686e-01 -3.15155345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.328623853 meters 0.024270977329447437 Centerline is valid? [True, True] Translation: X:125.91, Y:-22.75, Z:-3.15 [[ 9.83691898e-01 1.78798281e-01 1.95301211e-02 1.25907231e+02] [-1.78756284e-01 9.83885696e-01 -3.88952388e-03 -2.27460168e+01] [-1.99108469e-02 3.34961260e-04 9.99801703e-01 -3.15368564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.358623853 meters 0.024118157155462405 Centerline is valid? [True, True] Translation: X:125.94, Y:-22.75, Z:-3.16 [[ 9.83557196e-01 1.79560023e-01 1.93245986e-02 1.25937423e+02] [-1.79518989e-01 9.83746968e-01 -3.85177558e-03 -2.27515705e+01] [-1.97021402e-02 3.19309186e-04 9.99805843e-01 -3.15527834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.388623853 meters 0.025018928591403693 Centerline is valid? [True, True] Translation: X:125.97, Y:-22.75, Z:-3.15 [[ 9.83234426e-01 1.81400756e-01 1.85426561e-02 1.25969021e+02] [-1.81363237e-01 9.83409218e-01 -3.69948569e-03 -2.27535694e+01] [-1.89061085e-02 2.74505556e-04 9.99821226e-01 -3.15278654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.418623853 meters 0.021088100247432233 Centerline is valid? [True, True] Translation: X:126.00, Y:-22.76, Z:-3.16 [[ 9.83096761e-01 1.82122072e-01 1.87698883e-02 1.26000189e+02] [-1.82083749e-01 9.83275893e-01 -3.74527545e-03 -2.27570186e+01] [-1.91380760e-02 2.64276541e-04 9.99816815e-01 -3.15745471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44862385300002 meters 0.02058008622594817 Centerline is valid? [True, True] Translation: X:126.03, Y:-22.76, Z:-3.16 [[ 9.82908671e-01 1.83158396e-01 1.85350226e-02 1.26029696e+02] [-1.83121201e-01 9.83083386e-01 -3.69894120e-03 -2.27619068e+01] [-1.88989649e-02 2.41565784e-04 9.99821369e-01 -3.15916506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47862385300002 meters 0.01967844876179815 Centerline is valid? [True, True] Translation: X:126.06, Y:-22.77, Z:-3.16 [[ 9.82736776e-01 1.84101134e-01 1.83085322e-02 1.26061143e+02] [-1.84065003e-01 9.82907281e-01 -3.65388587e-03 -2.27661881e+01] [-1.86682742e-02 2.20847982e-04 9.99825708e-01 -3.16006173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50862385300002 meters 0.018346187311051542 Centerline is valid? [True, True] Translation: X:126.09, Y:-22.77, Z:-3.16 [[ 9.82371003e-01 1.86035333e-01 1.83866343e-02 1.26091137e+02] [-1.85999220e-01 9.82543038e-01 -3.67009087e-03 -2.27691453e+01] [-1.87484260e-02 1.85491215e-04 9.99824216e-01 -3.16068430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53862385300002 meters 0.01784553013938688 Centerline is valid? [True, True] Translation: X:126.12, Y:-22.77, Z:-3.16 [[ 9.82157393e-01 1.87140803e-01 1.85789185e-02 1.26120430e+02] [-1.87104127e-01 9.82333086e-01 -3.70854712e-03 -2.27735335e+01] [-1.89447068e-02 1.66184644e-04 9.99820519e-01 -3.16118882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56862385300002 meters 0.017033528478981666 Centerline is valid? [True, True] Translation: X:126.15, Y:-22.78, Z:-3.16 [[ 9.81964406e-01 1.88166540e-01 1.84189980e-02 1.26150637e+02] [-1.88130679e-01 9.82137125e-01 -3.67632356e-03 -2.27774026e+01] [-1.87817429e-02 1.44840271e-04 9.99823597e-01 -3.16140747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.59862385300002 meters 0.01631297849631987 Centerline is valid? [True, True] Translation: X:126.18, Y:-22.78, Z:-3.16 [[ 9.81688905e-01 1.89571737e-01 1.86935996e-02 1.26179469e+02] [-1.89535049e-01 9.81866866e-01 -3.73135220e-03 -2.27791300e+01] [-1.90619850e-02 1.19934739e-04 9.99818297e-01 -3.16199465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62862385300002 meters 0.016153506349117084 Centerline is valid? [True, True] Translation: X:126.21, Y:-22.78, Z:-3.16 [[ 9.81617132e-01 1.89935762e-01 1.87673052e-02 1.26208888e+02] [-1.89898866e-01 9.81796513e-01 -3.74529579e-03 -2.27833541e+01] [-1.91370404e-02 1.12556533e-04 9.99816864e-01 -3.16294592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.65862385300002 meters 0.016000659238822726 Centerline is valid? [True, True] Translation: X:126.24, Y:-22.79, Z:-3.16 [[ 9.81548539e-01 1.90277911e-01 1.88887063e-02 1.26237515e+02] [-1.90240606e-01 9.81730261e-01 -3.76912993e-03 -2.27880339e+01] [-1.92607967e-02 1.06185039e-04 9.99814488e-01 -3.16402973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.688623853 meters 0.016177798716034884 Centerline is valid? [True, True] Translation: X:126.27, Y:-22.79, Z:-3.16 [[ 9.81574007e-01 1.90127258e-01 1.90812571e-02 1.26266842e+02] [-1.90089176e-01 9.81759448e-01 -3.80671271e-03 -2.27943442e+01] [-1.94569643e-02 1.09429808e-04 9.99810689e-01 -3.16493548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.718623853 meters 0.016571446352439238 Centerline is valid? [True, True] Translation: X:126.29, Y:-22.80, Z:-3.16 [[ 9.81760447e-01 1.89148028e-01 1.92210435e-02 1.26294865e+02] [-1.89109202e-01 9.81948576e-01 -3.83449759e-03 -2.28011844e+01] [-1.95993640e-02 1.29681869e-04 9.99807906e-01 -3.16416220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.748623853 meters 0.01691757172802109 Centerline is valid? [True, True] Translation: X:126.32, Y:-22.81, Z:-3.16 [[ 9.81862211e-01 1.88549420e-01 1.98926046e-02 1.26322964e+02] [-1.88507726e-01 9.82063692e-01 -3.96766128e-03 -2.28078940e+01] [-2.02839049e-02 1.45787021e-04 9.99794250e-01 -3.16401724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.778623853 meters 0.017493429396740045 Centerline is valid? [True, True] Translation: X:126.35, Y:-22.81, Z:-3.16 [[ 9.82043113e-01 1.87599623e-01 1.99425481e-02 1.26351071e+02] [-1.87557532e-01 9.82245567e-01 -3.97720137e-03 -2.28147924e+01] [-2.03346010e-02 1.65408117e-04 9.99793217e-01 -3.16415979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.808623853 meters 0.018210115175500842 Centerline is valid? [True, True] Translation: X:126.38, Y:-22.82, Z:-3.16 [[ 9.82228942e-01 1.86609917e-01 2.00759872e-02 1.26379759e+02] [-1.86567070e-01 9.82434071e-01 -4.00303524e-03 -2.28227706e+01] [-2.04703399e-02 1.86378947e-04 9.99790443e-01 -3.16496374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.838623853 meters 0.018955613042831408 Centerline is valid? [True, True] Translation: X:126.41, Y:-22.83, Z:-3.17 [[ 9.82440302e-01 1.85471433e-01 2.02829972e-02 1.26408139e+02] [-1.85427465e-01 9.82649634e-01 -4.04382815e-03 -2.28307717e+01] [-2.06810943e-02 2.11794996e-04 9.99786101e-01 -3.16521781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.868623853 meters 0.02186202008908855 Centerline is valid? [True, True] Translation: X:126.44, Y:-22.84, Z:-3.17 [[ 9.82987493e-01 1.82528916e-01 2.04641891e-02 1.26436654e+02] [-1.82483534e-01 9.83200447e-01 -4.07931825e-03 -2.28433691e+01] [-2.08649934e-02 2.75541268e-04 9.99782264e-01 -3.16604672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.898623853 meters 0.02342532924582725 Centerline is valid? [True, True] Translation: X:126.47, Y:-22.85, Z:-3.17 [[ 9.83286534e-01 1.80904718e-01 2.05201224e-02 1.26466887e+02] [-1.80858730e-01 9.83500578e-01 -4.09065992e-03 -2.28531267e+01] [-2.09215719e-02 3.11047526e-04 9.99781072e-01 -3.16682563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.928623853 meters 0.025220016969401418 Centerline is valid? [True, True] Translation: X:126.50, Y:-22.86, Z:-3.17 [[ 9.83591018e-01 1.79240763e-01 2.05294449e-02 1.26496652e+02] [-1.79194361e-01 9.83805178e-01 -4.09299845e-03 -2.28629875e+01] [-2.09306063e-02 3.47075767e-04 9.99780871e-01 -3.16799725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.958623853 meters 0.028775470728520727 Centerline is valid? [True, True] Translation: X:126.52, Y:-22.88, Z:-3.17 [[ 9.84126853e-01 1.76253207e-01 2.07157981e-02 1.26524950e+02] [-1.76205286e-01 9.84344774e-01 -4.13063794e-03 -2.28773048e+01] [-2.11195258e-02 4.14838575e-04 9.99776872e-01 -3.16865352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.988623853 meters 0.030443944375504774 Centerline is valid? [True, True] Translation: X:126.56, Y:-22.89, Z:-3.17 [[ 9.84375746e-01 1.74874240e-01 2.05764548e-02 1.26555134e+02] [-1.74826661e-01 9.84590679e-01 -4.10281297e-03 -2.28879135e+01] [-2.09768619e-02 4.41396692e-04 9.99779864e-01 -3.16965481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.018623853 meters 0.03388594085011843 Centerline is valid? [True, True] Translation: X:126.58, Y:-22.90, Z:-3.17 [[ 9.84858670e-01 1.72235045e-01 1.97101535e-02 1.26583513e+02] [-1.72190792e-01 9.85055764e-01 -3.93348108e-03 -2.29026056e+01] [-2.00930836e-02 4.80015990e-04 9.99797998e-01 -3.17244675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.048623853 meters 0.03588957452784759 Centerline is valid? [True, True] Translation: X:126.61, Y:-22.91, Z:-3.17 [[ 9.85072012e-01 1.71073892e-01 1.91534531e-02 1.26612510e+02] [-1.71031883e-01 9.85258080e-01 -3.82249306e-03 -2.29135353e+01] [-1.95250231e-02 4.89579792e-04 9.99809249e-01 -3.17401119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.078623853 meters 0.03812330948632062 Centerline is valid? [True, True] Translation: X:126.64, Y:-22.93, Z:-3.18 [[ 9.85296642e-01 1.69824117e-01 1.87162251e-02 1.26641481e+02] [-1.69783758e-01 9.85474259e-01 -3.73627113e-03 -2.29274256e+01] [-1.90788670e-02 5.03624360e-04 9.99817855e-01 -3.17592652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.108623853 meters 0.03822589004815905 Centerline is valid? [True, True] Translation: X:126.67, Y:-22.94, Z:-3.18 [[ 9.85295287e-01 1.69825689e-01 1.87731959e-02 1.26673839e+02] [-1.69785036e-01 9.85473986e-01 -3.75020956e-03 -2.29363723e+01] [-1.91373781e-02 5.07656069e-04 9.99816735e-01 -3.17658476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.138623853 meters 0.03838266799997333 Centerline is valid? [True, True] Translation: X:126.71, Y:-22.95, Z:-3.18 [[ 9.85229919e-01 1.70180845e-01 1.89865105e-02 1.26705320e+02] [-1.70139259e-01 9.85412716e-01 -3.79639853e-03 -2.29450265e+01] [-1.93556232e-02 5.09974588e-04 9.99812532e-01 -3.17661575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.168623853 meters 0.03798180723409349 Centerline is valid? [True, True] Translation: X:126.74, Y:-22.95, Z:-3.18 [[ 9.85113763e-01 1.70813997e-01 1.93249216e-02 1.26736876e+02] [-1.70770976e-01 9.85303161e-01 -3.86712818e-03 -2.29529465e+01] [-1.97014660e-02 5.09425463e-04 9.99805777e-01 -3.17726160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.19862385300002 meters 0.036431540455640635 Centerline is valid? [True, True] Translation: X:126.77, Y:-22.96, Z:-3.18 [[ 9.84798777e-01 1.72604825e-01 1.94664653e-02 1.26766885e+02] [-1.72561460e-01 9.84991037e-01 -3.89856057e-03 -2.29626667e+01] [-1.98472042e-02 4.80136013e-04 9.99802910e-01 -3.17771987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22862385300002 meters 0.035483604181311405 Centerline is valid? [True, True] Translation: X:126.80, Y:-22.97, Z:-3.18 [[ 9.84604025e-01 1.73688244e-01 1.96801217e-02 1.26797072e+02] [-1.73644080e-01 9.84800577e-01 -3.94421911e-03 -2.29707929e+01] [-2.00660597e-02 4.66157400e-04 9.99798548e-01 -3.17781474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25862385300002 meters 0.03444283041201428 Centerline is valid? [True, True] Translation: X:126.83, Y:-22.98, Z:-3.18 [[ 9.84442321e-01 1.74613675e-01 1.95801140e-02 1.26828803e+02] [-1.74570078e-01 9.84636920e-01 -3.92738822e-03 -2.29786578e+01] [-1.99650788e-02 4.48185147e-04 9.99800577e-01 -3.17872131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28862385300002 meters 0.032212139131370346 Centerline is valid? [True, True] Translation: X:126.86, Y:-22.99, Z:-3.18 [[ 9.84037261e-01 1.76951151e-01 1.89462204e-02 1.26859107e+02] [-1.76910755e-01 9.84219559e-01 -3.80067682e-03 -2.29876512e+01] [-1.93197748e-02 3.88217443e-04 9.99813280e-01 -3.18097100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.31862385300002 meters 0.03083249405878712 Centerline is valid? [True, True] Translation: X:126.89, Y:-23.00, Z:-3.18 [[ 9.83783326e-01 1.78353066e-01 1.89881948e-02 1.26890005e+02] [-1.78312696e-01 9.83966489e-01 -3.81199640e-03 -2.29954862e+01] [-1.93636286e-02 3.64342298e-04 9.99812441e-01 -3.18224705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34862385300002 meters 0.029189785346690072 Centerline is valid? [True, True] Translation: X:126.92, Y:-23.00, Z:-3.18 [[ 9.83493757e-01 1.79952570e-01 1.88971731e-02 1.26921367e+02] [-1.79912826e-01 9.83675231e-01 -3.79657123e-03 -2.30025673e+01] [-1.92718839e-02 3.34060281e-04 9.99814224e-01 -3.18318823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.37862385300002 meters 0.026516225472595144 Centerline is valid? [True, True] Translation: X:126.95, Y:-23.01, Z:-3.19 [[ 9.82989132e-01 1.82730705e-01 1.84893735e-02 1.26952767e+02] [-1.82693098e-01 9.83162964e-01 -3.71735084e-03 -2.30105899e+01] [-1.88573414e-02 2.76234544e-04 9.99822146e-01 -3.18509353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40862385300002 meters 0.02526084617488332 Centerline is valid? [True, True] Translation: X:126.98, Y:-23.02, Z:-3.19 [[ 9.82761970e-01 1.83991465e-01 1.80568962e-02 1.26984276e+02] [-1.83955762e-01 9.82927810e-01 -3.63303623e-03 -2.30185510e+01] [-1.84170731e-02 2.48739744e-04 9.99830360e-01 -3.18695153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.438623853 meters 0.02428214346653637 Centerline is valid? [True, True] Translation: X:127.02, Y:-23.03, Z:-3.19 [[ 9.82546091e-01 1.85153538e-01 1.79261528e-02 1.27015632e+02] [-1.85118493e-01 9.82709578e-01 -3.60942061e-03 -2.30272197e+01] [-1.82844991e-02 2.27959713e-04 9.99832799e-01 -3.18831813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.468623853 meters 0.02202639883557472 Centerline is valid? [True, True] Translation: X:127.05, Y:-23.04, Z:-3.19 [[ 9.82112454e-01 1.87454286e-01 1.77768997e-02 1.27046971e+02] [-1.87420152e-01 9.82273310e-01 -3.58202819e-03 -2.30365234e+01] [-1.81332406e-02 1.86205268e-04 9.99835562e-01 -3.18918981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.498623853 meters 0.018599727149465388 Centerline is valid? [True, True] Translation: X:127.08, Y:-23.04, Z:-3.19 [[ 9.81816832e-01 1.88979685e-01 1.79551364e-02 1.27079607e+02] [-1.88945055e-01 9.81980984e-01 -3.62132522e-03 -2.30401555e+01] [-1.83159594e-02 1.62943823e-04 9.99832235e-01 -3.18667209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.528623853 meters 0.016865776294371 Centerline is valid? [True, True] Translation: X:127.11, Y:-23.05, Z:-3.19 [[ 9.81482757e-01 1.90664539e-01 1.84019561e-02 1.27110883e+02] [-1.90628453e-01 9.81655243e-01 -3.71184445e-03 -2.30460636e+01] [-1.87720937e-02 1.35174917e-04 9.99823780e-01 -3.18577833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.558623853 meters 0.015291025293162912 Centerline is valid? [True, True] Translation: X:127.14, Y:-23.05, Z:-3.19 [[ 9.80745213e-01 1.94352267e-01 1.91317236e-02 1.27141278e+02] [-1.94313891e-01 9.80931797e-01 -3.86269240e-03 -2.30538278e+01] [-1.95176390e-02 7.07574271e-05 9.99809510e-01 -3.18564719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.588623853 meters 0.023920235134201655 Centerline is valid? [True, True] Translation: X:127.17, Y:-23.06, Z:-3.18 [[ 9.80311398e-01 1.96572122e-01 1.86805964e-02 1.27174010e+02] [-1.96535886e-01 9.80489368e-01 -3.77433720e-03 -2.30588541e+01] [-1.90580556e-02 2.86182099e-05 9.99818378e-01 -3.17951141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.618623853 meters 0.014579242256590005 Centerline is valid? [True, True] Translation: X:127.21, Y:-23.06, Z:-3.19 [[ 9.79811195e-01 1.98994499e-01 1.92668502e-02 1.27205116e+02] [-1.98956339e-01 9.80000607e-01 -3.89690864e-03 -2.30646509e+01] [-1.96569883e-02 -1.50272772e-05 9.99806783e-01 -3.18680665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.648623853 meters 0.015047721169889566 Centerline is valid? [True, True] Translation: X:127.24, Y:-23.07, Z:-3.19 [[ 9.79379670e-01 2.01125488e-01 1.90787791e-02 1.27236729e+02] [-2.01088398e-01 9.79565483e-01 -3.86276948e-03 -2.30700291e+01] [-1.94658149e-02 -5.34032194e-05 9.99810522e-01 -3.18813461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.678623853 meters 0.026739988546886324 Centerline is valid? [True, True] Translation: X:127.27, Y:-23.07, Z:-3.18 [[ 9.78593848e-01 2.05062684e-01 1.74177077e-02 1.27269161e+02] [-2.05032370e-01 9.78748835e-01 -3.52790563e-03 -2.30743411e+01] [-1.77710029e-02 -1.18807138e-04 9.99842076e-01 -3.18425896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.708623853 meters 0.01786074079686558 Centerline is valid? [True, True] Translation: X:127.30, Y:-23.08, Z:-3.19 [[ 9.78178927e-01 2.07019624e-01 1.75744587e-02 1.27299558e+02] [-2.06989013e-01 9.78336778e-01 -3.56323189e-03 -2.30790550e+01] [-1.79313983e-02 -1.52241516e-04 9.99839208e-01 -3.19250907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.738623853 meters 0.01855668120495429 Centerline is valid? [True, True] Translation: X:127.33, Y:-23.09, Z:-3.19 [[ 9.77804767e-01 2.08820681e-01 1.70810084e-02 1.27331292e+02] [-2.08792023e-01 9.77953931e-01 -3.46409667e-03 -2.30856753e+01] [-1.74278143e-02 -1.79168064e-04 9.99848108e-01 -3.19298565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.768623853 meters 0.021660662283437878 Centerline is valid? [True, True] Translation: X:127.36, Y:-23.09, Z:-3.20 [[ 9.77472897e-01 2.10377625e-01 1.69703034e-02 1.27362324e+02] [-2.10349521e-01 9.77620179e-01 -3.44461771e-03 -2.30887451e+01] [-1.73151815e-02 -2.02674742e-04 9.99850060e-01 -3.19643278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.798623853 meters 0.021406049500862685 Centerline is valid? [True, True] Translation: X:127.39, Y:-23.10, Z:-3.19 [[ 9.77077990e-01 2.12196382e-01 1.70674106e-02 1.27393425e+02] [-2.12168187e-01 9.77227016e-01 -3.46695530e-03 -2.30985751e+01] [-1.74144101e-02 -2.33675851e-04 9.99848330e-01 -3.19461321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.828623853 meters 0.020571658092751362 Centerline is valid? [True, True] Translation: X:127.43, Y:-23.11, Z:-3.19 [[ 9.76971756e-01 2.12670427e-01 1.72475389e-02 1.27425136e+02] [-2.12641660e-01 9.77123959e-01 -3.50620806e-03 -2.31074754e+01] [-1.75986502e-02 -2.42079065e-04 9.99845102e-01 -3.19391689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.858623853 meters 0.02118580743698239 Centerline is valid? [True, True] Translation: X:127.46, Y:-23.11, Z:-3.19 [[ 9.76877370e-01 2.13080064e-01 1.75354133e-02 1.27456383e+02] [-2.13050329e-01 9.77034710e-01 -3.56841019e-03 -2.31137139e+01] [-1.78930645e-02 -2.50026409e-04 9.99839875e-01 -3.19440893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.888623853 meters 0.024498078067695793 Centerline is valid? [True, True] Translation: X:127.49, Y:-23.12, Z:-3.20 [[ 9.76859335e-01 2.13111235e-01 1.81505151e-02 1.27488086e+02] [-2.13079313e-01 9.77027910e-01 -3.69731436e-03 -2.31156057e+01] [-1.85214991e-02 -2.55743251e-04 9.99828430e-01 -3.19733404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.918623853 meters 0.019294915774618872 Centerline is valid? [True, True] Translation: X:127.52, Y:-23.13, Z:-3.19 [[ 9.77172876e-01 2.11658552e-01 1.82709433e-02 1.27517703e+02] [-2.11625899e-01 9.77343648e-01 -3.72466807e-03 -2.31330928e+01] [-1.86453483e-02 -2.26960190e-04 9.99826135e-01 -3.19458926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94862385300002 meters 0.02206858234428124 Centerline is valid? [True, True] Translation: X:127.55, Y:-23.14, Z:-3.20 [[ 9.77301772e-01 2.11056958e-01 1.83359531e-02 1.27548784e+02] [-2.11023904e-01 9.77473741e-01 -3.74123348e-03 -2.31359687e+01] [-1.87125261e-02 -2.13010301e-04 9.99824883e-01 -3.19825588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97862385300002 meters 0.020976317875426698 Centerline is valid? [True, True] Translation: X:127.58, Y:-23.14, Z:-3.20 [[ 9.77493687e-01 2.10116227e-01 1.89013927e-02 1.27578704e+02] [-2.10080850e-01 9.77676394e-01 -3.86059589e-03 -2.31448286e+01] [-1.92906194e-02 -1.97112550e-04 9.99813899e-01 -3.19791033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00862385300002 meters 0.01796661958367403 Centerline is valid? [True, True] Translation: X:127.61, Y:-23.16, Z:-3.20 [[ 9.77636117e-01 2.09453263e-01 1.88932241e-02 1.27608646e+02] [-2.09417801e-01 9.77818642e-01 -3.85847980e-03 -2.31575741e+01] [-1.92823179e-02 -1.84388245e-04 9.99814062e-01 -3.19623097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03862385300002 meters 0.02689083250108462 Centerline is valid? [True, True] Translation: X:127.64, Y:-23.17, Z:-3.19 [[ 9.77816178e-01 2.08672988e-01 1.81963525e-02 1.27640772e+02] [-2.08639908e-01 9.77985459e-01 -3.71890869e-03 -2.31666530e+01] [-1.85718040e-02 -1.60076233e-04 9.99827516e-01 -3.19031520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06862385300002 meters 0.025598675229534025 Centerline is valid? [True, True] Translation: X:127.67, Y:-23.17, Z:-3.19 [[ 9.77837134e-01 2.08535760e-01 1.86380374e-02 1.27671879e+02] [-2.08500955e-01 9.78014730e-01 -3.81310223e-03 -2.31744417e+01] [-1.90234433e-02 -1.57455647e-04 9.99819026e-01 -3.19055460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09862385300002 meters 0.017099039851817172 Centerline is valid? [True, True] Translation: X:127.70, Y:-23.18, Z:-3.20 [[ 9.77710536e-01 2.09051588e-01 1.94818368e-02 1.27703611e+02] [-2.09013587e-01 9.77904599e-01 -3.98954070e-03 -2.31813184e+01] [-1.98853976e-02 -1.71352613e-04 9.99802251e-01 -3.19659087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12862385300002 meters 0.018409300782644047 Centerline is valid? [True, True] Translation: X:127.73, Y:-23.18, Z:-3.20 [[ 9.77592558e-01 2.09636960e-01 1.91085187e-02 1.27734375e+02] [-2.09600430e-01 9.77779277e-01 -3.91735374e-03 -2.31845733e+01] [-1.95051357e-02 -1.75577877e-04 9.99809741e-01 -3.19880037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.15862385300002 meters 0.018409300782644047 Centerline is valid? [True, True] Translation: X:127.77, Y:-23.19, Z:-3.20 [[ 9.77555698e-01 2.09808800e-01 1.91082558e-02 1.27766160e+02] [-2.09772277e-01 9.77742418e-01 -3.91863613e-03 -2.31912972e+01] [-1.95051165e-02 -1.77697255e-04 9.99809741e-01 -3.19961795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.188623853 meters 0.018709475305811067 Centerline is valid? [True, True] Translation: X:127.80, Y:-23.20, Z:-3.20 [[ 9.77340661e-01 2.10757512e-01 1.96596798e-02 1.27798356e+02] [-2.10718968e-01 9.77538353e-01 -4.03542973e-03 -2.31977263e+01] [-2.00685881e-02 -1.98677882e-04 9.99798586e-01 -3.19939955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.218623853 meters 0.018649962099500837 Centerline is valid? [True, True] Translation: X:127.83, Y:-23.20, Z:-3.20 [[ 9.77272131e-01 2.11072167e-01 1.96906826e-02 1.27830236e+02] [-2.11033491e-01 9.77470460e-01 -4.04548269e-03 -2.32041944e+01] [-2.01009493e-02 -2.01856005e-04 9.99797935e-01 -3.19978128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.248623853 meters 0.018630603656479793 Centerline is valid? [True, True] Translation: X:127.86, Y:-23.21, Z:-3.20 [[ 9.77223524e-01 2.11320982e-01 1.94326068e-02 1.27862406e+02] [-2.11283291e-01 9.77416698e-01 -3.99608539e-03 -2.32105040e+01] [-1.98382111e-02 -2.00716471e-04 9.99803183e-01 -3.20077516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.278623853 meters 0.023061947694107007 Centerline is valid? [True, True] Translation: X:127.89, Y:-23.21, Z:-3.20 [[ 9.77217761e-01 2.11399480e-01 1.88602139e-02 1.27894505e+02] [-2.11363916e-01 9.77399725e-01 -3.88229706e-03 -2.32111722e+01] [-1.92546835e-02 -1.92519038e-04 9.99814593e-01 -3.20257138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.308623853 meters 0.017607562094203742 Centerline is valid? [True, True] Translation: X:127.92, Y:-23.22, Z:-3.20 [[ 9.77384429e-01 2.10611040e-01 1.90438492e-02 1.27924847e+02] [-2.10574591e-01 9.77569925e-01 -3.92213434e-03 -2.32239001e+01] [-1.94427390e-02 -1.76717725e-04 9.99810956e-01 -3.20320105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.338623853 meters 0.017340466324480507 Centerline is valid? [True, True] Translation: X:127.96, Y:-23.23, Z:-3.20 [[ 9.77535664e-01 2.09930184e-01 1.87974155e-02 1.27956233e+02] [-2.09894473e-01 9.77716366e-01 -3.87517838e-03 -2.32313977e+01] [-1.91920577e-02 -1.57348556e-04 9.99815803e-01 -3.20393733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.368623853 meters 0.016771791351431854 Centerline is valid? [True, True] Translation: X:127.99, Y:-23.24, Z:-3.20 [[ 9.77675685e-01 2.09287060e-01 1.86863731e-02 1.27988109e+02] [-2.09251647e-01 9.77854235e-01 -3.85260050e-03 -2.32397369e+01] [-1.90788485e-02 -1.43560518e-04 9.99817972e-01 -3.20463011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.398623853 meters 0.01614671306948154 Centerline is valid? [True, True] Translation: X:128.02, Y:-23.25, Z:-3.20 [[ 9.77874483e-01 2.08310080e-01 1.91939334e-02 1.28018881e+02] [-2.08272446e-01 9.78062828e-01 -3.96141947e-03 -2.32468568e+01] [-1.95980763e-02 -1.23796434e-04 9.99807932e-01 -3.20460993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.428623853 meters 0.015862989062023703 Centerline is valid? [True, True] Translation: X:128.05, Y:-23.25, Z:-3.20 [[ 9.77992130e-01 2.07710965e-01 1.96862822e-02 1.28050189e+02] [-2.07671190e-01 9.78190238e-01 -4.06624499e-03 -2.32537668e+01] [-2.01015328e-02 -1.11518047e-04 9.99797938e-01 -3.20461689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.458623853 meters 0.015592672330131353 Centerline is valid? [True, True] Translation: X:128.08, Y:-23.26, Z:-3.21 [[ 9.78106756e-01 2.07171597e-01 1.96749403e-02 1.28081462e+02] [-2.07131691e-01 9.78304615e-01 -4.06723940e-03 -2.32605393e+01] [-2.00907014e-02 -9.71093300e-05 9.99798157e-01 -3.20531574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.488623853 meters 0.019323048714131843 Centerline is valid? [True, True] Translation: X:128.11, Y:-23.27, Z:-3.20 [[ 9.78250117e-01 2.06539384e-01 1.91883383e-02 1.28113511e+02] [-2.06501241e-01 9.78438284e-01 -3.96997964e-03 -2.32673193e+01] [-1.95945620e-02 -7.87826353e-05 9.99808005e-01 -3.20190392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.518623853 meters 0.015251226740406434 Centerline is valid? [True, True] Translation: X:128.14, Y:-23.27, Z:-3.21 [[ 9.78391087e-01 2.05876657e-01 1.91228591e-02 1.28144806e+02] [-2.05838571e-01 9.78577947e-01 -3.96035251e-03 -2.32731559e+01] [-1.95285524e-02 -6.14484032e-05 9.99809298e-01 -3.20876556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.548623853 meters 0.015163801264969459 Centerline is valid? [True, True] Translation: X:128.18, Y:-23.28, Z:-3.21 [[ 9.78453242e-01 2.05628109e-01 1.86100725e-02 1.28177289e+02] [-2.05591930e-01 9.78630205e-01 -3.85752164e-03 -2.32798067e+01] [-1.90055939e-02 -5.16761602e-05 9.99819376e-01 -3.21027058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.578623853 meters 0.0151758318680652 Centerline is valid? [True, True] Translation: X:128.21, Y:-23.29, Z:-3.21 [[ 9.78489103e-01 2.05476697e-01 1.83957385e-02 1.28209321e+02] [-2.05441254e-01 9.78662008e-01 -3.81657751e-03 -2.32865968e+01] [-1.87874281e-02 -4.47640846e-05 9.99823500e-01 -3.21096418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.608623853 meters 0.015269193164880845 Centerline is valid? [True, True] Translation: X:128.24, Y:-23.29, Z:-3.21 [[ 9.78505584e-01 2.05396954e-01 1.84095989e-02 1.28240725e+02] [-2.05361365e-01 9.78678747e-01 -3.82361364e-03 -2.32924382e+01] [-1.88024418e-02 -3.91930707e-05 9.99823218e-01 -3.21210957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.638623853 meters 0.015184131128512211 Centerline is valid? [True, True] Translation: X:128.27, Y:-23.30, Z:-3.21 [[ 9.78548643e-01 2.05232254e-01 1.79520526e-02 1.28272202e+02] [-2.05198352e-01 9.78713299e-01 -3.73034109e-03 -2.32967697e+01] [-1.83354990e-02 -3.34114047e-05 9.99831890e-01 -3.21377063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.668623853 meters 0.01516110942840062 Centerline is valid? [True, True] Translation: X:128.30, Y:-23.30, Z:-3.21 [[ 9.78556497e-01 2.05200906e-01 1.78821341e-02 1.28304699e+02] [-2.05167204e-01 9.78719872e-01 -3.71897759e-03 -2.33029770e+01] [-1.82647376e-02 -2.95977892e-05 9.99833185e-01 -3.21423166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.69862385300002 meters 0.015052111877992469 Centerline is valid? [True, True] Translation: X:128.34, Y:-23.31, Z:-3.21 [[ 9.78622628e-01 2.04850607e-01 1.82751183e-02 1.28336811e+02] [-2.04815261e-01 9.78793251e-01 -3.80533242e-03 -2.33090720e+01] [-1.86670872e-02 -1.90387170e-05 9.99825755e-01 -3.21395223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72862385300002 meters 0.014954111984938906 Centerline is valid? [True, True] Translation: X:128.37, Y:-23.32, Z:-3.21 [[ 9.78853753e-01 2.03685786e-01 1.89058387e-02 1.28367685e+02] [-2.03647730e-01 9.79036312e-01 -3.93718828e-03 -2.33154678e+01] [-1.93114519e-02 3.80038389e-06 9.99813517e-01 -3.21377083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75862385300002 meters 0.015063185034723389 Centerline is valid? [True, True] Translation: X:128.40, Y:-23.32, Z:-3.21 [[ 9.78974862e-01 2.03071436e-01 1.92408880e-02 1.28399930e+02] [-2.03031829e-01 9.79163925e-01 -4.01058935e-03 -2.33230058e+01] [-1.96544195e-02 1.97534762e-05 9.99806833e-01 -3.21423689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78862385300002 meters 0.015301770539747513 Centerline is valid? [True, True] Translation: X:128.43, Y:-23.33, Z:-3.21 [[ 9.79206550e-01 2.01945831e-01 1.92980283e-02 1.28432297e+02] [-2.01905694e-01 9.79396692e-01 -4.02634863e-03 -2.33315673e+01] [-1.97135294e-02 4.62451646e-05 9.99805668e-01 -3.21499058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81862385300002 meters 0.01757483777056384 Centerline is valid? [True, True] Translation: X:128.46, Y:-23.34, Z:-3.21 [[ 9.79491534e-01 2.00601771e-01 1.88484385e-02 1.28463168e+02] [-2.00563162e-01 9.79672866e-01 -3.93623933e-03 -2.33398446e+01] [-1.92549204e-02 7.52106719e-05 9.99814604e-01 -3.21303384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84862385300002 meters 0.01702455802508703 Centerline is valid? [True, True] Translation: X:128.49, Y:-23.35, Z:-3.22 [[ 9.79964452e-01 1.98241149e-01 1.92385038e-02 1.28492426e+02] [-1.98200397e-01 9.80153269e-01 -4.02146436e-03 -2.33498945e+01] [-1.96539021e-02 1.27813025e-04 9.99806835e-01 -3.21675271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.87862385300002 meters 0.017620106215619474 Centerline is valid? [True, True] Translation: X:128.52, Y:-23.36, Z:-3.22 [[ 9.80133449e-01 1.97382275e-01 1.94591910e-02 1.28524125e+02] [-1.97340355e-01 9.80326586e-01 -4.07054343e-03 -2.33583520e+01] [-1.98798154e-02 1.49592121e-04 9.99802366e-01 -3.21708327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90862385300002 meters 0.018284149275184573 Centerline is valid? [True, True] Translation: X:128.55, Y:-23.37, Z:-3.22 [[ 9.80324978e-01 1.96419619e-01 1.95517670e-02 1.28553822e+02] [-1.96377014e-01 9.80519915e-01 -4.09460082e-03 -2.33662622e+01] [-1.99751568e-02 1.74521850e-04 9.99800461e-01 -3.21739813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.938623853 meters 0.01895078423949912 Centerline is valid? [True, True] Translation: X:128.59, Y:-23.37, Z:-3.22 [[ 9.80455150e-01 1.95752299e-01 1.97164207e-02 1.28585511e+02] [-1.95708844e-01 9.80653355e-01 -4.12873968e-03 -2.33743014e+01] [-2.01431844e-02 1.89366159e-04 9.99797088e-01 -3.21788772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.968623853 meters 0.01954977689503416 Centerline is valid? [True, True] Translation: X:128.62, Y:-23.38, Z:-3.22 [[ 9.80567726e-01 1.95171351e-01 1.98765736e-02 1.28616748e+02] [-1.95126989e-01 9.80769137e-01 -4.16621463e-03 -2.33817838e+01] [-2.03074557e-02 2.06799637e-04 9.99793761e-01 -3.21794124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.998623853 meters 0.019897539980246078 Centerline is valid? [True, True] Translation: X:128.65, Y:-23.39, Z:-3.22 [[ 9.80582548e-01 1.95121530e-01 1.96330185e-02 1.28648593e+02] [-1.95078170e-01 9.80779050e-01 -4.11859133e-03 -2.33894861e+01] [-2.00592791e-02 2.08645463e-04 9.99798771e-01 -3.21860057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.028623853 meters 0.020081063831309517 Centerline is valid? [True, True] Translation: X:128.68, Y:-23.40, Z:-3.22 [[ 9.80556498e-01 1.95266190e-01 1.94953543e-02 1.28679431e+02] [-1.95223390e-01 9.80750260e-01 -4.09345390e-03 -2.33969428e+01] [-1.99193869e-02 2.07913672e-04 9.99801568e-01 -3.21980030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.058623853 meters 0.019996069589885538 Centerline is valid? [True, True] Translation: X:128.71, Y:-23.40, Z:-3.22 [[ 9.80448424e-01 1.95832726e-01 1.92465765e-02 1.28711179e+02] [-1.95791054e-01 9.80637295e-01 -4.04460555e-03 -2.34030590e+01] [-1.96659768e-02 1.97219642e-04 9.99806587e-01 -3.22093889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.088623853 meters 0.01974734233576642 Centerline is valid? [True, True] Translation: X:128.74, Y:-23.41, Z:-3.22 [[ 9.80366624e-01 1.96238271e-01 1.92827426e-02 1.28743727e+02] [-1.96196454e-01 9.80556222e-01 -4.05556732e-03 -2.34089478e+01] [-1.97036708e-02 1.92737123e-04 9.99805845e-01 -3.22134538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.118623853 meters 0.019246576913746892 Centerline is valid? [True, True] Translation: X:128.78, Y:-23.41, Z:-3.22 [[ 9.80192534e-01 1.97098856e-01 1.93555364e-02 1.28775303e+02] [-1.97056816e-01 9.80383603e-01 -4.07464512e-03 -2.34145177e+01] [-1.97789584e-02 1.79796352e-04 9.99804361e-01 -3.22188247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.148623853 meters 0.01859833003757599 Centerline is valid? [True, True] Translation: X:128.81, Y:-23.42, Z:-3.22 [[ 9.79997830e-01 1.98062638e-01 1.93763996e-02 1.28806518e+02] [-1.98020633e-01 9.80189351e-01 -4.08219827e-03 -2.34201460e+01] [-1.98010716e-02 1.63618521e-04 9.99803926e-01 -3.22246462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.178623853 meters 0.017689344575625092 Centerline is valid? [True, True] Translation: X:128.84, Y:-23.43, Z:-3.22 [[ 9.79886172e-01 1.98609852e-01 1.94220790e-02 1.28839420e+02] [-1.98567696e-01 9.80078620e-01 -4.09482914e-03 -2.34255073e+01] [-1.98484378e-02 1.55868975e-04 9.99802988e-01 -3.22228085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.208623853 meters 0.017223258714742916 Centerline is valid? [True, True] Translation: X:128.87, Y:-23.43, Z:-3.22 [[ 9.79772448e-01 1.99163238e-01 1.94924364e-02 1.28871764e+02] [-1.99120810e-01 9.79966317e-01 -4.11346698e-03 -2.34317549e+01] [-1.99211826e-02 1.48911889e-04 9.99801542e-01 -3.22273366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.238623853 meters 0.01696652170472986 Centerline is valid? [True, True] Translation: X:128.90, Y:-23.44, Z:-3.22 [[ 9.79652414e-01 1.99754226e-01 1.94781337e-02 1.28903897e+02] [-1.99711899e-01 9.79846023e-01 -4.11433964e-03 -2.34385161e+01] [-1.99074286e-02 1.40607671e-04 9.99801818e-01 -3.22337271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.268623853 meters 0.017338773299439395 Centerline is valid? [True, True] Translation: X:128.93, Y:-23.45, Z:-3.23 [[ 9.79436293e-01 2.00791446e-01 1.96810636e-02 1.28934106e+02] [-2.00748357e-01 9.79634003e-01 -4.16141159e-03 -2.34465255e+01] [-2.01158150e-02 1.24896359e-04 9.99797649e-01 -3.22500594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.298623853 meters 0.016344061228895878 Centerline is valid? [True, True] Translation: X:128.97, Y:-23.45, Z:-3.22 [[ 9.79348118e-01 2.01207254e-01 1.98218500e-02 1.28966815e+02] [-2.01163570e-01 9.79548685e-01 -4.19424922e-03 -2.34511310e+01] [-2.02603805e-02 1.20195976e-04 9.99794730e-01 -3.22391657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.328623853 meters 0.01630770257962827 Centerline is valid? [True, True] Translation: X:129.00, Y:-23.46, Z:-3.23 [[ 9.79178529e-01 2.02039500e-01 1.97344335e-02 1.28998518e+02] [-2.01996289e-01 9.79377368e-01 -4.17976361e-03 -2.34578462e+01] [-2.01719349e-02 1.06452458e-04 9.99796520e-01 -3.22538017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.358623853 meters 0.015585895875836 Centerline is valid? [True, True] Translation: X:129.03, Y:-23.46, Z:-3.23 [[ 9.78976698e-01 2.03001273e-01 1.98773060e-02 1.29031366e+02] [-2.02957557e-01 9.79178469e-01 -4.21369487e-03 -2.34631959e+01] [-2.03188155e-02 9.08596333e-05 9.99793547e-01 -3.22530478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.388623853 meters 0.015038233316686264 Centerline is valid? [True, True] Translation: X:129.06, Y:-23.47, Z:-3.23 [[ 9.78543529e-01 2.05034555e-01 2.03320584e-02 1.29062244e+02] [-2.04989162e-01 9.78754733e-01 -4.31453283e-03 -2.34683182e+01] [-2.07847267e-02 5.41065607e-05 9.99783973e-01 -3.22609681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.418623853 meters 0.014938264832003134 Centerline is valid? [True, True] Translation: X:129.09, Y:-23.47, Z:-3.23 [[ 9.78334351e-01 2.06067923e-01 1.99476272e-02 1.29093665e+02] [-2.06024382e-01 9.78537689e-01 -4.23608485e-03 -2.34741652e+01] [-2.03924262e-02 3.46097730e-05 9.99792052e-01 -3.22709921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44862385300002 meters 0.014806154528339112 Centerline is valid? [True, True] Translation: X:129.13, Y:-23.48, Z:-3.23 [[ 9.78157384e-01 2.06916428e-01 1.98424828e-02 1.29126553e+02] [-2.06873447e-01 9.78358621e-01 -4.21728592e-03 -2.34804510e+01] [-2.02856899e-02 2.02865448e-05 9.99794224e-01 -3.22778749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47862385300002 meters 0.014807901069079534 Centerline is valid? [True, True] Translation: X:129.16, Y:-23.49, Z:-3.23 [[ 9.78044840e-01 2.07469574e-01 1.96129298e-02 1.29158183e+02] [-2.07427615e-01 9.78241471e-01 -4.17235401e-03 -2.34874428e+01] [-2.00518178e-02 1.24860507e-05 9.99798942e-01 -3.22972841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50862385300002 meters 0.014938726933424672 Centerline is valid? [True, True] Translation: X:129.19, Y:-23.50, Z:-3.23 [[ 9.78142399e-01 2.07020178e-01 1.94959583e-02 1.29189781e+02] [-2.06978560e-01 9.78336673e-01 -4.15093990e-03 -2.34956399e+01] [-1.99329393e-02 2.49649298e-05 9.99801319e-01 -3.23069387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53862385300002 meters 0.015240353714458353 Centerline is valid? [True, True] Translation: X:129.22, Y:-23.50, Z:-3.23 [[ 9.78321650e-01 2.06175415e-01 1.94537233e-02 1.29220383e+02] [-2.06133732e-01 9.78515047e-01 -4.14586367e-03 -2.35047882e+01] [-1.98905361e-02 4.59195991e-05 9.99802163e-01 -3.23234785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56862385300002 meters 0.015637071064207666 Centerline is valid? [True, True] Translation: X:129.25, Y:-23.51, Z:-3.23 [[ 9.78572199e-01 2.04993537e-01 1.93416821e-02 1.29252200e+02] [-2.04952033e-01 9.78763324e-01 -4.12551222e-03 -2.35148112e+01] [-1.97766324e-02 7.29944983e-05 9.99804421e-01 -3.23317985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59862385300002 meters 0.017478487822352916 Centerline is valid? [True, True] Translation: X:129.28, Y:-23.53, Z:-3.23 [[ 9.79342790e-01 2.01275670e-01 1.93856628e-02 1.29281918e+02] [-2.01233171e-01 9.79534625e-01 -4.13873206e-03 -2.35289903e+01] [-1.98219540e-02 1.52198991e-04 9.99803514e-01 -3.23397793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62862385300002 meters 0.02739206316532276 Centerline is valid? [True, True] Translation: X:129.31, Y:-23.54, Z:-3.23 [[ 9.79752275e-01 1.99334432e-01 1.87420278e-02 1.29312282e+02] [-1.99294293e-01 9.79931502e-01 -4.00451194e-03 -2.35388085e+01] [-1.91641405e-02 1.88250510e-04 9.99816333e-01 -3.22917280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.65862385300002 meters 0.020805722450237422 Centerline is valid? [True, True] Translation: X:129.34, Y:-23.55, Z:-3.24 [[ 9.80135193e-01 1.97395758e-01 1.92332565e-02 1.29341186e+02] [-1.97353050e-01 9.80323854e-01 -4.11272251e-03 -2.35521065e+01] [-1.96666541e-02 2.35282253e-04 9.99806565e-01 -3.23680903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.688623853 meters 0.022840664551910195 Centerline is valid? [True, True] Translation: X:129.37, Y:-23.56, Z:-3.24 [[ 9.80534931e-01 1.95438735e-01 1.88401042e-02 1.29370108e+02] [-1.95397336e-01 9.80715875e-01 -4.03166982e-03 -2.35638503e+01] [-1.92647337e-02 2.71886922e-04 9.99814381e-01 -3.23860345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.718623853 meters 0.026578465134060248 Centerline is valid? [True, True] Translation: X:129.40, Y:-23.58, Z:-3.24 [[ 9.81233150e-01 1.91943311e-01 1.84192755e-02 1.29398110e+02] [-1.91903063e-01 9.81405957e-01 -3.94490257e-03 -2.35801785e+01] [-1.88339843e-02 3.36153794e-04 9.99822568e-01 -3.24045934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.748623853 meters 0.026186666259576854 Centerline is valid? [True, True] Translation: X:129.43, Y:-23.59, Z:-3.24 [[ 9.81470921e-01 1.90697923e-01 1.86850919e-02 1.29429104e+02] [-1.90656258e-01 9.81648699e-01 -4.00290110e-03 -2.35888378e+01] [-1.91055411e-02 3.66301315e-04 9.99817405e-01 -3.24018395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.778623853 meters 0.0298197287676958 Centerline is valid? [True, True] Translation: X:129.46, Y:-23.60, Z:-3.24 [[ 9.81680761e-01 1.89627978e-01 1.85502977e-02 1.29458095e+02] [-1.89586659e-01 9.81855936e-01 -3.97734129e-03 -2.36029849e+01] [-1.89679351e-02 3.87590462e-04 9.99820017e-01 -3.24237345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.808623853 meters 0.028169552677473113 Centerline is valid? [True, True] Translation: X:129.49, Y:-23.61, Z:-3.24 [[ 9.81810816e-01 1.88942819e-01 1.86582945e-02 1.29489846e+02] [-1.88900836e-01 9.81988007e-01 -4.00348816e-03 -2.36100208e+01] [-1.90786517e-02 4.06100550e-04 9.99817903e-01 -3.24122914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.838623853 meters 0.03257227992732604 Centerline is valid? [True, True] Translation: X:129.52, Y:-23.63, Z:-3.24 [[ 9.82055509e-01 1.87658737e-01 1.87396793e-02 1.29518199e+02] [-1.87616088e-01 9.82234192e-01 -4.02434765e-03 -2.36274850e+01] [-1.91619578e-02 4.36267458e-04 9.99816298e-01 -3.24279030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.868623853 meters 0.033704118989416006 Centerline is valid? [True, True] Translation: X:129.55, Y:-23.64, Z:-3.24 [[ 9.82169466e-01 1.87083154e-01 1.85211728e-02 1.29547774e+02] [-1.87041335e-01 9.82343980e-01 -3.98044057e-03 -2.36382262e+01] [-1.89388360e-02 4.45242292e-04 9.99820545e-01 -3.24412867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.898623853 meters 0.030178626163263795 Centerline is valid? [True, True] Translation: X:129.58, Y:-23.64, Z:-3.24 [[ 9.82244904e-01 1.86674586e-01 1.86426513e-02 1.29580058e+02] [-1.86632091e-01 9.82421696e-01 -4.00925466e-03 -2.36433982e+01] [-1.90633710e-02 4.58752963e-04 9.99818172e-01 -3.24328332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.928623853 meters 0.03556085487301089 Centerline is valid? [True, True] Translation: X:129.61, Y:-23.66, Z:-3.24 [[ 9.82265017e-01 1.86506057e-01 1.92594659e-02 1.29608174e+02] [-1.86460602e-01 9.82453693e-01 -4.14540317e-03 -2.36636312e+01] [-1.96946762e-02 4.80752913e-04 9.99805925e-01 -3.24439209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.958623853 meters 0.03444598763289283 Centerline is valid? [True, True] Translation: X:129.64, Y:-23.67, Z:-3.24 [[ 9.82211732e-01 1.86761988e-01 1.94954579e-02 1.29639549e+02] [-1.86715387e-01 9.82405072e-01 -4.19995654e-03 -2.36725082e+01] [-1.99368289e-02 4.85144629e-04 9.99801124e-01 -3.24402887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.988623853 meters 0.031110868756441916 Centerline is valid? [True, True] Translation: X:129.67, Y:-23.68, Z:-3.24 [[ 9.82083705e-01 1.87388753e-01 1.99261688e-02 1.29671193e+02] [-1.87340120e-01 9.82285711e-01 -4.29666604e-03 -2.36784786e+01] [-2.03783378e-02 4.86714857e-04 9.99792222e-01 -3.24295883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.018623853 meters 0.03079085068517594 Centerline is valid? [True, True] Translation: X:129.70, Y:-23.69, Z:-3.24 [[ 9.81965914e-01 1.87944093e-01 2.04929575e-02 1.29701867e+02] [-1.87892697e-01 9.82179605e-01 -4.42255571e-03 -2.36882366e+01] [-2.09589581e-02 4.92321918e-04 9.99780216e-01 -3.24287198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.048623853 meters 0.030647630092294244 Centerline is valid? [True, True] Translation: X:129.73, Y:-23.70, Z:-3.24 [[ 9.81755972e-01 1.89004725e-01 2.07948423e-02 1.29730597e+02] [-1.88951962e-01 9.81976060e-01 -4.49141417e-03 -2.37008581e+01] [-2.12689358e-02 4.80246423e-04 9.99773675e-01 -3.24300627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.078623853 meters 0.030647630092294244 Centerline is valid? [True, True] Translation: X:129.76, Y:-23.71, Z:-3.24 [[ 9.81720707e-01 1.89187885e-01 2.07941821e-02 1.29762301e+02] [-1.89135098e-01 9.81940790e-01 -4.49446844e-03 -2.37079114e+01] [-2.12689546e-02 4.79403051e-04 9.99773675e-01 -3.24382411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.108623853 meters 0.029190983051251066 Centerline is valid? [True, True] Translation: X:129.79, Y:-23.72, Z:-3.25 [[ 9.81578652e-01 1.89934170e-01 2.06969116e-02 1.29793592e+02] [-1.89881955e-01 9.81796718e-01 -4.47754492e-03 -2.37161832e+01] [-2.11705986e-02 4.65092477e-04 9.99775770e-01 -3.24539305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.138623853 meters 0.03007292909577632 Centerline is valid? [True, True] Translation: X:129.82, Y:-23.73, Z:-3.25 [[ 9.81386981e-01 1.90959096e-01 2.03523211e-02 1.29822792e+02] [-1.90908753e-01 9.81597897e-01 -4.40652883e-03 -2.37275428e+01] [-2.08192624e-02 4.39073784e-04 9.99783159e-01 -3.24714714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.168623853 meters 0.027199780432408262 Centerline is valid? [True, True] Translation: X:129.85, Y:-23.73, Z:-3.25 [[ 9.81107896e-01 1.92412133e-01 2.01213175e-02 1.29854700e+02] [-1.92363166e-01 9.81314122e-01 -4.35965201e-03 -2.37337755e+01] [-2.05841830e-02 4.06688666e-04 9.99788041e-01 -3.24784340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.19862385300002 meters 0.02423999069262366 Centerline is valid? [True, True] Translation: X:129.88, Y:-23.74, Z:-3.25 [[ 9.80413167e-01 1.95926153e-01 2.00739776e-02 1.29883522e+02] [-1.95878065e-01 9.80618595e-01 -4.35362525e-03 -2.37422742e+01] [-2.05379048e-02 3.36299611e-04 9.99789018e-01 -3.24903746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22862385300002 meters 0.022057231809923798 Centerline is valid? [True, True] Translation: X:129.91, Y:-23.75, Z:-3.25 [[ 9.79934326e-01 1.98316779e-01 1.99792862e-02 1.29914799e+02] [-1.98269650e-01 9.80137936e-01 -4.33259699e-03 -2.37486404e+01] [-2.04416830e-02 2.84374419e-04 9.99791007e-01 -3.24974780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25862385300002 meters 0.024028833986439773 Centerline is valid? [True, True] Translation: X:129.95, Y:-23.75, Z:-3.25 [[ 9.79396797e-01 2.01025974e-01 1.92476330e-02 1.29946346e+02] [-2.00982695e-01 9.79585886e-01 -4.17709991e-03 -2.37535194e+01] [-1.96944152e-02 2.22597114e-04 9.99806021e-01 -3.24550235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28862385300002 meters 0.01856535621314406 Centerline is valid? [True, True] Translation: X:129.98, Y:-23.76, Z:-3.25 [[ 9.78810069e-01 2.03818130e-01 1.97235700e-02 1.29976718e+02] [-2.03773171e-01 9.79008754e-01 -4.28429783e-03 -2.37612389e+01] [-2.01827652e-02 1.74379470e-04 9.99796292e-01 -3.25225392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31862385300002 meters 0.01532994782282845 Centerline is valid? [True, True] Translation: X:130.01, Y:-23.76, Z:-3.25 [[ 9.77409995e-01 2.10460757e-01 1.93900050e-02 1.30008974e+02] [-2.10418580e-01 9.77602306e-01 -4.21337423e-03 -2.37629510e+01] [-1.98424635e-02 3.81767570e-05 9.99803118e-01 -3.25360430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34862385300002 meters 0.015013829406902622 Centerline is valid? [True, True] Translation: X:130.04, Y:-23.77, Z:-3.25 [[ 9.76671269e-01 2.13848501e-01 1.95461274e-02 1.30041924e+02] [-2.13806258e-01 9.76866837e-01 -4.25046609e-03 -2.37672071e+01] [-2.00029194e-02 -2.77762387e-05 9.99799921e-01 -3.25445634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.37862385300002 meters 0.015659438353047443 Centerline is valid? [True, True] Translation: X:130.07, Y:-23.77, Z:-3.26 [[ 9.75989394e-01 2.16947781e-01 1.94515852e-02 1.30074233e+02] [-2.16906485e-01 9.76183207e-01 -4.23368404e-03 -2.37717387e+01] [-1.99067992e-02 -8.71442476e-05 9.99801836e-01 -3.25552276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40862385300002 meters 0.016649941091410023 Centerline is valid? [True, True] Translation: X:130.11, Y:-23.78, Z:-3.26 [[ 9.75354680e-01 2.19791035e-01 1.93687708e-02 1.30105360e+02] [-2.19750586e-01 9.75546965e-01 -4.21889851e-03 -2.37774792e+01] [-1.98224216e-02 -1.41376326e-04 9.99803506e-01 -3.25608214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.438623853 meters 0.01812257407998372 Centerline is valid? [True, True] Translation: X:130.14, Y:-23.78, Z:-3.26 [[ 9.74770435e-01 2.22363415e-01 1.94193115e-02 1.30136565e+02] [-2.22323204e-01 9.74963833e-01 -4.23297915e-03 -2.37831571e+01] [-1.98743860e-02 -1.91180611e-04 9.99802467e-01 -3.25683245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.468623853 meters 0.021375394418613334 Centerline is valid? [True, True] Translation: X:130.17, Y:-23.79, Z:-3.26 [[ 9.73756790e-01 2.26724205e-01 1.98456460e-02 1.30168269e+02] [-2.26683048e-01 9.73958959e-01 -4.32906582e-03 -2.37873714e+01] [-2.03103487e-02 -2.83214294e-04 9.99793683e-01 -3.25691542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.498623853 meters 0.02256535313917528 Centerline is valid? [True, True] Translation: X:130.20, Y:-23.79, Z:-3.26 [[ 9.73355109e-01 2.28403957e-01 2.02845984e-02 1.30199971e+02] [-2.28361253e-01 9.73566397e-01 -4.42820893e-03 -2.37935053e+01] [-2.07598238e-02 -3.21996519e-04 9.99784440e-01 -3.25747561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.528623853 meters 0.02358278160501082 Centerline is valid? [True, True] Translation: X:130.23, Y:-23.80, Z:-3.26 [[ 9.73022037e-01 2.29821724e-01 2.02506993e-02 1.30231309e+02] [-2.29779400e-01 9.73232682e-01 -4.42420016e-03 -2.38000901e+01] [-2.07254197e-02 -3.48349276e-04 9.99785145e-01 -3.25811847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.558623853 meters 0.02538223886850225 Centerline is valid? [True, True] Translation: X:130.26, Y:-23.81, Z:-3.26 [[ 9.72667182e-01 2.31307971e-01 2.03758418e-02 1.30261600e+02] [-2.31265369e-01 9.72880506e-01 -4.45534521e-03 -2.38050667e+01] [-2.08538161e-02 -3.78658500e-04 9.99782464e-01 -3.25918053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.588623853 meters 0.028173630042133777 Centerline is valid? [True, True] Translation: X:130.29, Y:-23.81, Z:-3.26 [[ 9.71972297e-01 2.34202198e-01 2.04740080e-02 1.30292193e+02] [-2.34159796e-01 9.72187809e-01 -4.47824699e-03 -2.38095569e+01] [-2.09533963e-02 -4.41457520e-04 9.99780356e-01 -3.26008144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.618623853 meters 0.02963558322205452 Centerline is valid? [True, True] Translation: X:130.32, Y:-23.82, Z:-3.26 [[ 9.71603070e-01 2.35758915e-01 2.01297711e-02 1.30324215e+02] [-2.35718199e-01 9.71811462e-01 -4.40592086e-03 -2.38153690e+01] [-2.06010774e-02 -4.64147156e-04 9.99787668e-01 -3.26145587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.648623853 meters 0.031645827976981004 Centerline is valid? [True, True] Translation: X:130.36, Y:-23.82, Z:-3.26 [[ 9.71190620e-01 2.37493957e-01 1.96315873e-02 1.30355149e+02] [-2.37455521e-01 9.71388895e-01 -4.30006093e-03 -2.38195935e+01] [-2.00911443e-02 -4.85449944e-04 9.99798035e-01 -3.26320129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.678623853 meters 0.03366443477517167 Centerline is valid? [True, True] Translation: X:130.39, Y:-23.82, Z:-3.27 [[ 9.70797595e-01 2.39123179e-01 1.92907795e-02 1.30386503e+02] [-2.39086332e-01 9.70989108e-01 -4.22827974e-03 -2.38233856e+01] [-1.97422165e-02 -5.07357901e-04 9.99804975e-01 -3.26515744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.708623853 meters 0.036981965013424545 Centerline is valid? [True, True] Translation: X:130.42, Y:-23.82, Z:-3.27 [[ 9.70116105e-01 2.41952903e-01 1.82629746e-02 1.30416935e+02] [-2.41920320e-01 9.70287849e-01 -4.00613462e-03 -2.38235479e+01] [-1.86896382e-02 -5.31768943e-04 9.99825192e-01 -3.26772449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.738623853 meters 0.03866780598520375 Centerline is valid? [True, True] Translation: X:130.45, Y:-23.83, Z:-3.27 [[ 9.69784883e-01 2.43283293e-01 1.81801967e-02 1.30448765e+02] [-2.43251231e-01 9.69955118e-01 -3.98834675e-03 -2.38275471e+01] [-1.86042730e-02 -5.54516834e-04 9.99826772e-01 -3.26917920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.768623853 meters 0.04006113743503555 Centerline is valid? [True, True] Translation: X:130.48, Y:-23.83, Z:-3.27 [[ 9.69547790e-01 2.44221970e-01 1.82404203e-02 1.30479736e+02] [-2.44189798e-01 9.69719188e-01 -4.00495098e-03 -2.38312976e+01] [-1.86661826e-02 -5.71133174e-04 9.99825609e-01 -3.27051055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.798623853 meters 0.040810716250935554 Centerline is valid? [True, True] Translation: X:130.51, Y:-23.84, Z:-3.27 [[ 9.69362234e-01 2.44944330e-01 1.84156091e-02 1.30511748e+02] [-2.44911645e-01 9.69536966e-01 -4.04455382e-03 -2.38365731e+01] [-1.88453043e-02 -5.89559408e-04 9.99822238e-01 -3.27106362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.828623853 meters 0.041425269365859906 Centerline is valid? [True, True] Translation: X:130.54, Y:-23.84, Z:-3.27 [[ 9.69247933e-01 2.45373586e-01 1.87149305e-02 1.30544359e+02] [-2.45339854e-01 9.69428408e-01 -4.11318993e-03 -2.38423769e+01] [-1.91520535e-02 -6.04817494e-04 9.99816400e-01 -3.27154017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.858623853 meters 0.04177995094648959 Centerline is valid? [True, True] Translation: X:130.57, Y:-23.85, Z:-3.27 [[ 9.69271165e-01 2.45268232e-01 1.88918717e-02 1.30574872e+02] [-2.45233769e-01 9.69455068e-01 -4.15571445e-03 -2.38478178e+01] [-1.93340855e-02 -6.04910719e-04 9.99812896e-01 -3.27201917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.888623853 meters 0.03366834967119008 Centerline is valid? [True, True] Translation: X:130.60, Y:-23.86, Z:-3.27 [[ 9.69548948e-01 2.44152072e-01 1.90946082e-02 1.30603956e+02] [-2.44116597e-01 9.69736780e-01 -4.20296778e-03 -2.38638632e+01] [-1.95429072e-02 -5.86327797e-04 9.99808847e-01 -3.27120774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.918623853 meters 0.03491231392494321 Centerline is valid? [True, True] Translation: X:130.63, Y:-23.87, Z:-3.27 [[ 9.69732310e-01 2.43417156e-01 1.91659997e-02 1.30634866e+02] [-2.43381205e-01 9.69921524e-01 -4.22211074e-03 -2.38680854e+01] [-1.96172499e-02 -5.70326914e-04 9.99807401e-01 -3.27261569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94862385300002 meters 0.03309005823980332 Centerline is valid? [True, True] Translation: X:130.67, Y:-23.88, Z:-3.27 [[ 9.69916193e-01 2.42689009e-01 1.90951080e-02 1.30665519e+02] [-2.42653124e-01 9.70103985e-01 -4.20949666e-03 -2.38769614e+01] [-1.95458390e-02 -5.50628631e-04 9.99808810e-01 -3.27338718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97862385300002 meters 0.03602317604606202 Centerline is valid? [True, True] Translation: X:130.70, Y:-23.88, Z:-3.28 [[ 9.70229198e-01 2.41450030e-01 1.88993662e-02 1.30697677e+02] [-2.41414580e-01 9.70413116e-01 -4.16954841e-03 -2.38776168e+01] [-1.93469304e-02 -5.17164929e-04 9.99812697e-01 -3.27623635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00862385300002 meters 0.031403251005141054 Centerline is valid? [True, True] Translation: X:130.73, Y:-23.89, Z:-3.28 [[ 9.70325333e-01 2.41099170e-01 1.84374284e-02 1.30728021e+02] [-2.41065311e-01 9.70500358e-01 -4.07067433e-03 -2.38893759e+01] [-1.88749671e-02 -4.94745987e-04 9.99821730e-01 -3.27655100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03862385300002 meters 0.033038332585359535 Centerline is valid? [True, True] Translation: X:130.76, Y:-23.89, Z:-3.28 [[ 9.70391850e-01 2.40855731e-01 1.81155527e-02 1.30759225e+02] [-2.40822944e-01 9.70560811e-01 -4.00271835e-03 -2.38921510e+01] [-1.85463232e-02 -4.78435468e-04 9.99827888e-01 -3.27908974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06862385300002 meters 0.0302399295257157 Centerline is valid? [True, True] Translation: X:130.79, Y:-23.90, Z:-3.28 [[ 9.70432397e-01 2.40704067e-01 1.79586936e-02 1.30789875e+02] [-2.40671770e-01 9.70598440e-01 -3.97076645e-03 -2.39017249e+01] [-1.83864596e-02 -4.68790164e-04 9.99830845e-01 -3.27919766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.09862385300002 meters 0.031106746237653526 Centerline is valid? [True, True] Translation: X:130.82, Y:-23.91, Z:-3.28 [[ 9.70425664e-01 2.40688491e-01 1.85224245e-02 1.30821128e+02] [-2.40654066e-01 9.70602298e-01 -4.09884372e-03 -2.39052901e+01] [-1.89644523e-02 -4.79873621e-04 9.99820043e-01 -3.27936701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12862385300002 meters 0.0356562142604697 Centerline is valid? [True, True] Translation: X:130.85, Y:-23.90, Z:-3.28 [[ 9.70363872e-01 2.40902617e-01 1.89706171e-02 1.30853692e+02] [-2.40866487e-01 9.70549167e-01 -4.20106062e-03 -2.39046460e+01] [-1.94239631e-02 -4.92828441e-04 9.99811216e-01 -3.28074497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.15862385300002 meters 0.03159921837543969 Centerline is valid? [True, True] Translation: X:130.89, Y:-23.92, Z:-3.28 [[ 9.70230409e-01 2.41417375e-01 1.92511126e-02 1.30885045e+02] [-2.41380201e-01 9.70421246e-01 -4.26665996e-03 -2.39155770e+01] [-1.97117345e-02 -5.07194189e-04 9.99805576e-01 -3.27975754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.188623853 meters 0.03219533598599727 Centerline is valid? [True, True] Translation: X:130.92, Y:-23.92, Z:-3.28 [[ 9.69994498e-01 2.42342510e-01 1.95136484e-02 1.30916840e+02] [-2.42304424e-01 9.70190614e-01 -4.32881339e-03 -2.39198651e+01] [-1.99810141e-02 -5.29318172e-04 9.99800219e-01 -3.28001073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.218623853 meters 0.038278394397752775 Centerline is valid? [True, True] Translation: X:130.95, Y:-23.92, Z:-3.28 [[ 9.69831862e-01 2.42980746e-01 1.96600013e-02 1.30949457e+02] [-2.42942148e-01 9.70030959e-01 -4.36470142e-03 -2.39161134e+01] [-2.01313483e-02 -5.43216430e-04 9.99797196e-01 -3.28191009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.248623853 meters 0.034141750755383254 Centerline is valid? [True, True] Translation: X:130.98, Y:-23.92, Z:-3.28 [[ 9.69493771e-01 2.44343688e-01 1.94419548e-02 1.30980116e+02] [-2.44306155e-01 9.69688531e-01 -4.31928387e-03 -2.39239650e+01] [-1.99080303e-02 -5.62270422e-04 9.99801657e-01 -3.28202219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.278623853 meters 0.035213608215115814 Centerline is valid? [True, True] Translation: X:131.01, Y:-23.93, Z:-3.28 [[ 9.69321651e-01 2.45010808e-01 1.96275579e-02 1.31011165e+02] [-2.44972630e-01 9.69520175e-01 -4.36362538e-03 -2.39265361e+01] [-2.00984487e-02 -5.78457913e-04 9.99797838e-01 -3.28302718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.308623853 meters 0.034716920178967596 Centerline is valid? [True, True] Translation: X:131.04, Y:-23.93, Z:-3.28 [[ 9.69171128e-01 2.45601908e-01 1.96730000e-02 1.31042662e+02] [-2.45563614e-01 9.69370598e-01 -4.37673715e-03 -2.39316939e+01] [-2.01453628e-02 -5.89165691e-04 9.99796888e-01 -3.28352499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.338623853 meters 0.03503178547231413 Centerline is valid? [True, True] Translation: X:131.07, Y:-23.94, Z:-3.28 [[ 9.69040751e-01 2.46144268e-01 1.93137832e-02 1.31074436e+02] [-2.46107404e-01 9.69233024e-01 -4.30000944e-03 -2.39354926e+01] [-1.97779792e-02 -5.86380666e-04 9.99804225e-01 -3.28461483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.368623853 meters 0.035718409957947235 Centerline is valid? [True, True] Translation: X:131.11, Y:-23.94, Z:-3.29 [[ 9.69010971e-01 2.46278726e-01 1.90926066e-02 1.31106539e+02] [-2.46242660e-01 9.69198872e-01 -4.25422351e-03 -2.39386312e+01] [-1.95522576e-02 -5.79024993e-04 9.99808669e-01 -3.28594547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.398623853 meters 0.03517681127140766 Centerline is valid? [True, True] Translation: X:131.14, Y:-23.94, Z:-3.29 [[ 9.69022262e-01 2.46214422e-01 1.93472123e-02 1.31139176e+02] [-2.46177333e-01 9.69215207e-01 -4.31307397e-03 -2.39405803e+01] [-1.98135534e-02 -5.83380431e-04 9.99803522e-01 -3.28626367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.428623853 meters 0.034510355467207904 Centerline is valid? [True, True] Translation: X:131.17, Y:-23.95, Z:-3.29 [[ 9.69063812e-01 2.46041458e-01 1.94660922e-02 1.31170833e+02] [-2.46003811e-01 9.69259132e-01 -4.34290498e-03 -2.39459491e+01] [-1.99362223e-02 -5.80180802e-04 9.99801085e-01 -3.28681668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.458623853 meters 0.0343696489427355 Centerline is valid? [True, True] Translation: X:131.20, Y:-23.95, Z:-3.29 [[ 9.69413609e-01 2.44626823e-01 1.98739179e-02 1.31202133e+02] [-2.44587213e-01 9.69617143e-01 -4.43743055e-03 -2.39471786e+01] [-2.03556060e-02 -5.59200617e-04 9.99792647e-01 -3.28639781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.488623853 meters 0.030006545033609666 Centerline is valid? [True, True] Translation: X:131.23, Y:-23.96, Z:-3.29 [[ 9.69693770e-01 2.43481890e-01 2.02623147e-02 1.31233052e+02] [-2.43440400e-01 9.69905292e-01 -4.52732852e-03 -2.39570709e+01] [-2.07548487e-02 -5.42543726e-04 9.99784448e-01 -3.28610847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.518623853 meters 0.030651143762981902 Centerline is valid? [True, True] Translation: X:131.26, Y:-23.96, Z:-3.29 [[ 9.70093119e-01 2.41870129e-01 2.04494606e-02 1.31264293e+02] [-2.41827434e-01 9.70308498e-01 -4.57285337e-03 -2.39598034e+01] [-2.09483220e-02 -5.09146983e-04 9.99780430e-01 -3.28737625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.548623853 meters 0.028267144878529007 Centerline is valid? [True, True] Translation: X:131.30, Y:-23.97, Z:-3.29 [[ 9.70546435e-01 2.40015987e-01 2.07832414e-02 1.31295834e+02] [-2.39971379e-01 9.70768820e-01 -4.65134543e-03 -2.39680569e+01] [-2.12921200e-02 -4.73036369e-04 9.99773185e-01 -3.28799849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.578623853 meters 0.02657904400280345 Centerline is valid? [True, True] Translation: X:131.33, Y:-23.98, Z:-3.29 [[ 9.71037376e-01 2.38022067e-01 2.07824388e-02 1.31326220e+02] [-2.37976986e-01 9.71259652e-01 -4.65208139e-03 -2.39755107e+01] [-2.12924423e-02 -4.28397240e-04 9.99773198e-01 -3.28854702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.608623853 meters 0.024447778221420743 Centerline is valid? [True, True] Translation: X:131.36, Y:-23.98, Z:-3.29 [[ 9.71588599e-01 2.35749262e-01 2.09255616e-02 1.31357937e+02] [-2.35702952e-01 9.71813842e-01 -4.68783201e-03 -2.39834923e+01] [-2.14409033e-02 -3.77572494e-04 9.99770046e-01 -3.28961460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.638623853 meters 0.020928468394371524 Centerline is valid? [True, True] Translation: X:131.39, Y:-23.99, Z:-3.29 [[ 9.72628709e-01 2.31492474e-01 2.01153838e-02 1.31388364e+02] [-2.31448742e-01 9.72836657e-01 -4.50766611e-03 -2.39915423e+01] [-2.06124735e-02 -2.71394805e-04 9.99787504e-01 -3.29204954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.668623853 meters 0.019747190413352936 Centerline is valid? [True, True] Translation: X:131.42, Y:-24.00, Z:-3.29 [[ 9.73062156e-01 2.29691542e-01 1.97948554e-02 1.31418656e+02] [-2.29648817e-01 9.73263450e-01 -4.43596769e-03 -2.39990810e+01] [-2.02845135e-02 -2.29392848e-04 9.99794222e-01 -3.29340649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.69862385300002 meters 0.01870569870371418 Centerline is valid? [True, True] Translation: X:131.45, Y:-24.01, Z:-3.29 [[ 9.73462230e-01 2.28017394e-01 1.94770211e-02 1.31450222e+02] [-2.27975664e-01 9.73657040e-01 -4.36626256e-03 -2.40071517e+01] [-1.99595225e-02 -1.89895133e-04 9.99800771e-01 -3.29463827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72862385300002 meters 0.01787423942674716 Centerline is valid? [True, True] Translation: X:131.48, Y:-24.01, Z:-3.30 [[ 9.73821598e-01 2.26504799e-01 1.91591121e-02 1.31480955e+02] [-2.26464064e-01 9.74010037e-01 -4.29827633e-03 -2.40142676e+01] [-1.96347477e-02 -1.53096055e-04 9.99807208e-01 -3.29633670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75862385300002 meters 0.016344648742660683 Centerline is valid? [True, True] Translation: X:131.51, Y:-24.02, Z:-3.30 [[ 9.74603725e-01 2.23169971e-01 1.85133546e-02 1.31512420e+02] [-2.23131282e-01 9.74779543e-01 -4.15611951e-03 -2.40225899e+01] [-1.89739604e-02 -8.03389954e-05 9.99819975e-01 -3.29808650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78862385300002 meters 0.01591176993794787 Centerline is valid? [True, True] Translation: X:131.54, Y:-24.03, Z:-3.30 [[ 9.74932509e-01 2.21713063e-01 1.87061453e-02 1.31543522e+02] [-2.21673234e-01 9.75111950e-01 -4.20264032e-03 -2.40302439e+01] [-1.91723661e-02 -4.93610486e-05 9.99816192e-01 -3.29898201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.81862385300002 meters 0.01570618924155895 Centerline is valid? [True, True] Translation: X:131.58, Y:-24.04, Z:-3.30 [[ 9.75290790e-01 2.20122006e-01 1.88196106e-02 1.31575243e+02] [-2.20081320e-01 9.75472348e-01 -4.23202291e-03 -2.40380960e+01] [-1.92895711e-02 -1.43917854e-05 9.99813939e-01 -3.29921690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84862385300002 meters 0.015697396972151178 Centerline is valid? [True, True] Translation: X:131.61, Y:-24.05, Z:-3.30 [[ 9.75588814e-01 2.18763837e-01 1.92054578e-02 1.31605999e+02] [-2.18721186e-01 9.75777835e-01 -4.31967965e-03 -2.40459274e+01] [-1.96852497e-02 1.35906525e-05 9.99806227e-01 -3.29965452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.87862385300002 meters 0.0160693988702822 Centerline is valid? [True, True] Translation: X:131.64, Y:-24.05, Z:-3.30 [[ 9.76009566e-01 2.16833162e-01 1.97156651e-02 1.31636600e+02] [-2.16787769e-01 9.76208675e-01 -4.43696237e-03 -2.40535532e+01] [-2.02086839e-02 5.64026642e-05 9.99795782e-01 -3.29931053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90862385300002 meters 0.016152372441373266 Centerline is valid? [True, True] Translation: X:131.67, Y:-24.06, Z:-3.30 [[ 9.76123916e-01 2.16289908e-01 2.00193996e-02 1.31669226e+02] [-2.16242946e-01 9.76329182e-01 -4.50748063e-03 -2.40607921e+01] [-2.05204466e-02 7.08056877e-05 9.99789431e-01 -3.29958761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.93862385300002 meters 0.016059896622114374 Centerline is valid? [True, True] Translation: X:131.70, Y:-24.07, Z:-3.30 [[ 9.76085116e-01 2.16442623e-01 2.02592625e-02 1.31701650e+02] [-2.16394480e-01 9.76295337e-01 -4.56547635e-03 -2.40666856e+01] [-2.07671872e-02 7.23009521e-05 9.99784336e-01 -3.29921484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.968623853 meters 0.016059896622114374 Centerline is valid? [True, True] Translation: X:131.73, Y:-24.07, Z:-3.30 [[ 9.76043179e-01 2.16631741e-01 2.02583768e-02 1.31733296e+02] [-2.16583556e-01 9.76253391e-01 -4.56940263e-03 -2.40740130e+01] [-2.07671867e-02 7.23029766e-05 9.99784336e-01 -3.30003265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.998623853 meters 0.015954535682260025 Centerline is valid? [True, True] Translation: X:131.77, Y:-24.08, Z:-3.30 [[ 9.75925600e-01 2.17161187e-01 2.02544527e-02 1.31765221e+02] [-2.17113049e-01 9.76135756e-01 -4.57269871e-03 -2.40792211e+01] [-2.07641082e-02 6.51077531e-05 9.99784401e-01 -3.30095493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.028623853 meters 0.015914156748851875 Centerline is valid? [True, True] Translation: X:131.80, Y:-24.08, Z:-3.30 [[ 9.75698211e-01 2.18187969e-01 2.01744950e-02 1.31796712e+02] [-2.18140350e-01 9.75906762e-01 -4.55848635e-03 -2.40829018e+01] [-2.06830330e-02 4.68355741e-05 9.99786082e-01 -3.30224559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.058623853 meters 0.015497391939256585 Centerline is valid? [True, True] Translation: X:131.83, Y:-24.08, Z:-3.30 [[ 9.75054175e-01 2.21105457e-01 1.95379941e-02 1.31831247e+02] [-2.21061313e-01 9.75249905e-01 -4.41804626e-03 -2.40814691e+01] [-2.00312810e-02 -1.12601916e-05 9.99799354e-01 -3.30375946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.088623853 meters 0.01575361523161717 Centerline is valid? [True, True] Translation: X:131.86, Y:-24.08, Z:-3.31 [[ 9.74702992e-01 2.22689278e-01 1.90673059e-02 1.31864180e+02] [-2.22647467e-01 9.74889473e-01 -4.31527801e-03 -2.40845504e+01] [-1.95494819e-02 -3.91729660e-05 9.99808890e-01 -3.30574118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.118623853 meters 0.015864745720117795 Centerline is valid? [True, True] Translation: X:131.90, Y:-24.09, Z:-3.31 [[ 9.74401039e-01 2.23999689e-01 1.91508147e-02 1.31897012e+02] [-2.23957690e-01 9.74589214e-01 -4.33795125e-03 -2.40885392e+01] [-1.96358771e-02 -6.20680011e-05 9.99807196e-01 -3.30627279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.148623853 meters 0.01624642115390947 Centerline is valid? [True, True] Translation: X:131.93, Y:-24.09, Z:-3.31 [[ 9.74077330e-01 2.25391798e-01 1.92845083e-02 1.31929415e+02] [-2.25349403e-01 9.74268202e-01 -4.37229863e-03 -2.40916338e+01] [-1.97737635e-02 -8.67954507e-05 9.99804476e-01 -3.30751425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.178623853 meters 0.016967440661065127 Centerline is valid? [True, True] Translation: X:131.96, Y:-24.09, Z:-3.31 [[ 9.73769000e-01 2.26692509e-01 1.96071687e-02 1.31960744e+02] [-2.26648852e-01 9.73966372e-01 -4.45014409e-03 -2.40914275e+01] [-2.01055373e-02 -1.10529915e-04 9.99797857e-01 -3.30782800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.208623853 meters 0.016555495569006328 Centerline is valid? [True, True] Translation: X:131.99, Y:-24.10, Z:-3.31 [[ 9.73705642e-01 2.26912473e-01 2.02003120e-02 1.31991783e+02] [-2.26866178e-01 9.73915148e-01 -4.58496619e-03 -2.40971493e+01] [-2.07137758e-02 -1.18360119e-04 9.99785440e-01 -3.30653364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.238623853 meters 0.01649623731825871 Centerline is valid? [True, True] Translation: X:132.02, Y:-24.10, Z:-3.31 [[ 9.73724749e-01 2.26795735e-01 2.05865987e-02 1.32022266e+02] [-2.26747614e-01 9.73942339e-01 -4.67321898e-03 -2.41018133e+01] [-2.11100262e-02 -1.17533160e-04 9.99777152e-01 -3.30699919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.268623853 meters 0.016167348649487608 Centerline is valid? [True, True] Translation: X:132.05, Y:-24.11, Z:-3.31 [[ 9.73833809e-01 2.26309469e-01 2.07782609e-02 1.32053877e+02] [-2.26260344e-01 9.74055446e-01 -4.71636853e-03 -2.41080208e+01] [-2.13065370e-02 -1.08337320e-04 9.99772984e-01 -3.30741988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.298623853 meters 0.015569107343745222 Centerline is valid? [True, True] Translation: X:132.09, Y:-24.11, Z:-3.31 [[ 9.74319046e-01 2.24200656e-01 2.08916695e-02 1.32085231e+02] [-2.24150419e-01 9.74543002e-01 -4.74626077e-03 -2.41142058e+01] [-2.14239451e-02 -5.85042020e-05 9.99770479e-01 -3.30809126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.328623853 meters 0.015418309063973373 Centerline is valid? [True, True] Translation: X:132.12, Y:-24.12, Z:-3.31 [[ 9.74600131e-01 2.22957263e-01 2.10865739e-02 1.32116093e+02] [-2.22905774e-01 9.74828220e-01 -4.79147147e-03 -2.41213032e+01] [-2.16240807e-02 -3.05503461e-05 9.99766172e-01 -3.30918163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.358623853 meters 0.015406416276050477 Centerline is valid? [True, True] Translation: X:132.15, Y:-24.13, Z:-3.31 [[ 9.74971558e-01 2.21303583e-01 2.13350788e-02 1.32146255e+02] [-2.21250383e-01 9.75204965e-01 -4.85223223e-03 -2.41291989e+01] [-2.18798911e-02 1.03940682e-05 9.99760606e-01 -3.30975971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.388623853 meters 0.015785619757085135 Centerline is valid? [True, True] Translation: X:132.18, Y:-24.14, Z:-3.31 [[ 9.75379422e-01 2.19476432e-01 2.15656748e-02 1.32175887e+02] [-2.19421543e-01 9.75617800e-01 -4.90856599e-03 -2.41377913e+01] [-2.21171707e-02 5.57406318e-05 9.99755384e-01 -3.31093846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.418623853 meters 0.01729439383584001 Centerline is valid? [True, True] Translation: X:132.21, Y:-24.15, Z:-3.31 [[ 9.76363706e-01 2.15029753e-01 2.18201678e-02 1.32206138e+02] [-2.14972446e-01 9.76607485e-01 -4.96659827e-03 -2.41484187e+01] [-2.23777056e-02 1.58471442e-04 9.99749575e-01 -3.31041364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44862385300002 meters 0.018319992310993783 Centerline is valid? [True, True] Translation: X:132.24, Y:-24.16, Z:-3.31 [[ 9.76842487e-01 2.12850258e-01 2.17605857e-02 1.32236765e+02] [-2.12792637e-01 9.77084808e-01 -4.95689353e-03 -2.41575219e+01] [-2.23170138e-02 2.11611776e-04 9.99750922e-01 -3.31152850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47862385300002 meters 0.02120108958472431 Centerline is valid? [True, True] Translation: X:132.27, Y:-24.17, Z:-3.31 [[ 9.77378889e-01 2.10397138e-01 2.15302414e-02 1.32265913e+02] [-2.10340043e-01 9.77615963e-01 -4.90860989e-03 -2.41699890e+01] [-2.20810651e-02 2.68899781e-04 9.99756147e-01 -3.31342924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50862385300002 meters 0.022495038943103087 Centerline is valid? [True, True] Translation: X:132.30, Y:-24.18, Z:-3.31 [[ 9.77864864e-01 2.08129639e-01 2.15025817e-02 1.32296618e+02] [-2.08072100e-01 9.78101196e-01 -4.90417640e-03 -2.41795585e+01] [-2.20524054e-02 3.21534444e-04 9.99756764e-01 -3.31381303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53862385300002 meters 0.02554853792412334 Centerline is valid? [True, True] Translation: X:132.33, Y:-24.19, Z:-3.31 [[ 9.78354121e-01 2.05805803e-01 2.16144547e-02 1.32325997e+02] [-2.05747006e-01 9.78592779e-01 -4.93376865e-03 -2.41913207e+01] [-2.21671476e-02 3.79863537e-04 9.99754206e-01 -3.31479501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56862385300002 meters 0.029341164314500016 Centerline is valid? [True, True] Translation: X:132.36, Y:-24.20, Z:-3.32 [[ 9.79284969e-01 2.01355100e-01 2.13792814e-02 1.32355380e+02] [-2.01296468e-01 9.79518196e-01 -4.88224861e-03 -2.42044754e+01] [-2.19244608e-02 4.77538835e-04 9.99759516e-01 -3.31584194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59862385300002 meters 0.03194791785441916 Centerline is valid? [True, True] Translation: X:132.38, Y:-24.22, Z:-3.32 [[ 9.79700668e-01 1.99351012e-01 2.11133991e-02 1.32384445e+02] [-1.99293363e-01 9.79928011e-01 -4.82158604e-03 -2.42158915e+01] [-2.16507992e-02 5.15950758e-04 9.99765461e-01 -3.31713599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62862385300002 meters 0.032166545940120216 Centerline is valid? [True, True] Translation: X:132.42, Y:-24.22, Z:-3.32 [[ 9.80097402e-01 1.97387894e-01 2.11447634e-02 1.32415583e+02] [-1.97329536e-01 9.80325304e-01 -4.83245535e-03 -2.42246994e+01] [-2.16826148e-02 5.63790580e-04 9.99764746e-01 -3.31741497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.65862385300002 meters 0.03460162584567823 Centerline is valid? [True, True] Translation: X:132.44, Y:-24.24, Z:-3.32 [[ 9.80498699e-01 1.95381994e-01 2.11701935e-02 1.32444932e+02] [-1.95323014e-01 9.80727029e-01 -4.83896062e-03 -2.42362559e+01] [-2.17076267e-02 6.09568600e-04 9.99764176e-01 -3.31826256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68862385300002 meters 0.037561170378527846 Centerline is valid? [True, True] Translation: X:132.47, Y:-24.25, Z:-3.32 [[ 9.81196366e-01 1.91913594e-01 2.05636376e-02 1.32473623e+02] [-1.91857103e-01 9.81411597e-01 -4.70415530e-03 -2.42501894e+01] [-2.10841838e-02 6.70420160e-04 9.99777479e-01 -3.31922634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.718623853 meters 0.039659185008861834 Centerline is valid? [True, True] Translation: X:132.50, Y:-24.26, Z:-3.32 [[ 9.81478832e-01 1.90462787e-01 2.05725167e-02 1.32503174e+02] [-1.90405936e-01 9.81694165e-01 -4.70585236e-03 -2.42615278e+01] [-2.10922094e-02 7.01565172e-04 9.99777288e-01 -3.32054976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.748623853 meters 0.04119904774452343 Centerline is valid? [True, True] Translation: X:132.53, Y:-24.27, Z:-3.32 [[ 9.81709863e-01 1.89265885e-01 2.05953770e-02 1.32533136e+02] [-1.89208567e-01 9.81925603e-01 -4.71473120e-03 -2.42722520e+01] [-2.11154658e-02 7.31676351e-04 9.99776776e-01 -3.32068014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.778623853 meters 0.04234166466438281 Centerline is valid? [True, True] Translation: X:132.56, Y:-24.28, Z:-3.32 [[ 9.81845960e-01 1.88526453e-01 2.08875084e-02 1.32562593e+02] [-1.88467290e-01 9.82067818e-01 -4.78348044e-03 -2.42826485e+01] [-2.14147624e-02 7.60028835e-04 9.99770389e-01 -3.32084583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.808623853 meters 0.042663661356751335 Centerline is valid? [True, True] Translation: X:132.59, Y:-24.29, Z:-3.32 [[ 9.81967716e-01 1.87829109e-01 2.14389977e-02 1.32593161e+02] [-1.87766575e-01 9.82201400e-01 -4.91155698e-03 -2.42917026e+01] [-2.19799469e-02 7.97463217e-04 9.99758094e-01 -3.32085781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.838623853 meters 0.04416936543184681 Centerline is valid? [True, True] Translation: X:132.62, Y:-24.30, Z:-3.32 [[ 9.82013094e-01 1.87527263e-01 2.19956559e-02 1.32622289e+02] [-1.87461274e-01 9.82259048e-01 -5.04305272e-03 -2.43042559e+01] [-2.25511419e-02 8.29010119e-04 9.99745347e-01 -3.32058888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.868623853 meters 0.04346038529671578 Centerline is valid? [True, True] Translation: X:132.65, Y:-24.31, Z:-3.32 [[ 9.81945251e-01 1.87880091e-01 2.20135322e-02 1.32653059e+02] [-1.87814004e-01 9.82191626e-01 -5.05065822e-03 -2.43130570e+01] [-2.25704252e-02 8.25020222e-04 9.99744915e-01 -3.32123781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.898623853 meters 0.0427255524113628 Centerline is valid? [True, True] Translation: X:132.68, Y:-24.32, Z:-3.32 [[ 9.81795928e-01 1.88699274e-01 2.16642680e-02 1.32683687e+02] [-1.88635385e-01 9.82034597e-01 -4.97418818e-03 -2.43217184e+01] [-2.22136864e-02 7.96990166e-04 9.99752928e-01 -3.32270544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.928623853 meters 0.041855325103802445 Centerline is valid? [True, True] Translation: X:132.72, Y:-24.33, Z:-3.32 [[ 9.81568367e-01 1.89898733e-01 2.14944652e-02 1.32715135e+02] [-1.89836040e-01 9.81803383e-01 -4.93921305e-03 -2.43301017e+01] [-2.20412889e-02 7.67751123e-04 9.99756766e-01 -3.32418440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.958623853 meters 0.03924148394942421 Centerline is valid? [True, True] Translation: X:132.75, Y:-24.34, Z:-3.33 [[ 9.81011648e-01 1.92821940e-01 2.08769297e-02 1.32745534e+02] [-1.92763431e-01 9.81233526e-01 -4.79868138e-03 -2.43375791e+01] [-2.14104344e-02 6.83253742e-04 9.99770537e-01 -3.32603491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.988623853 meters 0.03842445880961463 Centerline is valid? [True, True] Translation: X:132.78, Y:-24.35, Z:-3.33 [[ 9.80663467e-01 1.94600933e-01 2.07277905e-02 1.32775848e+02] [-1.94543653e-01 9.80882290e-01 -4.76439852e-03 -2.43457486e+01] [-2.12586790e-02 6.39811478e-04 9.99773804e-01 -3.32725429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.018623853 meters 0.03725846164870171 Centerline is valid? [True, True] Translation: X:132.81, Y:-24.35, Z:-3.33 [[ 9.80323324e-01 1.96313017e-01 2.06731846e-02 1.32806302e+02] [-1.96256350e-01 9.80541092e-01 -4.75513068e-03 -2.43533853e+01] [-2.12044010e-02 6.04321771e-04 9.99774979e-01 -3.32794897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.048623853 meters 0.03541024699814734 Centerline is valid? [True, True] Translation: X:132.84, Y:-24.36, Z:-3.33 [[ 9.79938270e-01 1.98193726e-01 2.09817618e-02 1.32837983e+02] [-1.98135713e-01 9.80162699e-01 -4.82941859e-03 -2.43599946e+01] [-2.15227007e-02 5.75295766e-04 9.99768194e-01 -3.32860637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.078623853 meters 0.03414924114644107 Centerline is valid? [True, True] Translation: X:132.87, Y:-24.37, Z:-3.33 [[ 9.79563789e-01 2.00034107e-01 2.10032937e-02 1.32868246e+02] [-1.99976320e-01 9.79788786e-01 -4.83796457e-03 -2.43670899e+01] [-2.15465495e-02 5.38933524e-04 9.99767701e-01 -3.32918092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.108623853 meters 0.032288149458151755 Centerline is valid? [True, True] Translation: X:132.90, Y:-24.37, Z:-3.33 [[ 9.79175428e-01 2.01903342e-01 2.12255068e-02 1.32900036e+02] [-2.01844684e-01 9.79405322e-01 -4.89282179e-03 -2.43742966e+01] [-2.17762514e-02 5.06675162e-04 9.99762741e-01 -3.32931393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.138623853 meters 0.02911868821068832 Centerline is valid? [True, True] Translation: X:132.93, Y:-24.38, Z:-3.33 [[ 9.78468472e-01 2.05248047e-01 2.17414131e-02 1.32929397e+02] [-2.05187295e-01 9.78709886e-01 -5.01321746e-03 -2.43819513e+01] [-2.23074891e-02 4.44213483e-04 9.99751058e-01 -3.32936607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.168623853 meters 0.026002568671282297 Centerline is valid? [True, True] Translation: X:132.96, Y:-24.39, Z:-3.33 [[ 9.78106607e-01 2.06950765e-01 2.18825409e-02 1.32961236e+02] [-2.06889650e-01 9.78351274e-01 -5.04559963e-03 -2.43869995e+01] [-2.24530025e-02 4.07863097e-04 9.99747816e-01 -3.32969533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.19862385300002 meters 0.0251112222332627 Centerline is valid? [True, True] Translation: X:132.99, Y:-24.39, Z:-3.33 [[ 9.77757473e-01 2.08596319e-01 2.18608982e-02 1.32991856e+02] [-2.08535651e-01 9.78001757e-01 -5.04440794e-03 -2.43949910e+01] [-2.24322418e-02 3.73430920e-04 9.99748296e-01 -3.33061269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22862385300002 meters 0.025576269655726232 Centerline is valid? [True, True] Translation: X:133.02, Y:-24.40, Z:-3.33 [[ 9.77484437e-01 2.09876922e-01 2.18140715e-02 1.33021325e+02] [-2.09816747e-01 9.77727752e-01 -5.03739444e-03 -2.44047713e+01] [-2.23854559e-02 3.47017143e-04 9.99749354e-01 -3.33201449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25862385300002 meters 0.023535230829464526 Centerline is valid? [True, True] Translation: X:133.05, Y:-24.41, Z:-3.33 [[ 9.77140147e-01 2.11538099e-01 2.11840834e-02 1.33052751e+02] [-2.11481665e-01 9.77369705e-01 -4.89541553e-03 -2.44133386e+01] [-2.17402482e-02 3.03461832e-04 9.99763607e-01 -3.33439205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28862385300002 meters 0.023650191512161883 Centerline is valid? [True, True] Translation: X:133.08, Y:-24.42, Z:-3.34 [[ 9.76996527e-01 2.12214120e-01 2.10464551e-02 1.33082528e+02] [-2.12158538e-01 9.77223150e-01 -4.86526548e-03 -2.44231708e+01] [-2.15995612e-02 2.88162337e-04 9.99766661e-01 -3.33610422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.31862385300002 meters 0.023283093839291075 Centerline is valid? [True, True] Translation: X:133.11, Y:-24.43, Z:-3.34 [[ 9.76872258e-01 2.12786498e-01 2.10356259e-02 1.33113377e+02] [-2.12731036e-01 9.77098679e-01 -4.86596126e-03 -2.44326493e+01] [-2.15892932e-02 2.78492075e-04 9.99766885e-01 -3.33659902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34862385300002 meters 0.021166587700455302 Centerline is valid? [True, True] Translation: X:133.14, Y:-24.44, Z:-3.33 [[ 9.76717764e-01 2.13368568e-01 2.22769926e-02 1.33143834e+02] [-2.13306429e-01 9.76971736e-01 -5.15694098e-03 -2.44420718e+01] [-2.28643213e-02 2.85050110e-04 9.99738537e-01 -3.33444655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.37862385300002 meters 0.02104988171626469 Centerline is valid? [True, True] Translation: X:133.17, Y:-24.45, Z:-3.33 [[ 9.76646763e-01 2.13653330e-01 2.26573363e-02 1.33174304e+02] [-2.13589032e-01 9.76909501e-01 -5.24911228e-03 -2.44521685e+01] [-2.32556574e-02 2.87169990e-04 9.99729509e-01 -3.33471632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40862385300002 meters 0.021806330340693354 Centerline is valid? [True, True] Translation: X:133.20, Y:-24.46, Z:-3.34 [[ 9.76581308e-01 2.13947204e-01 2.27055900e-02 1.33204786e+02] [-2.13882645e-01 9.76845184e-01 -5.26312010e-03 -2.44634425e+01] [-2.33058761e-02 2.83533042e-04 9.99728341e-01 -3.33599857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.43862385300002 meters 0.02135533799377673 Centerline is valid? [True, True] Translation: X:133.24, Y:-24.47, Z:-3.34 [[ 9.76509216e-01 2.14306375e-01 2.24171378e-02 1.33236771e+02] [-2.14243482e-01 9.76766452e-01 -5.19883536e-03 -2.44728000e+01] [-2.30104517e-02 2.73984994e-04 9.99735187e-01 -3.33696197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.468623853 meters 0.02062561015723966 Centerline is valid? [True, True] Translation: X:133.27, Y:-24.48, Z:-3.34 [[ 9.76366901e-01 2.14964246e-01 2.23169938e-02 1.33268945e+02] [-2.14901988e-01 9.76621884e-01 -5.17989371e-03 -2.44814837e+01] [-2.29087565e-02 2.61510434e-04 9.99737526e-01 -3.33798984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.498623853 meters 0.0202873778394864 Centerline is valid? [True, True] Translation: X:133.30, Y:-24.49, Z:-3.34 [[ 9.76216978e-01 2.15656362e-01 2.21978864e-02 1.33300486e+02] [-2.15594845e-01 9.76469289e-01 -5.15662604e-03 -2.44906021e+01] [-2.27876136e-02 2.48236012e-04 9.99740298e-01 -3.33895711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.528623853 meters 0.019165310003329664 Centerline is valid? [True, True] Translation: X:133.33, Y:-24.50, Z:-3.34 [[ 9.75866834e-01 2.17224711e-01 2.23012806e-02 1.33331576e+02] [-2.17162921e-01 9.76121600e-01 -5.18539022e-03 -2.45009677e+01] [-2.28951566e-02 2.17239095e-04 9.99737848e-01 -3.34016335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.558623853 meters 0.01844460710899431 Centerline is valid? [True, True] Translation: X:133.36, Y:-24.51, Z:-3.34 [[ 9.75644189e-01 2.18252639e-01 2.20045718e-02 1.33362334e+02] [-2.18192719e-01 9.75892283e-01 -5.11745995e-03 -2.45096125e+01] [-2.25909910e-02 1.91582701e-04 9.99744773e-01 -3.34126354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.588623853 meters 0.01808415410673728 Centerline is valid? [True, True] Translation: X:133.39, Y:-24.52, Z:-3.34 [[ 9.75399683e-01 2.19358192e-01 2.18504566e-02 1.33391846e+02] [-2.19299299e-01 9.75644380e-01 -5.08546539e-03 -2.45183456e+01] [-2.24338137e-02 1.68571503e-04 9.99748316e-01 -3.34225764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.618623853 meters 0.017111294198756722 Centerline is valid? [True, True] Translation: X:133.42, Y:-24.53, Z:-3.34 [[ 9.74863658e-01 2.21718985e-01 2.19440128e-02 1.33421255e+02] [-2.21660104e-01 9.75110598e-01 -5.11081946e-03 -2.45275525e+01] [-2.25310051e-02 1.18240003e-04 9.99746138e-01 -3.34371372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.648623853 meters 0.016577363315349272 Centerline is valid? [True, True] Translation: X:133.45, Y:-24.54, Z:-3.34 [[ 9.74589488e-01 2.22931878e-01 2.18336188e-02 1.33453568e+02] [-2.22873818e-01 9.74834021e-01 -5.08842945e-03 -2.45356882e+01] [-2.24185276e-02 9.29878683e-05 9.99748669e-01 -3.34464180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.678623853 meters 0.016178281024908044 Centerline is valid? [True, True] Translation: X:133.49, Y:-24.54, Z:-3.35 [[ 9.74321753e-01 2.24104569e-01 2.17776015e-02 1.33485708e+02] [-2.24047005e-01 9.74565102e-01 -5.07958291e-03 -2.45442913e+01] [-2.23620482e-02 6.99417263e-05 9.99749936e-01 -3.34562892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.708623853 meters 0.016022399762081127 Centerline is valid? [True, True] Translation: X:133.52, Y:-24.55, Z:-3.35 [[ 9.74043281e-01 2.25325853e-01 2.16320760e-02 1.33517999e+02] [-2.25269264e-01 9.74283459e-01 -5.04985668e-03 -2.45531441e+01] [-2.22136371e-02 4.57371461e-05 9.99753246e-01 -3.34648365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.738623853 meters 0.01585174566005 Centerline is valid? [True, True] Translation: X:133.55, Y:-24.56, Z:-3.35 [[ 9.73363016e-01 2.28283171e-01 2.12422515e-02 1.33549802e+02] [-2.28229217e-01 9.73594779e-01 -4.96297756e-03 -2.45615326e+01] [-2.18143094e-02 -1.73236343e-05 9.99762039e-01 -3.34807590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.768623853 meters 0.016159901349422884 Centerline is valid? [True, True] Translation: X:133.58, Y:-24.57, Z:-3.35 [[ 9.72845957e-01 2.30500174e-01 2.09860155e-02 1.33581605e+02] [-2.30447937e-01 9.73072282e-01 -4.90739082e-03 -2.45675563e+01] [-2.15520644e-02 -6.20486476e-05 9.99767725e-01 -3.34970472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.798623853 meters 0.017118498412477985 Centerline is valid? [True, True] Translation: X:133.61, Y:-24.57, Z:-3.35 [[ 9.72216980e-01 2.33128928e-01 2.10961170e-02 1.33612847e+02] [-2.33076669e-01 9.72445829e-01 -4.93729467e-03 -2.45722042e+01] [-2.16658572e-02 -1.16890971e-04 9.99765261e-01 -3.35089662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.828623853 meters 0.018645278976625632 Centerline is valid? [True, True] Translation: X:133.65, Y:-24.58, Z:-3.35 [[ 9.71459989e-01 2.36268831e-01 2.10363908e-02 1.33645145e+02] [-2.36217534e-01 9.71687710e-01 -4.92653006e-03 -2.45765529e+01] [-2.16047879e-02 -1.83237518e-04 9.99766573e-01 -3.35119292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.858623853 meters 0.02382844755277181 Centerline is valid? [True, True] Translation: X:133.68, Y:-24.57, Z:-3.35 [[ 9.69799370e-01 2.42977607e-01 2.12382597e-02 1.33677629e+02] [-2.42926839e-01 9.70031841e-01 -4.97779354e-03 -2.45746365e+01] [-2.18112805e-02 -3.31882269e-04 9.99762051e-01 -3.35136589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.888623853 meters 0.02382844755277181 Centerline is valid? [True, True] Translation: X:133.71, Y:-24.58, Z:-3.35 [[ 9.69755873e-01 2.43151154e-01 2.12382673e-02 1.33709209e+02] [-2.43100429e-01 9.69988352e-01 -4.97776157e-03 -2.45822328e+01] [-2.18112203e-02 -3.35818358e-04 9.99762051e-01 -3.35218309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.918623853 meters 0.025539017458873672 Centerline is valid? [True, True] Translation: X:133.74, Y:-24.59, Z:-3.35 [[ 9.68902721e-01 2.46509325e-01 2.14632377e-02 1.33741470e+02] [-2.46458242e-01 9.69140332e-01 -5.03501338e-03 -2.45867588e+01] [-2.20420671e-02 -4.11353683e-04 9.99756959e-01 -3.35250151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94862385300002 meters 0.029763672486645684 Centerline is valid? [True, True] Translation: X:133.77, Y:-24.59, Z:-3.35 [[ 9.68022182e-01 2.49999649e-01 2.08142089e-02 1.33773301e+02] [-2.49952396e-01 9.68245811e-01 -4.88363915e-03 -2.45870851e+01] [-2.13741786e-02 -4.75090362e-04 9.99771433e-01 -3.35466706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97862385300002 meters 0.03159566299821669 Centerline is valid? [True, True] Translation: X:133.81, Y:-24.59, Z:-3.36 [[ 9.67249404e-01 2.53021930e-01 2.02112321e-02 1.33805413e+02] [-2.52977999e-01 9.67460401e-01 -4.74385260e-03 -2.45909120e+01] [-2.07538655e-02 -5.24508458e-04 9.99784478e-01 -3.35621972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00862385300002 meters 0.038734632841972455 Centerline is valid? [True, True] Translation: X:133.84, Y:-24.59, Z:-3.36 [[ 9.65996345e-01 2.57817478e-01 1.95246137e-02 1.33836936e+02] [-2.57777440e-01 9.66193450e-01 -4.58363034e-03 -2.45859999e+01] [-2.00462938e-02 -6.05234765e-04 9.99798870e-01 -3.35902923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03862385300002 meters 0.03720700998147231 Centerline is valid? [True, True] Translation: X:133.87, Y:-24.59, Z:-3.36 [[ 9.65579987e-01 2.59380667e-01 1.94154136e-02 1.33868563e+02] [-2.59341388e-01 9.65774957e-01 -4.55817348e-03 -2.45936068e+01] [-1.99332223e-02 -6.33939213e-04 9.99801113e-01 -3.35926103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06862385300002 meters 0.0392964783584476 Centerline is valid? [True, True] Translation: X:133.90, Y:-24.60, Z:-3.36 [[ 9.65249687e-01 2.60599698e-01 1.95151185e-02 1.33899497e+02] [-2.60560181e-01 9.65446717e-01 -4.58566805e-03 -2.45958986e+01] [-2.00358308e-02 -6.58548168e-04 9.99799046e-01 -3.35980597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09862385300002 meters 0.039305156947030954 Centerline is valid? [True, True] Translation: X:133.93, Y:-24.60, Z:-3.36 [[ 9.65034508e-01 2.61371483e-01 1.98329625e-02 1.33930815e+02] [-2.61330834e-01 9.65238042e-01 -4.66022780e-03 -2.46009350e+01] [-2.03615806e-02 -6.85683993e-04 9.99792446e-01 -3.35992191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12862385300002 meters 0.038407928130425095 Centerline is valid? [True, True] Translation: X:133.96, Y:-24.61, Z:-3.36 [[ 9.64949051e-01 2.61605986e-01 2.08719050e-02 1.33963354e+02] [-2.61560949e-01 9.65174484e-01 -4.90771434e-03 -2.46053818e+01] [-2.14289176e-02 -7.23580988e-04 9.99770113e-01 -3.35909320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.15862385300002 meters 0.03954242053089124 Centerline is valid? [True, True] Translation: X:133.99, Y:-24.61, Z:-3.36 [[ 9.65047379e-01 2.61232923e-01 2.09980142e-02 1.33994773e+02] [-2.61187159e-01 9.65275530e-01 -4.94166324e-03 -2.46092015e+01] [-2.15597944e-02 -7.15472507e-04 9.99767305e-01 -3.35954985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18862385300002 meters 0.036917743291691986 Centerline is valid? [True, True] Translation: X:134.03, Y:-24.62, Z:-3.36 [[ 9.65278579e-01 2.60371599e-01 2.10688423e-02 1.34025806e+02] [-2.60325248e-01 9.65508233e-01 -4.96164667e-03 -2.46183831e+01] [-2.16340126e-02 -6.95380360e-04 9.99765716e-01 -3.36013743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.218623853 meters 0.03792158428783083 Centerline is valid? [True, True] Translation: X:134.06, Y:-24.62, Z:-3.36 [[ 9.65515485e-01 2.59511495e-01 2.08238432e-02 1.34056604e+02] [-2.59465940e-01 9.65739790e-01 -4.90754179e-03 -2.46224246e+01] [-2.13839774e-02 -6.64770456e-04 9.99771116e-01 -3.36179314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.248623853 meters 0.035829941989943555 Centerline is valid? [True, True] Translation: X:134.09, Y:-24.63, Z:-3.36 [[ 9.66288448e-01 2.56681725e-01 2.00281665e-02 1.34086321e+02] [-2.56638902e-01 9.66495815e-01 -4.72372068e-03 -2.46279821e+01] [-2.05696319e-02 -5.75529922e-04 9.99788257e-01 -3.36422021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.278623853 meters 0.03288569456382654 Centerline is valid? [True, True] Translation: X:134.12, Y:-24.64, Z:-3.37 [[ 9.66699464e-01 2.55166369e-01 1.95517267e-02 1.34117520e+02] [-2.55125260e-01 9.66897018e-01 -4.61080197e-03 -2.46370915e+01] [-2.00810279e-02 -5.30879561e-04 9.99798215e-01 -3.36545962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.308623853 meters 0.03047209443930481 Centerline is valid? [True, True] Translation: X:134.15, Y:-24.65, Z:-3.37 [[ 9.67197650e-01 2.53302791e-01 1.91416548e-02 1.34149221e+02] [-2.53262949e-01 9.67386928e-01 -4.51783959e-03 -2.46451664e+01] [-1.96617680e-02 -4.78228112e-04 9.99806574e-01 -3.36677104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.338623853 meters 0.02814264633249302 Centerline is valid? [True, True] Translation: X:134.18, Y:-24.65, Z:-3.37 [[ 9.67703931e-01 2.51366930e-01 1.90727263e-02 1.34180110e+02] [-2.51326988e-01 9.67891769e-01 -4.50213198e-03 -2.46528315e+01] [-1.95920219e-02 -4.36760048e-04 9.99807963e-01 -3.36809298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.368623853 meters 0.02485121963555144 Centerline is valid? [True, True] Translation: X:134.21, Y:-24.66, Z:-3.37 [[ 9.68776846e-01 2.47175032e-01 1.93888455e-02 1.34209856e+02] [-2.47132831e-01 9.68970783e-01 -4.58096677e-03 -2.46607070e+01] [-1.99195254e-02 -3.53685742e-04 9.99801524e-01 -3.36836848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.398623853 meters 0.02278528131780121 Centerline is valid? [True, True] Translation: X:134.24, Y:-24.67, Z:-3.37 [[ 9.69295408e-01 2.45106752e-01 1.97254064e-02 1.34240867e+02] [-2.45062649e-01 9.69496044e-01 -4.66028468e-03 -2.46696406e+01] [-2.02659707e-02 -3.16767813e-04 9.99794574e-01 -3.36847556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.428623853 meters 0.020318486831813653 Centerline is valid? [True, True] Translation: X:134.27, Y:-24.68, Z:-3.37 [[ 9.69856020e-01 2.42845603e-01 2.01323934e-02 1.34272164e+02] [-2.42799090e-01 9.70064915e-01 -4.76048507e-03 -2.46796099e+01] [-2.06857913e-02 -2.71141684e-04 9.99785989e-01 -3.36761484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.458623853 meters 0.01897913318160509 Centerline is valid? [True, True] Translation: X:134.30, Y:-24.69, Z:-3.37 [[ 9.70399266e-01 2.40615718e-01 2.07205540e-02 1.34302901e+02] [-2.40565919e-01 9.70620432e-01 -4.90050713e-03 -2.46869860e+01] [-2.12909321e-02 -2.29210588e-04 9.99773296e-01 -3.36717369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.488623853 meters 0.01674504820049043 Centerline is valid? [True, True] Translation: X:134.33, Y:-24.70, Z:-3.37 [[ 9.71374894e-01 2.36586674e-01 2.13906498e-02 1.34334156e+02] [-2.36532537e-01 9.71610377e-01 -5.06296310e-03 -2.46952863e+01] [-2.19812069e-02 -1.41549413e-04 9.99758374e-01 -3.36647642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.518623853 meters 0.016169033802194928 Centerline is valid? [True, True] Translation: X:134.36, Y:-24.70, Z:-3.37 [[ 9.71748575e-01 2.35036982e-01 2.15017225e-02 1.34364303e+02] [-2.34981817e-01 9.71986423e-01 -5.09308838e-03 -2.47022106e+01] [-2.20964465e-02 -1.03312440e-04 9.99755838e-01 -3.36766059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.548623853 meters 0.015623552569063759 Centerline is valid? [True, True] Translation: X:134.40, Y:-24.71, Z:-3.37 [[ 9.72164709e-01 2.33320097e-01 2.13895099e-02 1.34396085e+02] [-2.33265000e-01 9.72399984e-01 -5.07062082e-03 -2.47097572e+01] [-2.19822369e-02 -5.99454253e-05 9.99758360e-01 -3.36845069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.578623853 meters 0.015397564362137902 Centerline is valid? [True, True] Translation: X:134.43, Y:-24.72, Z:-3.37 [[ 9.72468913e-01 2.32062431e-01 2.12424694e-02 1.34427813e+02] [-2.32007769e-01 9.72700893e-01 -5.03662694e-03 -2.47173135e+01] [-2.18313808e-02 -3.04548154e-05 9.99761667e-01 -3.36937815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.608623853 meters 0.015451154708972608 Centerline is valid? [True, True] Translation: X:134.46, Y:-24.72, Z:-3.37 [[ 9.72699380e-01 2.31101390e-01 2.11675250e-02 1.34459319e+02] [-2.31046793e-01 9.72929673e-01 -5.02312881e-03 -2.47247299e+01] [-2.17553653e-02 -4.69450138e-06 9.99763324e-01 -3.37076479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.638623853 meters 0.01581032619826506 Centerline is valid? [True, True] Translation: X:134.49, Y:-24.73, Z:-3.37 [[ 9.73278012e-01 2.28704486e-01 2.05953878e-02 1.34491857e+02] [-2.28652186e-01 9.73495894e-01 -4.89104506e-03 -2.47315902e+01] [-2.11681294e-02 5.11661836e-05 9.99775929e-01 -3.37260529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.668623853 meters 0.016051572386143402 Centerline is valid? [True, True] Translation: X:134.52, Y:-24.74, Z:-3.37 [[ 9.73451651e-01 2.27967685e-01 2.05576818e-02 1.34523954e+02] [-2.27915327e-01 9.73668696e-01 -4.88611471e-03 -2.47377255e+01] [-2.11302475e-02 7.09856553e-05 9.99776729e-01 -3.37365489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.69862385300002 meters 0.01633708724736465 Centerline is valid? [True, True] Translation: X:134.56, Y:-24.74, Z:-3.38 [[ 9.73624374e-01 2.27245608e-01 2.03718476e-02 1.34555695e+02] [-2.27193943e-01 9.73837474e-01 -4.84628521e-03 -2.47443355e+01] [-2.09401656e-02 9.01010196e-05 9.99780727e-01 -3.37504209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72862385300002 meters 0.016674918067234548 Centerline is valid? [True, True] Translation: X:134.59, Y:-24.75, Z:-3.38 [[ 9.73789332e-01 2.26561705e-01 2.01029914e-02 1.34587512e+02] [-2.26511205e-01 9.73996808e-01 -4.78447658e-03 -2.47511932e+01] [-2.06642286e-02 1.05519440e-04 9.99786466e-01 -3.37667690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75862385300002 meters 0.017729961263555416 Centerline is valid? [True, True] Translation: X:134.62, Y:-24.76, Z:-3.38 [[ 9.74114548e-01 2.25217451e-01 1.94408624e-02 1.34618190e+02] [-2.25169878e-01 9.74308515e-01 -4.63072962e-03 -2.47567007e+01] [-1.99843189e-02 1.33364475e-04 9.99800285e-01 -3.37885420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78862385300002 meters 0.017906365666023508 Centerline is valid? [True, True] Translation: X:134.65, Y:-24.76, Z:-3.38 [[ 9.74185802e-01 2.24930497e-01 1.91909866e-02 1.34650515e+02] [-2.24884023e-01 9.74374800e-01 -4.57433507e-03 -2.47627248e+01] [-1.97281212e-02 1.40506004e-04 9.99805372e-01 -3.37986369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.81862385300002 meters 0.01829303764671369 Centerline is valid? [True, True] Translation: X:134.68, Y:-24.77, Z:-3.38 [[ 9.74250732e-01 2.24613751e-01 1.96003664e-02 1.34681893e+02] [-2.24565126e-01 9.74447864e-01 -4.67602404e-03 -2.47695590e+01] [-2.01498345e-02 1.54061092e-04 9.99796960e-01 -3.38074286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84862385300002 meters 0.018645343113068816 Centerline is valid? [True, True] Translation: X:134.71, Y:-24.77, Z:-3.38 [[ 9.74366465e-01 2.24112054e-01 1.95903079e-02 1.34714906e+02] [-2.24063304e-01 9.74563368e-01 -4.67723482e-03 -2.47741459e+01] [-2.01402211e-02 1.67871646e-04 9.99797151e-01 -3.38122490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.87862385300002 meters 0.01889861622589338 Centerline is valid? [True, True] Translation: X:134.75, Y:-24.78, Z:-3.38 [[ 9.74401614e-01 2.23966200e-01 1.95099113e-02 1.34747718e+02] [-2.23917743e-01 9.74596897e-01 -4.66189266e-03 -2.47799475e+01] [-2.00584054e-02 1.73940423e-04 9.99798795e-01 -3.38196077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90862385300002 meters 0.019192830476310655 Centerline is valid? [True, True] Translation: X:134.78, Y:-24.79, Z:-3.38 [[ 9.74449564e-01 2.23741073e-01 1.96971973e-02 1.34780360e+02] [-2.23691556e-01 9.74648602e-01 -4.71059678e-03 -2.47863560e+01] [-2.02517998e-02 1.84142278e-04 9.99794894e-01 -3.38292328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.93862385300002 meters 0.019500517222126566 Centerline is valid? [True, True] Translation: X:134.81, Y:-24.79, Z:-3.38 [[ 9.74542805e-01 2.23327468e-01 1.97778631e-02 1.34812953e+02] [-2.23277379e-01 9.74743455e-01 -4.73379722e-03 -2.47935281e+01] [-2.03355295e-02 1.97338590e-04 9.99793192e-01 -3.38365443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.968623853 meters 0.020211144352256166 Centerline is valid? [True, True] Translation: X:134.84, Y:-24.80, Z:-3.38 [[ 9.74724913e-01 2.22546493e-01 1.96061830e-02 1.34843724e+02] [-2.22497031e-01 9.74922054e-01 -4.69671105e-03 -2.48010277e+01] [-2.01597368e-02 2.15683747e-04 9.99796749e-01 -3.38414238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.998623853 meters 0.021200864120471122 Centerline is valid? [True, True] Translation: X:134.87, Y:-24.81, Z:-3.39 [[ 9.74872781e-01 2.21892341e-01 1.96685013e-02 1.34873835e+02] [-2.21842367e-01 9.75071143e-01 -4.71480886e-03 -2.48088868e+01] [-2.02243680e-02 2.33031944e-04 9.99795439e-01 -3.38514045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.028623853 meters 0.027758594543197602 Centerline is valid? [True, True] Translation: X:134.90, Y:-24.81, Z:-3.38 [[ 9.75193753e-01 2.20485412e-01 1.95787330e-02 1.34904472e+02] [-2.20435547e-01 9.75390236e-01 -4.69642442e-03 -2.48146627e+01] [-2.01323981e-02 2.64075033e-04 9.99797288e-01 -3.37993402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.058623853 meters 0.023545074782086877 Centerline is valid? [True, True] Translation: X:134.94, Y:-24.82, Z:-3.39 [[ 9.75274477e-01 2.20100657e-01 1.98845360e-02 1.34935605e+02] [-2.20049079e-01 9.75477126e-01 -4.77282956e-03 -2.48231871e+01] [-2.04474130e-02 2.79245010e-04 9.99790891e-01 -3.38677839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.088623853 meters 0.023399519697674547 Centerline is valid? [True, True] Translation: X:134.97, Y:-24.83, Z:-3.39 [[ 9.75329774e-01 2.19858584e-01 1.98503289e-02 1.34967756e+02] [-2.19807062e-01 9.75531712e-01 -4.76808202e-03 -2.48295202e+01] [-2.04129291e-02 2.87209861e-04 9.99791593e-01 -3.38721167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.118623853 meters 0.0236203077980299 Centerline is valid? [True, True] Translation: X:135.00, Y:-24.83, Z:-3.39 [[ 9.75229512e-01 2.20273842e-01 2.01700878e-02 1.34998261e+02] [-2.20220651e-01 9.75438031e-01 -4.84902300e-03 -2.48349490e+01] [-2.07427836e-02 2.87040482e-04 9.99784804e-01 -3.38759572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.148623853 meters 0.022959044697750838 Centerline is valid? [True, True] Translation: X:135.03, Y:-24.84, Z:-3.39 [[ 9.75113321e-01 2.20819528e-01 1.98178558e-02 1.35030609e+02] [-2.20768232e-01 9.75314647e-01 -4.76721131e-03 -2.48401677e+01] [-2.03813384e-02 2.73418260e-04 9.99792242e-01 -3.38897150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.178623853 meters 0.022800050433485163 Centerline is valid? [True, True] Translation: X:135.06, Y:-24.85, Z:-3.39 [[ 9.74974631e-01 2.21469802e-01 1.93802874e-02 1.35063311e+02] [-2.21420804e-01 9.75167196e-01 -4.66556140e-03 -2.48461904e+01] [-1.99323015e-02 2.57605187e-04 9.99801299e-01 -3.39074011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.208623853 meters 0.022547961847851135 Centerline is valid? [True, True] Translation: X:135.09, Y:-24.85, Z:-3.39 [[ 9.74873113e-01 2.21957692e-01 1.88996708e-02 1.35093928e+02] [-2.21911099e-01 9.75056266e-01 -4.55426733e-03 -2.48515642e+01] [-1.94390971e-02 2.45786051e-04 9.99811013e-01 -3.39269626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.238623853 meters 0.022296275118360145 Centerline is valid? [True, True] Translation: X:135.12, Y:-24.85, Z:-3.39 [[ 9.74776487e-01 2.22417676e-01 1.84710153e-02 1.35124779e+02] [-2.22373246e-01 9.74951447e-01 -4.45147105e-03 -2.48548040e+01] [-1.89984289e-02 2.31729682e-04 9.99819487e-01 -3.39456434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.268623853 meters 0.022220861524285745 Centerline is valid? [True, True] Translation: X:135.16, Y:-24.86, Z:-3.40 [[ 9.74732183e-01 2.22628650e-01 1.82662562e-02 1.35155956e+02] [-2.22585235e-01 9.74903294e-01 -4.40226542e-03 -2.48607979e+01] [-1.87879038e-02 2.25230852e-04 9.99823466e-01 -3.39601535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.298623853 meters 0.021042063257723148 Centerline is valid? [True, True] Translation: X:135.19, Y:-24.87, Z:-3.40 [[ 9.74780233e-01 2.22439679e-01 1.80024098e-02 1.35188102e+02] [-2.22397487e-01 9.74946429e-01 -4.33810576e-03 -2.48652038e+01] [-1.85163520e-02 2.25009041e-04 9.99828532e-01 -3.39621146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.328623853 meters 0.021368397920607397 Centerline is valid? [True, True] Translation: X:135.22, Y:-24.87, Z:-3.40 [[ 9.74797714e-01 2.22365394e-01 1.79735438e-02 1.35218945e+02] [-2.22323264e-01 9.74963373e-01 -4.33439785e-03 -2.48722328e+01] [-1.84873670e-02 2.29224180e-04 9.99829068e-01 -3.39727058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.358623853 meters 0.0214328186488282 Centerline is valid? [True, True] Translation: X:135.25, Y:-24.88, Z:-3.40 [[ 9.74749111e-01 2.22524890e-01 1.86237430e-02 1.35249366e+02] [-2.22479625e-01 9.74926980e-01 -4.49437514e-03 -2.48784037e+01] [-1.91568999e-02 2.37484801e-04 9.99816462e-01 -3.39633654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.388623853 meters 0.021312921044136318 Centerline is valid? [True, True] Translation: X:135.28, Y:-24.88, Z:-3.40 [[ 9.74693802e-01 2.22750922e-01 1.88153785e-02 1.35279951e+02] [-2.22704688e-01 9.74875361e-01 -4.54447475e-03 -2.48845983e+01] [-1.93549349e-02 2.39198375e-04 9.99812647e-01 -3.39660294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.418623853 meters 0.022628913207897377 Centerline is valid? [True, True] Translation: X:135.31, Y:-24.89, Z:-3.40 [[ 9.74628522e-01 2.23022018e-01 1.89847943e-02 1.35309724e+02] [-2.22974991e-01 9.74813379e-01 -4.58587103e-03 -2.48925387e+01] [-1.95293816e-02 2.36386383e-04 9.99809255e-01 -3.39760482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44862385300002 meters 0.02065139002186185 Centerline is valid? [True, True] Translation: X:135.34, Y:-24.89, Z:-3.40 [[ 9.74432602e-01 2.23829846e-01 1.95269933e-02 1.35340962e+02] [-2.23780243e-01 9.74628210e-01 -4.71746089e-03 -2.48932144e+01] [-2.00874670e-02 2.27092397e-04 9.99798201e-01 -3.39678786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47862385300002 meters 0.020401723253889018 Centerline is valid? [True, True] Translation: X:135.37, Y:-24.90, Z:-3.40 [[ 9.74347881e-01 2.24193611e-01 1.95813949e-02 1.35370730e+02] [-2.24143805e-01 9.74544599e-01 -4.73060359e-03 -2.48985601e+01] [-2.01435137e-02 2.20205242e-04 9.99797075e-01 -3.39747727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50862385300002 meters 0.020502606871095324 Centerline is valid? [True, True] Translation: X:135.40, Y:-24.90, Z:-3.40 [[ 9.74337087e-01 2.24259239e-01 1.93658055e-02 1.35400986e+02] [-2.24210537e-01 9.74529500e-01 -4.67852009e-03 -2.49043806e+01] [-1.99217501e-02 2.16437984e-04 9.99801519e-01 -3.39844521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53862385300002 meters 0.020431449838921464 Centerline is valid? [True, True] Translation: X:135.43, Y:-24.91, Z:-3.40 [[ 9.74339764e-01 2.24272890e-01 1.90708132e-02 1.35430548e+02] [-2.24225663e-01 9.74526360e-01 -4.60725388e-03 -2.49098820e+01] [-1.96182923e-02 2.12864925e-04 9.99807520e-01 -3.40012815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56862385300002 meters 0.021694550373888722 Centerline is valid? [True, True] Translation: X:135.46, Y:-24.92, Z:-3.40 [[ 9.74565127e-01 2.23372315e-01 1.81003359e-02 1.35458961e+02] [-2.23329616e-01 9.74733174e-01 -4.37287629e-03 -2.49178822e+01] [-1.86197773e-02 2.19311680e-04 9.99826613e-01 -3.40360911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59862385300002 meters 0.021558339034205863 Centerline is valid? [True, True] Translation: X:135.49, Y:-24.92, Z:-3.40 [[ 9.74727819e-01 2.22705017e-01 1.75543132e-02 1.35489184e+02] [-2.22664752e-01 9.74885852e-01 -4.24067529e-03 -2.49245059e+01] [-1.80578713e-02 2.24777376e-04 9.99836918e-01 -3.40408505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62862385300002 meters 0.022985666776973574 Centerline is valid? [True, True] Translation: X:135.52, Y:-24.93, Z:-3.41 [[ 9.74875377e-01 2.22058789e-01 1.75468869e-02 1.35517768e+02] [-2.22018453e-01 9.75033250e-01 -4.23888129e-03 -2.49330360e+01] [-1.80500790e-02 2.36648304e-04 9.99837056e-01 -3.40580508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.65862385300002 meters 0.02282425467534975 Centerline is valid? [True, True] Translation: X:135.55, Y:-24.94, Z:-3.41 [[ 9.75013001e-01 2.21459357e-01 1.74757400e-02 1.35547566e+02] [-2.21419252e-01 9.75169571e-01 -4.22169400e-03 -2.49392659e+01] [-1.79767435e-02 2.46741263e-04 9.99838375e-01 -3.40630943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68862385300002 meters 0.023446916553197462 Centerline is valid? [True, True] Translation: X:135.58, Y:-24.95, Z:-3.41 [[ 9.75187740e-01 2.20701845e-01 1.73079901e-02 1.35577278e+02] [-2.20662387e-01 9.75341288e-01 -4.18116991e-03 -2.49471558e+01] [-1.78039893e-02 2.58203216e-04 9.99841463e-01 -3.40680474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.718623853 meters 0.02370812146236046 Centerline is valid? [True, True] Translation: X:135.61, Y:-24.95, Z:-3.41 [[ 9.75228255e-01 2.20509780e-01 1.74724903e-02 1.35606603e+02] [-2.20469538e-01 9.75384728e-01 -4.22090897e-03 -2.49548917e+01] [-1.79731519e-02 2.64197824e-04 9.99838435e-01 -3.40718322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.748623853 meters 0.02370812146236046 Centerline is valid? [True, True] Translation: X:135.64, Y:-24.96, Z:-3.41 [[ 9.75228255e-01 2.20509780e-01 1.74724903e-02 1.35635759e+02] [-2.20469538e-01 9.75384728e-01 -4.22090897e-03 -2.49619350e+01] [-1.79731519e-02 2.64197824e-04 9.99838435e-01 -3.40793779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.778623853 meters 0.023458582832306417 Centerline is valid? [True, True] Translation: X:135.67, Y:-24.97, Z:-3.41 [[ 9.75218457e-01 2.20519658e-01 1.78897232e-02 1.35665592e+02] [-2.20477472e-01 9.75382493e-01 -4.32170180e-03 -2.49684431e+01] [-1.84023430e-02 2.70322422e-04 9.99830626e-01 -3.40743075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.808623853 meters 0.0218204742475631 Centerline is valid? [True, True] Translation: X:135.70, Y:-24.97, Z:-3.41 [[ 9.74988421e-01 2.21486323e-01 1.84766728e-02 1.35696848e+02] [-2.21441499e-01 9.75163443e-01 -4.46334334e-03 -2.49723820e+01] [-1.90063454e-02 2.60205949e-04 9.99819329e-01 -3.40649107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.838623853 meters 0.02128243569773484 Centerline is valid? [True, True] Translation: X:135.73, Y:-24.98, Z:-3.41 [[ 9.74824170e-01 2.22201582e-01 1.85551637e-02 1.35727300e+02] [-2.22156497e-01 9.75000716e-01 -4.48277426e-03 -2.49786153e+01] [-1.90873774e-02 2.47766538e-04 9.99817789e-01 -3.40711004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.868623853 meters 0.021277583793642293 Centerline is valid? [True, True] Translation: X:135.76, Y:-24.99, Z:-3.41 [[ 9.74607792e-01 2.23142713e-01 1.86274529e-02 1.35757288e+02] [-2.23097437e-01 9.74785759e-01 -4.50078648e-03 -2.49855342e+01] [-1.91620935e-02 2.30764574e-04 9.99816364e-01 -3.40805548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.898623853 meters 0.0222234229785226 Centerline is valid? [True, True] Translation: X:135.79, Y:-24.99, Z:-3.40 [[ 9.74110812e-01 2.25275495e-01 1.89493233e-02 1.35788166e+02] [-2.25229035e-01 9.74295086e-01 -4.57900895e-03 -2.49859667e+01] [-1.94937711e-02 1.92524323e-04 9.99809960e-01 -3.40271343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.928623853 meters 0.018281440233022955 Centerline is valid? [True, True] Translation: X:135.82, Y:-24.99, Z:-3.41 [[ 9.73826795e-01 2.26473008e-01 1.92704241e-02 1.35817668e+02] [-2.26425205e-01 9.74017427e-01 -4.65610654e-03 -2.49904021e+01] [-1.98242114e-02 1.70931575e-04 9.99803466e-01 -3.40758250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.958623853 meters 0.01752232902735358 Centerline is valid? [True, True] Translation: X:135.85, Y:-24.99, Z:-3.41 [[ 9.73511748e-01 2.27802582e-01 1.95156425e-02 1.35845847e+02] [-2.27753831e-01 9.73707329e-01 -4.71486242e-03 -2.49946486e+01] [-2.00765819e-02 1.45211628e-04 9.99798435e-01 -3.40809503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.988623853 meters 0.01690889087373612 Centerline is valid? [True, True] Translation: X:135.87, Y:-25.00, Z:-3.41 [[ 9.73272566e-01 2.28822857e-01 1.95092740e-02 1.35874349e+02] [-2.28774350e-01 9.73468071e-01 -4.71292899e-03 -2.49993131e+01] [-2.00700812e-02 1.23743018e-04 9.99798568e-01 -3.40903449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.018623853 meters 0.01666417730583367 Centerline is valid? [True, True] Translation: X:135.90, Y:-25.00, Z:-3.41 [[ 9.72830587e-01 2.30747074e-01 1.88795139e-02 1.35902002e+02] [-2.30702027e-01 9.73013762e-01 -4.55996313e-03 -2.50028559e+01] [-1.94222250e-02 8.05294900e-05 9.99811368e-01 -3.41235993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.048623853 meters 0.015959360324435085 Centerline is valid? [True, True] Translation: X:135.93, Y:-25.01, Z:-3.41 [[ 9.72615589e-01 2.31638281e-01 1.90426652e-02 1.35931253e+02] [-2.31592647e-01 9.72801986e-01 -4.59811469e-03 -2.50060456e+01] [-1.95898419e-02 6.20567777e-05 9.99808099e-01 -3.41105143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.078623853 meters 0.01575278938409361 Centerline is valid? [True, True] Translation: X:135.96, Y:-25.01, Z:-3.41 [[ 9.72383044e-01 2.32593482e-01 1.92740310e-02 1.35959974e+02] [-2.32546940e-01 9.72574044e-01 -4.65301756e-03 -2.50097089e+01] [-1.98276838e-02 4.23984473e-05 9.99803411e-01 -3.41124199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.108623853 meters 0.025677289520328085 Centerline is valid? [True, True] Translation: X:135.99, Y:-25.01, Z:-3.40 [[ 9.72147881e-01 2.33587292e-01 1.91173931e-02 1.35988216e+02] [-2.33541711e-01 9.72335835e-01 -4.61436107e-03 -2.50126385e+01] [-1.96663825e-02 2.11326243e-05 9.99806598e-01 -3.40459639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.138623853 meters 0.015607200404443676 Centerline is valid? [True, True] Translation: X:136.02, Y:-25.02, Z:-3.41 [[ 9.71857591e-01 2.34737824e-01 1.97731224e-02 1.36017564e+02] [-2.34689330e-01 9.72058719e-01 -4.77120239e-03 -2.50150222e+01] [-2.03406177e-02 -3.61158469e-06 9.99793108e-01 -3.41174810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.168623853 meters 0.015637203604135518 Centerline is valid? [True, True] Translation: X:136.05, Y:-25.02, Z:-3.41 [[ 9.71839952e-01 2.34833282e-01 1.95048103e-02 1.36045257e+02] [-2.34786131e-01 9.72035663e-01 -4.70564804e-03 -2.50199256e+01] [-2.00644140e-02 -6.32218803e-06 9.99798689e-01 -3.41334741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.19862385300002 meters 0.015640124370389013 Centerline is valid? [True, True] Translation: X:136.07, Y:-25.03, Z:-3.41 [[ 9.71832758e-01 2.34871184e-01 1.94066536e-02 1.36072581e+02] [-2.34824544e-01 9.72026505e-01 -4.68049132e-03 -2.50253024e+01] [-1.99630942e-02 -8.50378250e-06 9.99800718e-01 -3.41430058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22862385300002 meters 0.015741872207176683 Centerline is valid? [True, True] Translation: X:136.10, Y:-25.03, Z:-3.42 [[ 9.71932859e-01 2.34464741e-01 1.93081218e-02 1.36099742e+02] [-2.34418516e-01 9.72124624e-01 -4.65556104e-03 -2.50309896e+01] [-1.98614656e-02 -1.28850284e-06 9.99802742e-01 -3.41502664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25862385300002 meters 0.015827853953232322 Centerline is valid? [True, True] Translation: X:136.13, Y:-25.04, Z:-3.42 [[ 9.72288658e-01 2.32996748e-01 1.91645748e-02 1.36127234e+02] [-2.32950944e-01 9.72477514e-01 -4.61987390e-03 -2.50374883e+01] [-1.97135336e-02 2.74452117e-05 9.99805669e-01 -3.41655270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28862385300002 meters 0.01607595432007029 Centerline is valid? [True, True] Translation: X:136.15, Y:-25.05, Z:-3.42 [[ 9.72602077e-01 2.31693354e-01 1.90627969e-02 1.36154055e+02] [-2.31647813e-01 9.72788871e-01 -4.59390538e-03 -2.50451323e+01] [-1.96084540e-02 5.21867035e-05 9.99807734e-01 -3.41796808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.31862385300002 meters 0.016606617385844884 Centerline is valid? [True, True] Translation: X:136.18, Y:-25.05, Z:-3.42 [[ 9.72956255e-01 2.30200406e-01 1.90761259e-02 1.36181411e+02] [-2.30154537e-01 9.73143241e-01 -4.59590867e-03 -2.50534179e+01] [-1.96217830e-02 8.11611701e-05 9.99807471e-01 -3.41843880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34862385300002 meters 0.016851507096935933 Centerline is valid? [True, True] Translation: X:136.21, Y:-25.06, Z:-3.42 [[ 9.73290740e-01 2.28750393e-01 1.94523348e-02 1.36208881e+02] [-2.28702426e-01 9.73485103e-01 -4.68562232e-03 -2.50608144e+01] [-2.00083961e-02 1.11676649e-04 9.99799806e-01 -3.41743413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.37862385300002 meters 0.017842921893065838 Centerline is valid? [True, True] Translation: X:136.24, Y:-25.07, Z:-3.42 [[ 9.73596956e-01 2.27406133e-01 1.98851286e-02 1.36235163e+02] [-2.27355748e-01 9.73799995e-01 -4.78889358e-03 -2.50697620e+01] [-2.04531620e-02 1.41453920e-04 9.99790802e-01 -3.41798455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40862385300002 meters 0.01967283450868274 Centerline is valid? [True, True] Translation: X:136.26, Y:-25.08, Z:-3.42 [[ 9.74117109e-01 2.25195008e-01 1.95720725e-02 1.36261742e+02] [-2.25145774e-01 9.74313694e-01 -4.71227661e-03 -2.50789686e+01] [-2.01305194e-02 1.83739850e-04 9.99797344e-01 -3.41926431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.43862385300002 meters 0.01969733251697297 Centerline is valid? [True, True] Translation: X:136.29, Y:-25.09, Z:-3.42 [[ 9.74407131e-01 2.23948685e-01 1.94352460e-02 1.36289390e+02] [-2.23899912e-01 9.74600915e-01 -4.67821829e-03 -2.50852630e+01] [-1.99892893e-02 2.06939395e-04 9.99800173e-01 -3.41945708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.468623853 meters 0.022087562919696064 Centerline is valid? [True, True] Translation: X:136.32, Y:-25.10, Z:-3.42 [[ 9.74755561e-01 2.22439464e-01 1.92946021e-02 1.36315424e+02] [-2.22391122e-01 9.74946475e-01 -4.64317508e-03 -2.50955767e+01] [-1.98440297e-02 2.35012514e-04 9.99803060e-01 -3.42134376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.498623853 meters 0.02262850280283983 Centerline is valid? [True, True] Translation: X:136.34, Y:-25.10, Z:-3.42 [[ 9.75403795e-01 2.19517540e-01 1.99871639e-02 1.36343870e+02] [-2.19465082e-01 9.75608506e-01 -4.80837860e-03 -2.51034037e+01] [-2.05551706e-02 3.03626171e-04 9.99788674e-01 -3.41987859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.528623853 meters 0.024446651134526487 Centerline is valid? [True, True] Translation: X:136.37, Y:-25.11, Z:-3.42 [[ 9.75717925e-01 2.18100552e-01 2.01663186e-02 1.36371547e+02] [-2.18046858e-01 9.75926245e-01 -4.85091107e-03 -2.51127989e+01] [-2.07388260e-02 3.35918477e-04 9.99784871e-01 -3.41994686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.558623853 meters 0.031316704273285305 Centerline is valid? [True, True] Translation: X:136.40, Y:-25.12, Z:-3.41 [[ 9.76072001e-01 2.16547338e-01 1.97661397e-02 1.36400531e+02] [-2.16495439e-01 9.76272052e-01 -4.75446657e-03 -2.51203738e+01] [-2.03266969e-02 3.61422598e-04 9.99793326e-01 -3.41428506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.588623853 meters 0.027274866661972947 Centerline is valid? [True, True] Translation: X:136.43, Y:-25.13, Z:-3.42 [[ 9.76507482e-01 2.14535296e-01 2.01926809e-02 1.36428477e+02] [-2.14480716e-01 9.76716150e-01 -4.85642195e-03 -2.51317494e+01] [-2.07643914e-02 4.11391710e-04 9.99784312e-01 -3.42199474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.618623853 meters 0.029089263151108154 Centerline is valid? [True, True] Translation: X:136.46, Y:-25.14, Z:-3.42 [[ 9.76644257e-01 2.13950880e-01 1.97741072e-02 1.36457697e+02] [-2.13898418e-01 9.76844332e-01 -4.75584462e-03 -2.51416620e+01] [-2.03337417e-02 4.15118074e-04 9.99793162e-01 -3.42366285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.648623853 meters 0.027937459056858207 Centerline is valid? [True, True] Translation: X:136.49, Y:-25.15, Z:-3.42 [[ 9.76634555e-01 2.14041599e-01 1.92650133e-02 1.36487693e+02] [-2.13991816e-01 9.76824463e-01 -4.63369609e-03 -2.51468365e+01] [-1.98103400e-02 4.02872539e-04 9.99803675e-01 -3.42496930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.678623853 meters 0.02830556411032014 Centerline is valid? [True, True] Translation: X:136.52, Y:-25.15, Z:-3.43 [[ 9.76566150e-01 2.14390500e-01 1.88485695e-02 1.36515985e+02] [-2.14342910e-01 9.76747953e-01 -4.53359980e-03 -2.51541161e+01] [-1.93822624e-02 3.87302874e-04 9.99812071e-01 -3.42707962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.708623853 meters 0.03387832742128325 Centerline is valid? [True, True] Translation: X:136.55, Y:-25.16, Z:-3.42 [[ 9.76121357e-01 2.16492198e-01 1.78388590e-02 1.36545918e+02] [-2.16449923e-01 9.76284293e-01 -4.29061499e-03 -2.51577592e+01] [-1.83446825e-02 3.26941267e-04 9.99831669e-01 -3.42166622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.738623853 meters 0.02366752240328922 Centerline is valid? [True, True] Translation: X:136.58, Y:-25.16, Z:-3.43 [[ 9.75705699e-01 2.18294473e-01 1.85987167e-02 1.36575195e+02] [-2.18248856e-01 9.75882898e-01 -4.47290323e-03 -2.51612435e+01] [-1.91265796e-02 3.05088523e-04 9.99817024e-01 -3.42856253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.768623853 meters 0.022902812107922912 Centerline is valid? [True, True] Translation: X:136.60, Y:-25.17, Z:-3.43 [[ 9.75308819e-01 2.20065510e-01 1.85439637e-02 1.36603430e+02] [-2.20020489e-01 9.75485058e-01 -4.45934398e-03 -2.51659562e+01] [-1.90707074e-02 2.69185542e-04 9.99818101e-01 -3.42963197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.798623853 meters 0.021003941531634672 Centerline is valid? [True, True] Translation: X:136.63, Y:-25.17, Z:-3.43 [[ 9.74909280e-01 2.21830629e-01 1.85220736e-02 1.36632065e+02] [-2.21786044e-01 9.75085185e-01 -4.45346046e-03 -2.51685163e+01] [-1.90485135e-02 2.33782501e-04 9.99818533e-01 -3.42998699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.828623853 meters 0.018700783881441828 Centerline is valid? [True, True] Translation: X:136.66, Y:-25.17, Z:-3.43 [[ 9.74172066e-01 2.25068069e-01 1.82524305e-02 1.36661863e+02] [-2.25025358e-01 9.74343028e-01 -4.38766031e-03 -2.51694360e+01] [-1.87716506e-02 1.67076392e-04 9.99823783e-01 -3.43201350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.858623853 meters 0.01812219210910483 Centerline is valid? [True, True] Translation: X:136.69, Y:-25.17, Z:-3.43 [[ 9.73807238e-01 2.26658136e-01 1.80430964e-02 1.36689604e+02] [-2.26616681e-01 9.73974369e-01 -4.33685576e-03 -2.51732306e+01] [-1.85564970e-02 1.34394909e-04 9.99827804e-01 -3.43331340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.888623853 meters 0.016963049971805613 Centerline is valid? [True, True] Translation: X:136.72, Y:-25.18, Z:-3.43 [[ 9.73453671e-01 2.28180472e-01 1.79338507e-02 1.36718186e+02] [-2.28139799e-01 9.73618848e-01 -4.30935214e-03 -2.51759356e+01] [-1.84440451e-02 1.03529562e-04 9.99829889e-01 -3.43358365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.918623853 meters 0.01634022877493203 Centerline is valid? [True, True] Translation: X:136.75, Y:-25.18, Z:-3.44 [[ 9.72756123e-01 2.31177773e-01 1.73885699e-02 1.36747086e+02] [-2.31140030e-01 9.72911525e-01 -4.17747983e-03 -2.51766440e+01] [-1.78832806e-02 4.44745122e-05 9.99840080e-01 -3.43648481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94862385300002 meters 0.016296875339701287 Centerline is valid? [True, True] Translation: X:136.77, Y:-25.18, Z:-3.44 [[ 9.72491450e-01 2.32304026e-01 1.71819461e-02 1.36773591e+02] [-2.32267360e-01 9.72643223e-01 -4.12723709e-03 -2.51801805e+01] [-1.76706772e-02 2.28975149e-05 9.99843861e-01 -3.43788664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97862385300002 meters 0.016026351330045784 Centerline is valid? [True, True] Translation: X:136.80, Y:-25.18, Z:-3.44 [[ 9.72258799e-01 2.33252092e-01 1.75010934e-02 1.36802128e+02] [-2.33214238e-01 9.72416300e-01 -4.20213492e-03 -2.51846526e+01] [-1.79985053e-02 4.05849164e-06 9.99838014e-01 -3.43723646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00862385300002 meters 0.016311153407943632 Centerline is valid? [True, True] Translation: X:136.83, Y:-25.19, Z:-3.44 [[ 9.72061629e-01 2.34097643e-01 1.71604794e-02 1.36830096e+02] [-2.34061393e-01 9.72213090e-01 -4.11960811e-03 -2.51892131e+01] [-1.76480332e-02 -1.20927280e-05 9.99844261e-01 -3.43934999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03862385300002 meters 0.016309132717366243 Centerline is valid? [True, True] Translation: X:136.86, Y:-25.19, Z:-3.44 [[ 9.71939156e-01 2.34624049e-01 1.69066082e-02 1.36858827e+02] [-2.34588963e-01 9.72086187e-01 -4.05752322e-03 -2.51939789e+01] [-1.73866728e-02 -2.24379780e-05 9.99848840e-01 -3.44055083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06862385300002 meters 0.016350738749822482 Centerline is valid? [True, True] Translation: X:136.89, Y:-25.20, Z:-3.44 [[ 9.71977824e-01 2.34472239e-01 1.67892510e-02 1.36886430e+02] [-2.34437625e-01 9.72122816e-01 -4.02876363e-03 -2.52001451e+01] [-1.72658471e-02 -2.01632176e-05 9.99850934e-01 -3.44115090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09862385300002 meters 0.01631146981733199 Centerline is valid? [True, True] Translation: X:136.91, Y:-25.21, Z:-3.44 [[ 9.72056872e-01 2.34125808e-01 1.70453674e-02 1.36913636e+02] [-2.34090099e-01 9.72206308e-01 -4.08897834e-03 -2.52066922e+01] [-1.75289491e-02 -1.54322349e-05 9.99846356e-01 -3.44178971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12862385300002 meters 0.016066310988897384 Centerline is valid? [True, True] Translation: X:136.94, Y:-25.21, Z:-3.44 [[ 9.72257257e-01 2.33254513e-01 1.75544563e-02 1.36941595e+02] [-2.33216523e-01 9.72415720e-01 -4.20965460e-03 -2.52139614e+01] [-1.80521502e-02 -1.12201954e-06 9.99837047e-01 -3.44040968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.15862385300002 meters 0.015937068596263954 Centerline is valid? [True, True] Translation: X:136.97, Y:-25.22, Z:-3.44 [[ 9.72674829e-01 2.31432802e-01 1.85077317e-02 1.36969470e+02] [-2.31390262e-01 9.72850891e-01 -4.43728018e-03 -2.52218372e+01] [-1.90321955e-02 3.35218385e-05 9.99818871e-01 -3.43944168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18862385300002 meters 0.016394186994050215 Centerline is valid? [True, True] Translation: X:137.00, Y:-25.23, Z:-3.44 [[ 9.72957994e-01 2.30244116e-01 1.84496061e-02 1.36996500e+02] [-2.30201645e-01 9.73132901e-01 -4.42254283e-03 -2.52304014e+01] [-1.89721831e-02 5.58187431e-05 9.99820010e-01 -3.44137392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.218623853 meters 0.016885287645076096 Centerline is valid? [True, True] Translation: X:137.02, Y:-25.24, Z:-3.44 [[ 9.73250381e-01 2.29006459e-01 1.84319766e-02 1.37023652e+02] [-2.28963875e-01 9.73424900e-01 -4.41679468e-03 -2.52392088e+01] [-1.89536195e-02 7.83903077e-05 9.99820361e-01 -3.44152866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.248623853 meters 0.017064675974092308 Centerline is valid? [True, True] Translation: X:137.05, Y:-25.25, Z:-3.44 [[ 9.73601209e-01 2.27501045e-01 1.85461930e-02 1.37051953e+02] [-2.27457675e-01 9.73777830e-01 -4.44332082e-03 -2.52469057e+01] [-1.90707317e-02 1.07548575e-04 9.99818131e-01 -3.44119674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.278623853 meters 0.018859794130412985 Centerline is valid? [True, True] Translation: X:137.08, Y:-25.26, Z:-3.44 [[ 9.74005108e-01 2.25749271e-01 1.87434237e-02 1.37077779e+02] [-2.25704666e-01 9.74185427e-01 -4.48969205e-03 -2.52575671e+01] [-1.92731150e-02 1.42504797e-04 9.99814246e-01 -3.44385387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.308623853 meters 0.019211521947055426 Centerline is valid? [True, True] Translation: X:137.11, Y:-25.26, Z:-3.44 [[ 9.74115478e-01 2.25277826e-01 1.86798441e-02 1.37105280e+02] [-2.25233461e-01 9.74294554e-01 -4.47320599e-03 -2.52645377e+01] [-1.92073845e-02 1.50093241e-04 9.99815510e-01 -3.44413342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.338623853 meters 0.017747483775477284 Centerline is valid? [True, True] Translation: X:137.13, Y:-25.27, Z:-3.44 [[ 9.74096195e-01 2.25341777e-01 1.89126174e-02 1.37134184e+02] [-2.25296327e-01 9.74279765e-01 -4.52810956e-03 -2.52687200e+01] [-1.94465527e-02 1.49871048e-04 9.99810887e-01 -3.44246453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.368623853 meters 0.017973377513952275 Centerline is valid? [True, True] Translation: X:137.16, Y:-25.28, Z:-3.44 [[ 9.74087349e-01 2.25367247e-01 1.90641165e-02 1.37160882e+02] [-2.25321089e-01 9.74273874e-01 -4.56345936e-03 -2.52752528e+01] [-1.96021250e-02 1.49660527e-04 9.99807849e-01 -3.44309839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.398623853 meters 0.017303022459300616 Centerline is valid? [True, True] Translation: X:137.19, Y:-25.28, Z:-3.44 [[ 9.73932830e-01 2.25995495e-01 1.95161142e-02 1.37189769e+02] [-2.25947276e-01 9.74128337e-01 -4.67031237e-03 -2.52797056e+01] [-2.00666694e-02 1.38957715e-04 9.99798634e-01 -3.44273827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.428623853 meters 0.01720651637151357 Centerline is valid? [True, True] Translation: X:137.22, Y:-25.29, Z:-3.44 [[ 9.73844499e-01 2.26370269e-01 1.95804408e-02 1.37217354e+02] [-2.26321825e-01 9.74041315e-01 -4.68479369e-03 -2.52860027e+01] [-2.01326563e-02 1.30779470e-04 9.99797309e-01 -3.44363471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.458623853 meters 0.017091469998449293 Centerline is valid? [True, True] Translation: X:137.24, Y:-25.29, Z:-3.44 [[ 9.73794795e-01 2.26598608e-01 1.94105202e-02 1.37244926e+02] [-2.26551072e-01 9.73988222e-01 -4.64286193e-03 -2.52918904e+01] [-1.99576841e-02 1.23720620e-04 9.99800818e-01 -3.44468109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.488623853 meters 0.017023984123211874 Centerline is valid? [True, True] Translation: X:137.27, Y:-25.30, Z:-3.45 [[ 9.73743014e-01 2.26826849e-01 1.93422475e-02 1.37272124e+02] [-2.26779720e-01 9.73935094e-01 -4.62511168e-03 -2.52975137e+01] [-1.98871932e-02 1.17240707e-04 9.99802223e-01 -3.44536690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.518623853 meters 0.01684581697909086 Centerline is valid? [True, True] Translation: X:137.30, Y:-25.30, Z:-3.45 [[ 9.73681857e-01 2.27083768e-01 1.94062800e-02 1.37299934e+02] [-2.27036407e-01 9.73875223e-01 -4.63897995e-03 -2.53031575e+01] [-1.99527323e-02 1.10958531e-04 9.99800918e-01 -3.44585901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.548623853 meters 0.016716289596062594 Centerline is valid? [True, True] Translation: X:137.33, Y:-25.31, Z:-3.45 [[ 9.73607463e-01 2.27397064e-01 1.94700445e-02 1.37327527e+02] [-2.27349482e-01 9.73802118e-01 -4.65277690e-03 -2.53090030e+01] [-2.00179984e-02 1.03473774e-04 9.99799614e-01 -3.44649326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.578623853 meters 0.016626548226960053 Centerline is valid? [True, True] Translation: X:137.36, Y:-25.31, Z:-3.45 [[ 9.73582733e-01 2.27451727e-01 2.00592396e-02 1.37356260e+02] [-2.27401267e-01 9.73789351e-01 -4.79194108e-03 -2.53148334e+01] [-2.06234092e-02 1.03854604e-04 9.99787309e-01 -3.44652821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.608623853 meters 0.0164171407578867 Centerline is valid? [True, True] Translation: X:137.39, Y:-25.32, Z:-3.45 [[ 9.73517148e-01 2.27705838e-01 2.03571589e-02 1.37385039e+02] [-2.27653945e-01 9.73729963e-01 -4.86209671e-03 -2.53205764e+01] [-2.09295034e-02 9.89469800e-05 9.99780949e-01 -3.44621531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.638623853 meters 0.016161156216429363 Centerline is valid? [True, True] Translation: X:137.41, Y:-25.33, Z:-3.45 [[ 9.73411570e-01 2.28114375e-01 2.08265850e-02 1.37413875e+02] [-2.28060177e-01 9.73634338e-01 -4.97314903e-03 -2.53259753e+01] [-2.14119251e-02 9.12061489e-05 9.99770734e-01 -3.44657293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.668623853 meters 0.01609392531857475 Centerline is valid? [True, True] Translation: X:137.44, Y:-25.33, Z:-3.45 [[ 9.73357389e-01 2.28367464e-01 2.05838427e-02 1.37441229e+02] [-2.28314599e-01 9.73575007e-01 -4.91421903e-03 -2.53320211e+01] [-2.11621625e-02 8.36996102e-05 9.99776053e-01 -3.44764816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.69862385300002 meters 0.01609392531857475 Centerline is valid? [True, True] Translation: X:137.47, Y:-25.34, Z:-3.45 [[ 9.73373414e-01 2.28299127e-01 2.05841197e-02 1.37467997e+02] [-2.28246271e-01 9.73591034e-01 -4.91305844e-03 -2.53382726e+01] [-2.11621614e-02 8.39918980e-05 9.99776053e-01 -3.44833963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72862385300002 meters 0.02598904950427353 Centerline is valid? [True, True] Translation: X:137.50, Y:-25.34, Z:-3.44 [[ 9.73353887e-01 2.28434398e-01 1.99983896e-02 1.37495852e+02] [-2.28384566e-01 9.73559305e-01 -4.77181217e-03 -2.53436231e+01] [-2.05596643e-02 7.73384067e-05 9.99788625e-01 -3.44240192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.75862385300002 meters 0.01585949818226035 Centerline is valid? [True, True] Translation: X:137.52, Y:-25.35, Z:-3.45 [[ 9.73141024e-01 2.29315697e-01 2.02696510e-02 1.37524210e+02] [-2.29264728e-01 9.73352098e-01 -4.83496501e-03 -2.53485213e+01] [-2.08382407e-02 5.79867687e-05 9.99782859e-01 -3.45081530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78862385300002 meters 0.015728569736298312 Centerline is valid? [True, True] Translation: X:137.55, Y:-25.35, Z:-3.45 [[ 9.73082320e-01 2.29581144e-01 2.00822658e-02 1.37550770e+02] [-2.29531186e-01 9.73289523e-01 -4.78945152e-03 -2.53534319e+01] [-2.06454266e-02 5.10243044e-05 9.99786859e-01 -3.45191615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.81862385300002 meters 0.019486073069360614 Centerline is valid? [True, True] Translation: X:137.58, Y:-25.36, Z:-3.45 [[ 9.72954836e-01 2.30174786e-01 1.94539368e-02 1.37578400e+02] [-2.30128058e-01 9.73149303e-01 -4.63793077e-03 -2.53578647e+01] [-1.99991197e-02 3.56004769e-05 9.99799997e-01 -3.44867183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84862385300002 meters 0.01946871850019594 Centerline is valid? [True, True] Translation: X:137.61, Y:-25.36, Z:-3.45 [[ 9.72827946e-01 2.30719323e-01 1.93489607e-02 1.37605555e+02] [-2.30673232e-01 9.73020346e-01 -4.61156832e-03 -2.53623429e+01] [-1.98909103e-02 2.29752473e-05 9.99802156e-01 -3.45002424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.87862385300002 meters 0.015743811806807773 Centerline is valid? [True, True] Translation: X:137.63, Y:-25.37, Z:-3.46 [[ 9.72649010e-01 2.31470479e-01 1.93732088e-02 1.37632888e+02] [-2.31424455e-01 9.72841928e-01 -4.61563973e-03 -2.53658289e+01] [-1.99154541e-02 5.96312762e-06 9.99801668e-01 -3.45621007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90862385300002 meters 0.015842743143499708 Centerline is valid? [True, True] Translation: X:137.66, Y:-25.37, Z:-3.46 [[ 9.72677764e-01 2.31382476e-01 1.89767751e-02 1.37660910e+02] [-2.31338329e-01 9.72862863e-01 -4.51972671e-03 -2.53719790e+01] [-1.95075853e-02 6.18223709e-06 9.99809709e-01 -3.45787438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.93862385300002 meters 0.015884516844724167 Centerline is valid? [True, True] Translation: X:137.69, Y:-25.38, Z:-3.46 [[ 9.72804662e-01 2.30860154e-01 1.88329253e-02 1.37688368e+02] [-2.30816590e-01 9.72986942e-01 -4.48471396e-03 -2.53791117e+01] [-1.93595321e-02 1.57990550e-05 9.99812587e-01 -3.45870184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.968623853 meters 0.015907593368624476 Centerline is valid? [True, True] Translation: X:137.72, Y:-25.39, Z:-3.46 [[ 9.73022191e-01 2.29945212e-01 1.87887011e-02 1.37715138e+02] [-2.29901709e-01 9.73203575e-01 -4.47278240e-03 -2.53869291e+01] [-1.93137260e-02 3.25620313e-05 9.99813472e-01 -3.45988213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.998623853 meters 0.016523126248835212 Centerline is valid? [True, True] Translation: X:137.74, Y:-25.40, Z:-3.46 [[ 9.73656770e-01 2.27195222e-01 1.93604302e-02 1.37741462e+02] [-2.27148518e-01 9.73849230e-01 -4.60732736e-03 -2.53969011e+01] [-1.99009028e-02 8.82624518e-05 9.99801954e-01 -3.45955548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.028623853 meters 0.01705242431627462 Centerline is valid? [True, True] Translation: X:137.77, Y:-25.41, Z:-3.46 [[ 9.73994966e-01 2.25706034e-01 1.97633921e-02 1.37768660e+02] [-2.25657085e-01 9.74195449e-01 -4.70190986e-03 -2.54055040e+01] [-2.03146560e-02 1.19887094e-04 9.99793629e-01 -3.45966123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.058623853 meters 0.018119230540656072 Centerline is valid? [True, True] Translation: X:137.80, Y:-25.41, Z:-3.46 [[ 9.74420713e-01 2.23835574e-01 2.00477100e-02 1.37795899e+02] [-2.23784831e-01 9.74626908e-01 -4.76855487e-03 -2.54148078e+01] [-2.06064098e-02 1.60205239e-04 9.99787653e-01 -3.46002843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.088623853 meters 0.01936720402587276 Centerline is valid? [True, True] Translation: X:137.82, Y:-25.42, Z:-3.46 [[ 9.74842958e-01 2.22002697e-01 1.98999907e-02 1.37822099e+02] [-2.21952336e-01 9.75046032e-01 -4.73250664e-03 -2.54246372e+01] [-2.04540362e-02 1.96601370e-04 9.99790775e-01 -3.46074590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.118623853 meters 0.022224501908888302 Centerline is valid? [True, True] Translation: X:137.85, Y:-25.44, Z:-3.46 [[ 9.75657327e-01 2.18369637e-01 2.01861699e-02 1.37847973e+02] [-2.18317064e-01 9.75866090e-01 -4.79935461e-03 -2.54379779e+01] [-2.07470321e-02 2.75540146e-04 9.99784719e-01 -3.46096742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.148623853 meters 0.023540193707170663 Centerline is valid? [True, True] Translation: X:137.88, Y:-25.45, Z:-3.46 [[ 9.75985398e-01 2.16890391e-01 2.02746431e-02 1.37875533e+02] [-2.16837069e-01 9.76195915e-01 -4.81887551e-03 -2.54476845e+01] [-2.08371916e-02 3.06857954e-04 9.99782835e-01 -3.46159599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.178623853 meters 0.02613261349730611 Centerline is valid? [True, True] Translation: X:137.90, Y:-25.46, Z:-3.46 [[ 9.76557182e-01 2.14254588e-01 2.07615277e-02 1.37901581e+02] [-2.14198100e-01 9.76777781e-01 -4.93357110e-03 -2.54602060e+01] [-2.13364392e-02 3.70834510e-04 9.99772283e-01 -3.46104842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.208623853 meters 0.034776538953551546 Centerline is valid? [True, True] Translation: X:137.93, Y:-25.47, Z:-3.45 [[ 9.76733065e-01 2.13489186e-01 2.03687577e-02 1.37928665e+02] [-2.13434668e-01 9.76945353e-01 -4.83933409e-03 -2.54683220e+01] [-2.09323086e-02 3.79338589e-04 9.99780823e-01 -3.45471493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.238623853 meters 0.028082003117620328 Centerline is valid? [True, True] Translation: X:137.95, Y:-25.48, Z:-3.46 [[ 9.76903518e-01 2.12676255e-01 2.06960717e-02 1.37954457e+02] [-2.12619815e-01 9.77122638e-01 -4.91579255e-03 -2.54770652e+01] [-2.12680725e-02 4.01860101e-04 9.99773728e-01 -3.46325232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.268623853 meters 0.028644134129626 Centerline is valid? [True, True] Translation: X:137.98, Y:-25.49, Z:-3.46 [[ 9.77007351e-01 2.12185420e-01 2.08322545e-02 1.37982078e+02] [-2.12128143e-01 9.77229336e-01 -4.94723093e-03 -2.54853769e+01] [-2.14076205e-02 4.14373527e-04 9.99770745e-01 -3.46367090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.298623853 meters 0.03020236204274778 Centerline is valid? [True, True] Translation: X:138.01, Y:-25.50, Z:-3.47 [[ 9.77258841e-01 2.11076532e-01 2.02942359e-02 1.38009200e+02] [-2.11021958e-01 9.77469445e-01 -4.81847456e-03 -2.54960487e+01] [-2.08540624e-02 4.26367466e-04 9.99782439e-01 -3.46552634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.328623853 meters 0.03041180909236978 Centerline is valid? [True, True] Translation: X:138.04, Y:-25.50, Z:-3.47 [[ 9.77384950e-01 2.10482948e-01 2.03859770e-02 1.38038169e+02] [-2.10427764e-01 9.77597430e-01 -4.83959636e-03 -2.55040561e+01] [-2.09479312e-02 4.40373085e-04 9.99780471e-01 -3.46580940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.358623853 meters 0.03126986944524944 Centerline is valid? [True, True] Translation: X:138.07, Y:-25.51, Z:-3.47 [[ 9.77485667e-01 2.10000247e-01 2.05345155e-02 1.38065982e+02] [-2.09944158e-01 9.77701228e-01 -4.87441747e-03 -2.55124360e+01] [-2.11002499e-02 4.53571649e-04 9.99777262e-01 -3.46660561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.388623853 meters 0.03157339430420612 Centerline is valid? [True, True] Translation: X:138.09, Y:-25.52, Z:-3.47 [[ 9.77562485e-01 2.09638716e-01 2.05717576e-02 1.38094363e+02] [-2.09582359e-01 9.77778807e-01 -4.88248647e-03 -2.55207260e+01] [-2.11381868e-02 4.61458115e-04 9.99776457e-01 -3.46698354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.418623853 meters 0.028583578481743945 Centerline is valid? [True, True] Translation: X:138.13, Y:-25.53, Z:-3.47 [[ 9.77771150e-01 2.08597562e-01 2.12281620e-02 1.38125409e+02] [-2.08537321e-01 9.78001436e-01 -5.03760790e-03 -2.55268346e+01] [-2.18120057e-02 4.98763630e-04 9.99761965e-01 -3.46579260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44862385300002 meters 0.03427845076240424 Centerline is valid? [True, True] Translation: X:138.15, Y:-25.54, Z:-3.47 [[ 9.77866122e-01 2.08140558e-01 2.13390454e-02 1.38153813e+02] [-2.08079574e-01 9.78098792e-01 -5.06403214e-03 -2.55440248e+01] [-2.19257250e-02 5.11725985e-04 9.99759471e-01 -3.46712783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47862385300002 meters 0.03544839091820292 Centerline is valid? [True, True] Translation: X:138.18, Y:-25.55, Z:-3.47 [[ 9.77978709e-01 2.07588220e-01 2.15586325e-02 1.38181464e+02] [-2.07525751e-01 9.78216155e-01 -5.12019895e-03 -2.55542632e+01] [-2.21518956e-02 5.33474157e-04 9.99754474e-01 -3.46690215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50862385300002 meters 0.03707984444798935 Centerline is valid? [True, True] Translation: X:138.21, Y:-25.57, Z:-3.47 [[ 9.78188222e-01 2.06578777e-01 2.17488309e-02 1.38210015e+02] [-2.06514948e-01 9.78429810e-01 -5.16551468e-03 -2.55650213e+01] [-2.23467901e-02 5.61386956e-04 9.99750122e-01 -3.46743948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53862385300002 meters 0.03960544834789109 Centerline is valid? [True, True] Translation: X:138.24, Y:-25.58, Z:-3.47 [[ 9.78594823e-01 2.04610657e-01 2.20601729e-02 1.38238188e+02] [-2.04544481e-01 9.78843246e-01 -5.23971270e-03 -2.55798136e+01] [-2.26655523e-02 6.15269105e-04 9.99742914e-01 -3.46868397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56862385300002 meters 0.04055164526290561 Centerline is valid? [True, True] Translation: X:138.27, Y:-25.59, Z:-3.47 [[ 9.78753137e-01 2.03863045e-01 2.19580276e-02 1.38268153e+02] [-2.03797296e-01 9.78999215e-01 -5.21532868e-03 -2.55910906e+01] [-2.25601046e-02 6.29532656e-04 9.99745290e-01 -3.46969669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59862385300002 meters 0.04224045044816569 Centerline is valid? [True, True] Translation: X:138.30, Y:-25.60, Z:-3.47 [[ 9.78875510e-01 2.03308594e-01 2.16414547e-02 1.38297735e+02] [-2.03244513e-01 9.79114503e-01 -5.14369229e-03 -2.56030124e+01] [-2.22352190e-02 6.36527509e-04 9.99752564e-01 -3.47109226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62862385300002 meters 0.04263696285421618 Centerline is valid? [True, True] Translation: X:138.33, Y:-25.61, Z:-3.47 [[ 9.78882667e-01 2.03318275e-01 2.12227301e-02 1.38328565e+02] [-2.03256618e-01 9.79112500e-01 -5.04570611e-03 -2.56138595e+01] [-2.18053246e-02 6.25493898e-04 9.99762040e-01 -3.47298447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.65862385300002 meters 0.04225021026989317 Centerline is valid? [True, True] Translation: X:138.36, Y:-25.63, Z:-3.48 [[ 9.78696620e-01 2.04279404e-01 2.05633415e-02 1.38358109e+02] [-2.04221667e-01 9.78912447e-01 -4.89200120e-03 -2.56263936e+01] [-2.11290460e-02 5.88305168e-04 9.99776584e-01 -3.47507753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68862385300002 meters 0.034056248009385386 Centerline is valid? [True, True] Translation: X:138.39, Y:-25.63, Z:-3.47 [[ 9.78478039e-01 2.05316829e-01 2.06331268e-02 1.38391731e+02] [-2.05258864e-01 9.78695394e-01 -4.91171654e-03 -2.56258888e+01] [-2.12020042e-02 5.70874601e-04 9.99775049e-01 -3.47430344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.718623853 meters 0.039941968575052736 Centerline is valid? [True, True] Translation: X:138.42, Y:-25.64, Z:-3.48 [[ 9.78170918e-01 2.06772932e-01 2.06545391e-02 1.38419473e+02] [-2.06715094e-01 9.78388808e-01 -4.92043288e-03 -2.56437208e+01] [-2.12255822e-02 5.43419354e-04 9.99774564e-01 -3.47662949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.748623853 meters 0.030528024651512983 Centerline is valid? [True, True] Translation: X:138.45, Y:-25.64, Z:-3.48 [[ 9.77835712e-01 2.08358092e-01 2.05967510e-02 1.38453493e+02] [-2.08300860e-01 9.78052475e-01 -4.90989873e-03 -2.56412526e+01] [-2.11677205e-02 5.10753370e-04 9.99775808e-01 -3.47594270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.778623853 meters 0.028367482346812828 Centerline is valid? [True, True] Translation: X:138.48, Y:-25.65, Z:-3.48 [[ 9.77220952e-01 2.11181683e-01 2.10120776e-02 1.38483518e+02] [-2.11122680e-01 9.77446716e-01 -5.01311945e-03 -2.56511047e+01] [-2.15968652e-02 4.62799231e-04 9.99766653e-01 -3.47614931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.808623853 meters 0.02644186574486933 Centerline is valid? [True, True] Translation: X:138.52, Y:-25.66, Z:-3.48 [[ 9.76868989e-01 2.12804113e-01 2.10092152e-02 1.38515039e+02] [-2.12745487e-01 9.77094789e-01 -5.01307154e-03 -2.56587527e+01] [-2.15947970e-02 4.27498402e-04 9.99766714e-01 -3.47658767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.838623853 meters 0.02510830888481617 Centerline is valid? [True, True] Translation: X:138.55, Y:-25.67, Z:-3.48 [[ 9.76520721e-01 2.14384643e-01 2.11306761e-02 1.38546626e+02] [-2.14325616e-01 9.76749234e-01 -5.04623930e-03 -2.56669345e+01] [-2.17212079e-02 3.98912070e-04 9.99763987e-01 -3.47747050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.868623853 meters 0.02333157767706278 Centerline is valid? [True, True] Translation: X:138.58, Y:-25.67, Z:-3.48 [[ 9.76081461e-01 2.16378504e-01 2.11027135e-02 1.38578125e+02] [-2.16320079e-01 9.76309488e-01 -5.04051420e-03 -2.56742707e+01] [-2.16934383e-02 3.55011822e-04 9.99764607e-01 -3.47893774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.898623853 meters 0.024460723934528535 Centerline is valid? [True, True] Translation: X:138.61, Y:-25.69, Z:-3.48 [[ 9.75145348e-01 2.20617727e-01 2.04784804e-02 1.38606843e+02] [-2.20563565e-01 9.75360319e-01 -4.89501763e-03 -2.56876596e+01] [-2.10538248e-02 2.56547026e-04 9.99778311e-01 -3.48316773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.928623853 meters 0.019094820731116343 Centerline is valid? [True, True] Translation: X:138.64, Y:-25.69, Z:-3.48 [[ 9.74507914e-01 2.23423845e-01 2.03988190e-02 1.38639724e+02] [-2.23370648e-01 9.74721368e-01 -4.87931409e-03 -2.56877460e+01] [-2.09733199e-02 1.98432774e-04 9.99780016e-01 -3.48190487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.958623853 meters 0.01733117359294971 Centerline is valid? [True, True] Translation: X:138.67, Y:-25.69, Z:-3.48 [[ 9.73833803e-01 2.26346528e-01 2.03709065e-02 1.38671413e+02] [-2.26294041e-01 9.74046832e-01 -4.87617426e-03 -2.56923603e+01] [-2.09459220e-02 1.38768586e-04 9.99780600e-01 -3.48272417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.988623853 meters 0.01610770698579875 Centerline is valid? [True, True] Translation: X:138.70, Y:-25.70, Z:-3.48 [[ 9.73127552e-01 2.29372939e-01 2.02687513e-02 1.38701825e+02] [-2.29321545e-01 9.73338610e-01 -4.85594352e-03 -2.56964483e+01] [-2.08421802e-02 7.73910678e-05 9.99782775e-01 -3.48411272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.018623853 meters 0.015782159978187972 Centerline is valid? [True, True] Translation: X:138.73, Y:-25.70, Z:-3.49 [[ 9.71741838e-01 2.35208198e-01 1.98722022e-02 1.38732849e+02] [-2.35160005e-01 9.71945010e-01 -4.76135186e-03 -2.56959282e+01] [-2.04345968e-02 -4.63423650e-05 9.99791191e-01 -3.48547855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.048623853 meters 0.01669787215124997 Centerline is valid? [True, True] Translation: X:138.76, Y:-25.70, Z:-3.49 [[ 9.71098604e-01 2.37864250e-01 1.97002357e-02 1.38761175e+02] [-2.37817440e-01 9.71298403e-01 -4.71984119e-03 -2.56987707e+01] [-2.02574889e-02 -1.01628430e-04 9.99794791e-01 -3.48664335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.078623853 meters 0.017729599287765813 Centerline is valid? [True, True] Translation: X:138.79, Y:-25.70, Z:-3.49 [[ 9.70490842e-01 2.40311431e-01 1.99484870e-02 1.38790231e+02] [-2.40263979e-01 9.70695829e-01 -4.77796985e-03 -2.57027548e+01] [-2.05121139e-02 -1.55926867e-04 9.99789592e-01 -3.48636465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.108623853 meters 0.018550111150760402 Centerline is valid? [True, True] Translation: X:138.82, Y:-25.71, Z:-3.49 [[ 9.69956084e-01 2.42418891e-01 2.04517898e-02 1.38819610e+02] [-2.42369499e-01 9.70171654e-01 -4.89767490e-03 -2.57076366e+01] [-2.10290357e-02 -2.06360480e-04 9.99778844e-01 -3.48611200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.138623853 meters 0.021788059526057384 Centerline is valid? [True, True] Translation: X:138.85, Y:-25.71, Z:-3.49 [[ 9.69154542e-01 2.45575226e-01 2.07914097e-02 1.38848972e+02] [-2.45524916e-01 9.69377496e-01 -4.97850535e-03 -2.57093073e+01] [-2.13773223e-02 -2.79868052e-04 9.99771440e-01 -3.48752152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.168623853 meters 0.0217296166724621 Centerline is valid? [True, True] Translation: X:138.88, Y:-25.72, Z:-3.49 [[ 9.68902200e-01 2.46568831e-01 2.07927741e-02 1.38876796e+02] [-2.46518759e-01 9.69125235e-01 -4.97807554e-03 -2.57161014e+01] [-2.13782404e-02 -3.02540535e-04 9.99771414e-01 -3.48758605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.19862385300002 meters 0.02241009341930769 Centerline is valid? [True, True] Translation: X:138.91, Y:-25.72, Z:-3.49 [[ 9.68715427e-01 2.47296654e-01 2.08515192e-02 1.38905399e+02] [-2.47246490e-01 9.68939762e-01 -4.99108799e-03 -2.57211523e+01] [-2.14381454e-02 -3.20521017e-04 9.99770125e-01 -3.48873026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22862385300002 meters 0.02333901616784445 Centerline is valid? [True, True] Translation: X:138.93, Y:-25.73, Z:-3.49 [[ 9.68565024e-01 2.47864733e-01 2.10918825e-02 1.38933394e+02] [-2.47813563e-01 9.68794591e-01 -5.04758836e-03 -2.57251594e+01] [-2.16848208e-02 -3.37937008e-04 9.99764800e-01 -3.48886924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25862385300002 meters 0.02323874418093235 Centerline is valid? [True, True] Translation: X:138.96, Y:-25.73, Z:-3.49 [[ 9.68615379e-01 2.47635353e-01 2.14704321e-02 1.38961909e+02] [-2.47582304e-01 9.68853248e-01 -5.13676644e-03 -2.57311908e+01] [-2.20737428e-02 -3.40148072e-04 9.99756287e-01 -3.48892120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28862385300002 meters 0.0231294693914506 Centerline is valid? [True, True] Translation: X:138.99, Y:-25.74, Z:-3.49 [[ 9.68746607e-01 2.47121787e-01 2.14670150e-02 1.38989373e+02] [-2.47068652e-01 9.68984372e-01 -5.13492877e-03 -2.57371145e+01] [-2.20701549e-02 -3.29381644e-04 9.99756370e-01 -3.48991688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31862385300002 meters 0.022168243064230535 Centerline is valid? [True, True] Translation: X:139.02, Y:-25.75, Z:-3.49 [[ 9.68927155e-01 2.46440899e-01 2.11436095e-02 1.39017023e+02] [-2.46389219e-01 9.69157772e-01 -5.05625484e-03 -2.57451474e+01] [-2.17375615e-02 -3.10414820e-04 9.99763663e-01 -3.49142934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34862385300002 meters 0.0201285657575805 Centerline is valid? [True, True] Translation: X:139.04, Y:-25.76, Z:-3.49 [[ 9.69622264e-01 2.43732039e-01 2.06726474e-02 1.39044969e+02] [-2.43682043e-01 9.69842582e-01 -4.94253874e-03 -2.57568128e+01] [-2.12538688e-02 -2.45157355e-04 9.99774081e-01 -3.49279556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.37862385300002 meters 0.018960800711335407 Centerline is valid? [True, True] Translation: X:139.07, Y:-25.77, Z:-3.49 [[ 9.70069509e-01 2.41936440e-01 2.07823539e-02 1.39072386e+02] [-2.41885509e-01 9.70292078e-01 -4.96833939e-03 -2.57657010e+01] [-2.13669757e-02 -2.07315686e-04 9.99771679e-01 -3.49335046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40862385300002 meters 0.01772688106068767 Centerline is valid? [True, True] Translation: X:139.10, Y:-25.78, Z:-3.49 [[ 9.70592042e-01 2.39839348e-01 2.06924073e-02 1.39100438e+02] [-2.39788404e-01 9.70812578e-01 -4.94572299e-03 -2.57751524e+01] [-2.12746283e-02 -1.61519946e-04 9.99773656e-01 -3.49442748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.43862385300002 meters 0.01677414674535615 Centerline is valid? [True, True] Translation: X:139.13, Y:-25.78, Z:-3.50 [[ 9.71052300e-01 2.37967919e-01 2.07050586e-02 1.39128201e+02] [-2.37916498e-01 9.71273007e-01 -4.94823263e-03 -2.57843434e+01] [-2.12877852e-02 -1.21082354e-04 9.99773382e-01 -3.49571651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.468623853 meters 0.015940379262350216 Centerline is valid? [True, True] Translation: X:139.16, Y:-25.79, Z:-3.50 [[ 9.71544096e-01 2.35933924e-01 2.09106089e-02 1.39156366e+02] [-2.35881017e-01 9.71769097e-01 -4.99683395e-03 -2.57943118e+01] [-2.14992062e-02 -7.77711666e-05 9.99768862e-01 -3.49604554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.498623853 meters 0.01535272554735051 Centerline is valid? [True, True] Translation: X:139.18, Y:-25.81, Z:-3.50 [[ 9.72308852e-01 2.32713040e-01 2.14508326e-02 1.39184036e+02] [-2.32656592e-01 9.72545444e-01 -5.12534544e-03 -2.58062368e+01] [-2.20546443e-02 -7.25888165e-06 9.99756767e-01 -3.49572773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.528623853 meters 0.015380125028273583 Centerline is valid? [True, True] Translation: X:139.21, Y:-25.81, Z:-3.50 [[ 9.72571799e-01 2.31603783e-01 2.15356211e-02 1.39212983e+02] [-2.31546622e-01 9.72810201e-01 -5.14530226e-03 -2.58147275e+01] [-2.21417434e-02 1.76755376e-05 9.99754841e-01 -3.49622965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.558623853 meters 0.015380125028273583 Centerline is valid? [True, True] Translation: X:139.24, Y:-25.82, Z:-3.50 [[ 9.72571799e-01 2.31603783e-01 2.15356211e-02 1.39242153e+02] [-2.31546622e-01 9.72810201e-01 -5.14530226e-03 -2.58216968e+01] [-2.21417434e-02 1.76755377e-05 9.99754841e-01 -3.49698412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.588623853 meters 0.015432318055823666 Centerline is valid? [True, True] Translation: X:139.27, Y:-25.83, Z:-3.50 [[ 9.72748917e-01 2.30861618e-01 2.15048070e-02 1.39271842e+02] [-2.30804440e-01 9.72986594e-01 -5.13794012e-03 -2.58301725e+01] [-2.21100421e-02 3.45207545e-05 9.99755543e-01 -3.49775067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.618623853 meters 0.015643887414651673 Centerline is valid? [True, True] Translation: X:139.30, Y:-25.84, Z:-3.50 [[ 9.72936256e-01 2.30057385e-01 2.16481227e-02 1.39299715e+02] [-2.29999242e-01 9.73177064e-01 -5.17221531e-03 -2.58383411e+01] [-2.22573628e-02 5.31840039e-05 9.99752273e-01 -3.49823655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.648623853 meters 0.015714131059005838 Centerline is valid? [True, True] Translation: X:139.33, Y:-25.85, Z:-3.50 [[ 9.73094976e-01 2.29381459e-01 2.16866987e-02 1.39328543e+02] [-2.29322949e-01 9.73336602e-01 -5.18110120e-03 -2.58460871e+01] [-2.22969062e-02 6.84458504e-05 9.99751391e-01 -3.49874381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.678623853 meters 0.01575680116180917 Centerline is valid? [True, True] Translation: X:139.36, Y:-25.85, Z:-3.50 [[ 9.73138125e-01 2.29229787e-01 2.13516785e-02 1.39359454e+02] [-2.29173029e-01 9.73372334e-01 -5.10127538e-03 -2.58527864e+01] [-2.19524974e-02 7.10167200e-05 9.99759012e-01 -3.49940810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.708623853 meters 0.01589573337070402 Centerline is valid? [True, True] Translation: X:139.39, Y:-25.86, Z:-3.50 [[ 9.73080795e-01 2.29488730e-01 2.11822708e-02 1.39389289e+02] [-2.29432918e-01 9.73311316e-01 -5.06136278e-03 -2.58600694e+01] [-2.17784696e-02 6.52047241e-05 9.99762819e-01 -3.50060855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.738623853 meters 0.015923677942080505 Centerline is valid? [True, True] Translation: X:139.42, Y:-25.87, Z:-3.50 [[ 9.73087221e-01 2.29473988e-01 2.10463626e-02 1.39418247e+02] [-2.29418879e-01 9.73314792e-01 -5.02926999e-03 -2.58668103e+01] [-2.16388226e-02 6.54854577e-05 9.99765851e-01 -3.50122376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.768623853 meters 0.01571804211121159 Centerline is valid? [True, True] Translation: X:139.45, Y:-25.87, Z:-3.50 [[ 9.73000337e-01 2.29833558e-01 2.11395072e-02 1.39446902e+02] [-2.29778055e-01 9.73229948e-01 -5.05106029e-03 -2.58717796e+01] [-2.17345047e-02 5.72885105e-05 9.99763776e-01 -3.50204820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.798623853 meters 0.019543861627248513 Centerline is valid? [True, True] Translation: X:139.48, Y:-25.88, Z:-3.50 [[ 9.72938579e-01 2.30078563e-01 2.13161159e-02 1.39476469e+02] [-2.30022205e-01 9.73172057e-01 -5.09245611e-03 -2.58772763e+01] [-2.19159134e-02 5.14670297e-05 9.99759816e-01 -3.49863294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.828623853 meters 0.015576541217929684 Centerline is valid? [True, True] Translation: X:139.51, Y:-25.88, Z:-3.50 [[ 9.72958777e-01 2.29912501e-01 2.21688852e-02 1.39505112e+02] [-2.29851512e-01 9.73211302e-01 -5.29564046e-03 -2.58830436e+01] [-2.27925436e-02 5.68880755e-05 9.99740215e-01 -3.50215485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.858623853 meters 0.01564403160837577 Centerline is valid? [True, True] Translation: X:139.53, Y:-25.89, Z:-3.50 [[ 9.72999178e-01 2.29735994e-01 2.22254884e-02 1.39534469e+02] [-2.29674659e-01 9.73252983e-01 -5.30863923e-03 -2.58898791e+01] [-2.28506084e-02 6.06701334e-05 9.99738889e-01 -3.50274404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.888623853 meters 0.015919276072047524 Centerline is valid? [True, True] Translation: X:139.56, Y:-25.90, Z:-3.50 [[ 9.73112175e-01 2.29264962e-01 2.21421041e-02 1.39563482e+02] [-2.29203976e-01 9.73364049e-01 -5.28820826e-03 -2.58970216e+01] [-2.27647290e-02 7.09615386e-05 9.99740847e-01 -3.50335627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.918623853 meters 0.016012059654536205 Centerline is valid? [True, True] Translation: X:139.59, Y:-25.90, Z:-3.50 [[ 9.73210208e-01 2.28796488e-01 2.26728655e-02 1.39592436e+02] [-2.28732428e-01 9.73474273e-01 -5.41442970e-03 -2.59042923e+01] [-2.33102538e-02 8.33586565e-05 9.99728276e-01 -3.50361378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94862385300002 meters 0.01639864683667316 Centerline is valid? [True, True] Translation: X:139.62, Y:-25.91, Z:-3.50 [[ 9.73374225e-01 2.28122513e-01 2.24217981e-02 1.39619905e+02] [-2.28059697e-01 9.73632430e-01 -5.35398436e-03 -2.59118027e+01] [-2.30519541e-02 9.79219039e-05 9.99734264e-01 -3.50454097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97862385300002 meters 0.016467059215657713 Centerline is valid? [True, True] Translation: X:139.65, Y:-25.92, Z:-3.51 [[ 9.73425746e-01 2.27946946e-01 2.19660205e-02 1.39649112e+02] [-2.27886631e-01 9.73673549e-01 -5.24437992e-03 -2.59185985e+01] [-2.25831735e-02 9.92520412e-05 9.99744963e-01 -3.50562632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00862385300002 meters 0.016593641119922127 Centerline is valid? [True, True] Translation: X:139.68, Y:-25.93, Z:-3.51 [[ 9.73440194e-01 2.27892745e-01 2.18880046e-02 1.39678437e+02] [-2.27832856e-01 9.73686236e-01 -5.22525424e-03 -2.59252509e+01] [-2.25028464e-02 9.96658988e-05 9.99746774e-01 -3.50674928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03862385300002 meters 0.016796558571027746 Centerline is valid? [True, True] Translation: X:139.71, Y:-25.93, Z:-3.51 [[ 9.73538633e-01 2.27469443e-01 2.19130824e-02 1.39707180e+02] [-2.27409319e-01 9.73785213e-01 -5.23073868e-03 -2.59327046e+01] [-2.25284688e-02 1.09087026e-04 9.99746196e-01 -3.50752245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06862385300002 meters 0.017541074846472254 Centerline is valid? [True, True] Translation: X:139.73, Y:-25.94, Z:-3.51 [[ 9.73821807e-01 2.26228015e-01 2.21804705e-02 1.39734084e+02] [-2.26166104e-01 9.74074364e-01 -5.29407920e-03 -2.59416809e+01] [-2.28030967e-02 1.39019171e-04 9.99739966e-01 -3.50808916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09862385300002 meters 0.01794859602317433 Centerline is valid? [True, True] Translation: X:139.76, Y:-25.95, Z:-3.51 [[ 9.74009967e-01 2.25443532e-01 2.19043109e-02 1.39762102e+02] [-2.25382972e-01 9.74256224e-01 -5.22743077e-03 -2.59498929e+01] [-2.25189017e-02 1.54710972e-04 9.99746405e-01 -3.50953367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12862385300002 meters 0.018596064673454666 Centerline is valid? [True, True] Translation: X:139.79, Y:-25.96, Z:-3.51 [[ 9.74184703e-01 2.24672709e-01 2.20530960e-02 1.39790042e+02] [-2.24611143e-01 9.74434269e-01 -5.26218752e-03 -2.59584597e+01] [-2.26715624e-02 1.72971497e-04 9.99742952e-01 -3.51038396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.15862385300002 meters 0.018994516962118787 Centerline is valid? [True, True] Translation: X:139.82, Y:-25.97, Z:-3.51 [[ 9.74588034e-01 2.22935064e-01 2.18659701e-02 1.39820712e+02] [-2.22874129e-01 9.74833275e-01 -5.21627289e-03 -2.59675183e+01] [-2.24785653e-02 2.10358113e-04 9.99747303e-01 -3.51100370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18862385300002 meters 0.020714913869661636 Centerline is valid? [True, True] Translation: X:139.85, Y:-25.98, Z:-3.51 [[ 9.74621153e-01 2.22811808e-01 2.16450160e-02 1.39850713e+02] [-2.22751987e-01 9.74861453e-01 -5.16723486e-03 -2.59789309e+01] [-2.22522127e-02 2.14626080e-04 9.99752366e-01 -3.51310971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.218623853 meters 0.019266192272846244 Centerline is valid? [True, True] Translation: X:139.88, Y:-25.98, Z:-3.51 [[ 9.74616969e-01 2.22825225e-01 2.16952387e-02 1.39882827e+02] [-2.22765039e-01 9.74858385e-01 -5.18326223e-03 -2.59842731e+01] [-2.23047469e-02 2.18754635e-04 9.99751194e-01 -3.51328436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.248623853 meters 0.02086384109282544 Centerline is valid? [True, True] Translation: X:139.91, Y:-26.00, Z:-3.52 [[ 9.74539889e-01 2.23178725e-01 2.15234889e-02 1.39913276e+02] [-2.23119494e-01 9.74777519e-01 -5.14585691e-03 -2.59952644e+01] [-2.21290588e-02 2.12532881e-04 9.99755100e-01 -3.51523438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.278623853 meters 0.02046919239274357 Centerline is valid? [True, True] Translation: X:139.94, Y:-26.00, Z:-3.52 [[ 9.74463444e-01 2.23560039e-01 2.10215333e-02 1.39941940e+02] [-2.23503532e-01 9.74690139e-01 -5.03029708e-03 -2.60016326e+01] [-2.16140546e-02 2.03453694e-04 9.99766368e-01 -3.51686278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.308623853 meters 0.017755643093933793 Centerline is valid? [True, True] Translation: X:139.97, Y:-26.00, Z:-3.52 [[ 9.74093389e-01 2.25260953e-01 1.99892964e-02 1.39974494e+02] [-2.25210244e-01 9.74298455e-01 -4.78198934e-03 -2.60040590e+01] [-2.05527361e-02 1.56309894e-04 9.99788758e-01 -3.51707765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.338623853 meters 0.017659325537382482 Centerline is valid? [True, True] Translation: X:140.00, Y:-26.01, Z:-3.52 [[ 9.73920068e-01 2.26021608e-01 1.98477784e-02 1.40004411e+02] [-2.25971700e-01 9.74122278e-01 -4.75167580e-03 -2.60108812e+01] [-2.04081445e-02 1.42716194e-04 9.99791722e-01 -3.51875369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.368623853 meters 0.0175457580408925 Centerline is valid? [True, True] Translation: X:140.03, Y:-26.02, Z:-3.52 [[ 9.73718252e-01 2.26881032e-01 1.99440211e-02 1.40034409e+02] [-2.26830751e-01 9.73922472e-01 -4.77801137e-03 -2.60183175e+01] [-2.05079704e-02 1.28519601e-04 9.99789681e-01 -3.52028707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.398623853 meters 0.017002377390284183 Centerline is valid? [True, True] Translation: X:140.07, Y:-26.02, Z:-3.52 [[ 9.73596430e-01 2.27392020e-01 2.00713995e-02 1.40065443e+02] [-2.27341124e-01 9.73803293e-01 -4.81240781e-03 -2.60248571e+01] [-2.06398981e-02 1.22288542e-04 9.99786967e-01 -3.52080873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.428623853 meters 0.0161869702690658 Centerline is valid? [True, True] Translation: X:140.10, Y:-26.03, Z:-3.52 [[ 9.73243778e-01 2.28856466e-01 2.05247786e-02 1.40096345e+02] [-2.28803558e-01 9.73460173e-01 -4.92163019e-03 -2.60301344e+01] [-2.11064014e-02 9.38035989e-05 9.99777231e-01 -3.52083074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.458623853 meters 0.01612518954065423 Centerline is valid? [True, True] Translation: X:140.13, Y:-26.04, Z:-3.52 [[ 9.73098183e-01 2.29459442e-01 2.06951720e-02 1.40126287e+02] [-2.29405776e-01 9.73318220e-01 -4.96306385e-03 -2.60363200e+01] [-2.12818098e-02 8.19564270e-05 9.99773513e-01 -3.52137404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.488623853 meters 0.01582645249433303 Centerline is valid? [True, True] Translation: X:140.16, Y:-26.04, Z:-3.52 [[ 9.72926211e-01 2.30187530e-01 2.06951507e-02 1.40156732e+02] [-2.30134024e-01 9.73146287e-01 -4.96331895e-03 -2.60422569e+01] [-2.12819032e-02 6.62847875e-05 9.99773512e-01 -3.52220252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.518623853 meters 0.015645221053051394 Centerline is valid? [True, True] Translation: X:140.19, Y:-26.05, Z:-3.52 [[ 9.72790586e-01 2.30776035e-01 2.05157947e-02 1.40185930e+02] [-2.30723576e-01 9.73006896e-01 -4.92065422e-03 -2.60482791e+01] [-2.10975788e-02 5.32885803e-05 9.99777420e-01 -3.52342521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.548623853 meters 0.015428527872991295 Centerline is valid? [True, True] Translation: X:140.22, Y:-26.05, Z:-3.52 [[ 9.72514601e-01 2.31911727e-01 2.07918666e-02 1.40215270e+02] [-2.31858110e-01 9.72736835e-01 -4.98665248e-03 -2.60530225e+01] [-2.13814777e-02 2.88294658e-05 9.99771390e-01 -3.52395966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.578623853 meters 0.01536469730658942 Centerline is valid? [True, True] Translation: X:140.24, Y:-26.06, Z:-3.53 [[ 9.72400588e-01 2.32402477e-01 2.06442320e-02 1.40244152e+02] [-2.32349741e-01 9.72619704e-01 -4.95074131e-03 -2.60590740e+01] [-2.12295514e-02 1.74217981e-05 9.99774628e-01 -3.52508465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.608623853 meters 0.015343444536802827 Centerline is valid? [True, True] Translation: X:140.27, Y:-26.07, Z:-3.53 [[ 9.72251434e-01 2.33046734e-01 2.04051098e-02 1.40274430e+02] [-2.32995366e-01 9.72465537e-01 -4.89280785e-03 -2.60656264e+01] [-2.09835189e-02 2.74342688e-06 9.99779822e-01 -3.52543771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.638623853 meters 0.015699701151127433 Centerline is valid? [True, True] Translation: X:140.30, Y:-26.07, Z:-3.53 [[ 9.72078097e-01 2.33807119e-01 1.99600791e-02 1.40303144e+02] [-2.33758127e-01 9.72282999e-01 -4.78615317e-03 -2.60711154e+01] [-2.05258823e-02 -1.33160414e-05 9.99789322e-01 -3.52807686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.668623853 meters 0.015737995728297084 Centerline is valid? [True, True] Translation: X:140.33, Y:-26.07, Z:-3.53 [[ 9.71743872e-01 2.35192144e-01 1.99625384e-02 1.40331579e+02] [-2.35143433e-01 9.71948895e-01 -4.78665036e-03 -2.60742664e+01] [-2.05283497e-02 -4.26616626e-05 9.99789270e-01 -3.52814998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.69862385300002 meters 0.01567946210149212 Centerline is valid? [True, True] Translation: X:140.36, Y:-26.08, Z:-3.53 [[ 9.71614427e-01 2.35724882e-01 1.99796309e-02 1.40361934e+02] [-2.35676224e-01 9.71819828e-01 -4.78958330e-03 -2.60802202e+01] [-2.05456254e-02 -5.50957446e-05 9.99788915e-01 -3.52856600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72862385300002 meters 0.015753292062875478 Centerline is valid? [True, True] Translation: X:140.39, Y:-26.09, Z:-3.53 [[ 9.71542486e-01 2.36038176e-01 1.97782085e-02 1.40390578e+02] [-2.35990556e-01 9.71743781e-01 -4.74147571e-03 -2.60857096e+01] [-2.03385203e-02 -6.09253179e-05 9.99793149e-01 -3.52971053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75862385300002 meters 0.01588994109355892 Centerline is valid? [True, True] Translation: X:140.42, Y:-26.09, Z:-3.53 [[ 9.71545007e-01 2.36022847e-01 1.98372226e-02 1.40418732e+02] [-2.35974955e-01 9.71747504e-01 -4.75486323e-03 -2.60911838e+01] [-2.03990279e-02 -6.15240672e-05 9.99791916e-01 -3.53109344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78862385300002 meters 0.01598193015948017 Centerline is valid? [True, True] Translation: X:140.45, Y:-26.10, Z:-3.53 [[ 9.71598936e-01 2.35799832e-01 1.98480988e-02 1.40447003e+02] [-2.35751855e-01 9.71801644e-01 -4.75677734e-03 -2.60959164e+01] [-2.04100623e-02 -5.75462973e-05 9.99791691e-01 -3.53228903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81862385300002 meters 0.015818816931795387 Centerline is valid? [True, True] Translation: X:140.48, Y:-26.10, Z:-3.53 [[ 9.71697645e-01 2.35392393e-01 1.98521620e-02 1.40476403e+02] [-2.35344333e-01 9.71900416e-01 -4.75665883e-03 -2.61023560e+01] [-2.04140058e-02 -5.00596545e-05 9.99791611e-01 -3.53304913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84862385300002 meters 0.01569441639845925 Centerline is valid? [True, True] Translation: X:140.50, Y:-26.11, Z:-3.53 [[ 9.71879729e-01 2.34652703e-01 1.96952156e-02 1.40503920e+02] [-2.34605257e-01 9.72079270e-01 -4.71862579e-03 -2.61087766e+01] [-2.02525491e-02 -3.46643687e-05 9.99794895e-01 -3.53456062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.87862385300002 meters 0.01563747132767314 Centerline is valid? [True, True] Translation: X:140.53, Y:-26.12, Z:-3.53 [[ 9.72299543e-01 2.32895646e-01 1.98297054e-02 1.40532389e+02] [-2.32847201e-01 9.72501732e-01 -4.75004644e-03 -2.61176633e+01] [-2.03906880e-02 1.17656674e-06 9.99792088e-01 -3.53478069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90862385300002 meters 0.0157581330150737 Centerline is valid? [True, True] Translation: X:140.56, Y:-26.13, Z:-3.54 [[ 9.72563031e-01 2.31822286e-01 1.94827831e-02 1.40562046e+02] [-2.31775318e-01 9.72758155e-01 -4.66633493e-03 -2.61257748e+01] [-2.00337966e-02 2.26765916e-05 9.99799303e-01 -3.53533113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.93862385300002 meters 0.015887805588160407 Centerline is valid? [True, True] Translation: X:140.59, Y:-26.13, Z:-3.54 [[ 9.72813371e-01 2.30788191e-01 1.92602121e-02 1.40590387e+02] [-2.30742086e-01 9.73004013e-01 -4.61309288e-03 -2.61333784e+01] [-1.98049110e-02 4.35369124e-05 9.99803863e-01 -3.53649346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.968623853 meters 0.01627444031897384 Centerline is valid? [True, True] Translation: X:140.62, Y:-26.14, Z:-3.54 [[ 9.73091521e-01 2.29618178e-01 1.91933268e-02 1.40618614e+02] [-2.29572171e-01 9.73280786e-01 -4.59682912e-03 -2.61415583e+01] [-1.97360117e-02 6.68817513e-05 9.99805224e-01 -3.53829652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.998623853 meters 0.01707776721769504 Centerline is valid? [True, True] Translation: X:140.65, Y:-26.15, Z:-3.54 [[ 9.73695835e-01 2.26953508e-01 2.02120180e-02 1.40647896e+02] [-2.26901919e-01 9.73905585e-01 -4.84048348e-03 -2.61516521e+01] [-2.07831619e-02 1.27012943e-04 9.99783999e-01 -3.53715246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.028623853 meters 0.01789162314527266 Centerline is valid? [True, True] Translation: X:140.68, Y:-26.16, Z:-3.54 [[ 9.74023110e-01 2.25516620e-01 2.05240200e-02 1.40676613e+02] [-2.25463108e-01 9.74239308e-01 -4.91515400e-03 -2.61607915e+01] [-2.11037560e-02 1.60064245e-04 9.99777278e-01 -3.53762174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.058623853 meters 0.019332455470989187 Centerline is valid? [True, True] Translation: X:140.71, Y:-26.17, Z:-3.54 [[ 9.74400902e-01 2.23858268e-01 2.07450852e-02 1.40705245e+02] [-2.23803218e-01 9.74621689e-01 -4.96820286e-03 -2.61709963e+01] [-2.13307833e-02 1.98204530e-04 9.99772453e-01 -3.53791811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.088623853 meters 0.02042762501450786 Centerline is valid? [True, True] Translation: X:140.73, Y:-26.18, Z:-3.54 [[ 9.74744824e-01 2.22322943e-01 2.10959029e-02 1.40734819e+02] [-2.22265628e-01 9.74973052e-01 -5.05349865e-03 -2.61806751e+01] [-2.16914456e-02 2.36977531e-04 9.99764685e-01 -3.53838806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.118623853 meters 0.022706390223731717 Centerline is valid? [True, True] Translation: X:140.76, Y:-26.19, Z:-3.54 [[ 9.75364120e-01 2.19595002e-01 2.10444646e-02 1.40764374e+02] [-2.19537329e-01 9.75591076e-01 -5.04122673e-03 -2.61928956e+01] [-2.16378200e-02 2.96986132e-04 9.99765831e-01 -3.53968648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.148623853 meters 0.02361532884386394 Centerline is valid? [True, True] Translation: X:140.80, Y:-26.20, Z:-3.54 [[ 9.75588354e-01 2.18623434e-01 2.07643296e-02 1.40795132e+02] [-2.18566998e-01 9.75809251e-01 -4.97732436e-03 -2.62024880e+01] [-2.13501846e-02 3.17422488e-04 9.99772008e-01 -3.54059188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.178623853 meters 0.025606379339718193 Centerline is valid? [True, True] Translation: X:140.82, Y:-26.21, Z:-3.54 [[ 9.75780840e-01 2.17770507e-01 2.06823401e-02 1.40824146e+02] [-2.17714249e-01 9.75999945e-01 -4.96126094e-03 -2.62133577e+01] [-2.12663791e-02 3.38263240e-04 9.99773788e-01 -3.54178316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.208623853 meters 0.02564027325089698 Centerline is valid? [True, True] Translation: X:140.85, Y:-26.22, Z:-3.54 [[ 9.75888975e-01 2.17296941e-01 2.05608172e-02 1.40854989e+02] [-2.17241170e-01 9.76105485e-01 -4.93530349e-03 -2.62214881e+01] [-2.11419528e-02 3.49652284e-04 9.99776423e-01 -3.54242511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.238623853 meters 0.02598639600925891 Centerline is valid? [True, True] Translation: X:140.89, Y:-26.23, Z:-3.54 [[ 9.75932099e-01 2.17095932e-01 2.06372070e-02 1.40886899e+02] [-2.17039627e-01 9.76150208e-01 -4.95705169e-03 -2.62301261e+01] [-2.12211697e-02 3.58654138e-04 9.99774741e-01 -3.54328100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.268623853 meters 0.02606533974635212 Centerline is valid? [True, True] Translation: X:140.92, Y:-26.24, Z:-3.54 [[ 9.75892308e-01 2.17315450e-01 2.02039140e-02 1.40917936e+02] [-2.17261452e-01 9.76101364e-01 -4.85684091e-03 -2.62381586e+01] [-2.07765346e-02 3.50221996e-04 9.99784083e-01 -3.54463457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.298623853 meters 0.026315086596007 Centerline is valid? [True, True] Translation: X:140.95, Y:-26.25, Z:-3.55 [[ 9.75849131e-01 2.17476927e-01 2.05489485e-02 1.40949191e+02] [-2.17421024e-01 9.76065397e-01 -4.94356471e-03 -2.62465166e+01] [-2.11322289e-02 3.56399887e-04 9.99776626e-01 -3.54545832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.328623853 meters 0.025927537151911022 Centerline is valid? [True, True] Translation: X:140.98, Y:-26.25, Z:-3.55 [[ 9.75755378e-01 2.17889677e-01 2.06284163e-02 1.40980207e+02] [-2.17833354e-01 9.75973342e-01 -4.96643874e-03 -2.62542879e+01] [-2.12149201e-02 3.52472194e-04 9.99774876e-01 -3.54579180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.358623853 meters 0.025789083351830434 Centerline is valid? [True, True] Translation: X:141.01, Y:-26.26, Z:-3.55 [[ 9.75625530e-01 2.18484609e-01 2.04768452e-02 1.41010067e+02] [-2.18429164e-01 9.75840335e-01 -4.93362766e-03 -2.62617633e+01] [-2.10600531e-02 3.40632931e-04 9.99778154e-01 -3.54626752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.388623853 meters 0.024748262684851485 Centerline is valid? [True, True] Translation: X:141.04, Y:-26.27, Z:-3.55 [[ 9.75327910e-01 2.19770116e-01 2.08941066e-02 1.41041723e+02] [-2.19712645e-01 9.75551635e-01 -5.03595128e-03 -2.62682781e+01] [-2.14900315e-02 3.21004412e-04 9.99769011e-01 -3.54682613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.418623853 meters 0.023977834851214345 Centerline is valid? [True, True] Translation: X:141.07, Y:-26.27, Z:-3.55 [[ 9.75167065e-01 2.20443872e-01 2.13001266e-02 1.41072348e+02] [-2.20384216e-01 9.75399610e-01 -5.13787297e-03 -2.62746904e+01] [-2.19087478e-02 3.16072792e-04 9.99759925e-01 -3.54659680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44862385300002 meters 0.023646375833012462 Centerline is valid? [True, True] Translation: X:141.10, Y:-26.28, Z:-3.55 [[ 9.74992068e-01 2.21212828e-01 2.13389609e-02 1.41102240e+02] [-2.21153136e-01 9.75225510e-01 -5.14734546e-03 -2.62817588e+01] [-2.19489578e-02 2.99442878e-04 9.99759048e-01 -3.54757238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47862385300002 meters 0.02147008279730474 Centerline is valid? [True, True] Translation: X:141.13, Y:-26.29, Z:-3.55 [[ 9.74830417e-01 2.21999540e-01 2.05392921e-02 1.41134943e+02] [-2.21944355e-01 9.75046732e-01 -4.95724610e-03 -2.62871848e+01] [-2.11272760e-02 2.73894353e-04 9.99776757e-01 -3.54937692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50862385300002 meters 0.02147008279730474 Centerline is valid? [True, True] Translation: X:141.17, Y:-26.29, Z:-3.55 [[ 9.74787845e-01 2.22186483e-01 2.05383384e-02 1.41166482e+02] [-2.22131256e-01 9.75004150e-01 -4.96119409e-03 -2.62949939e+01] [-2.11272754e-02 2.73904810e-04 9.99776757e-01 -3.55019479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53862385300002 meters 0.022898807291193434 Centerline is valid? [True, True] Translation: X:141.20, Y:-26.31, Z:-3.55 [[ 9.74665689e-01 2.22733432e-01 2.04111187e-02 1.41196769e+02] [-2.22678919e-01 9.74879351e-01 -4.93462971e-03 -2.63054785e+01] [-2.09974852e-02 2.64488401e-04 9.99779494e-01 -3.55231808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56862385300002 meters 0.02291706217751625 Centerline is valid? [True, True] Translation: X:141.23, Y:-26.31, Z:-3.55 [[ 9.74565830e-01 2.23182133e-01 2.02775273e-02 1.41225927e+02] [-2.23128334e-01 9.74776728e-01 -4.90688091e-03 -2.63133879e+01] [-2.08611899e-02 2.57587584e-04 9.99782349e-01 -3.55293932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59862385300002 meters 0.022485409239506513 Centerline is valid? [True, True] Translation: X:141.26, Y:-26.32, Z:-3.55 [[ 9.74475135e-01 2.23599955e-01 2.00317599e-02 1.41256247e+02] [-2.23547537e-01 9.74680973e-01 -4.84758873e-03 -2.63202180e+01] [-2.06084958e-02 2.45804114e-04 9.99787592e-01 -3.55398661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62862385300002 meters 0.020210694133723683 Centerline is valid? [True, True] Translation: X:141.29, Y:-26.32, Z:-3.55 [[ 9.74178458e-01 2.24885301e-01 2.00732027e-02 1.41288565e+02] [-2.24832943e-01 9.74385218e-01 -4.85742484e-03 -2.63246352e+01] [-2.06513955e-02 2.18881408e-04 9.99786713e-01 -3.55358665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.65862385300002 meters 0.02089918301499954 Centerline is valid? [True, True] Translation: X:141.32, Y:-26.33, Z:-3.56 [[ 9.73993333e-01 2.25668992e-01 2.02606444e-02 1.41318798e+02] [-2.25615745e-01 9.74204015e-01 -4.90635301e-03 -2.63342098e+01] [-2.08452129e-02 2.07634729e-04 9.99782693e-01 -3.55502110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68862385300002 meters 0.019462895691868987 Centerline is valid? [True, True] Translation: X:141.35, Y:-26.34, Z:-3.55 [[ 9.73853295e-01 2.26265763e-01 2.03362615e-02 1.41350555e+02] [-2.26212175e-01 9.74065586e-01 -4.92818209e-03 -2.63398488e+01] [-2.09239313e-02 1.99016421e-04 9.99781051e-01 -3.55467952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.718623853 meters 0.02014806975651653 Centerline is valid? [True, True] Translation: X:141.38, Y:-26.35, Z:-3.56 [[ 9.73713715e-01 2.26859794e-01 2.04018256e-02 1.41380685e+02] [-2.26805914e-01 9.73927409e-01 -4.94769323e-03 -2.63495625e+01] [-2.09923298e-02 1.90382061e-04 9.99779619e-01 -3.55622966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.748623853 meters 0.02007423815274894 Centerline is valid? [True, True] Translation: X:141.41, Y:-26.36, Z:-3.56 [[ 9.73647136e-01 2.27155717e-01 2.02863320e-02 1.41408600e+02] [-2.27102426e-01 9.73858432e-01 -4.92371925e-03 -2.63567516e+01] [-2.08744665e-02 1.86889924e-04 9.99782087e-01 -3.55691009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.778623853 meters 0.017904467744235708 Centerline is valid? [True, True] Translation: X:141.44, Y:-26.36, Z:-3.56 [[ 9.73333916e-01 2.28507803e-01 2.01313695e-02 1.41440897e+02] [-2.28455646e-01 9.73542069e-01 -4.88449175e-03 -2.63619895e+01] [-2.07148796e-02 1.55116457e-04 9.99785412e-01 -3.55713797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.808623853 meters 0.017538677594185845 Centerline is valid? [True, True] Translation: X:141.47, Y:-26.37, Z:-3.56 [[ 9.73142464e-01 2.29348782e-01 1.98212498e-02 1.41472767e+02] [-2.29298323e-01 9.73344295e-01 -4.81267866e-03 -2.63702184e+01] [-2.03966824e-02 1.38442634e-04 9.99791956e-01 -3.55805968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.838623853 meters 0.01750061734378567 Centerline is valid? [True, True] Translation: X:141.50, Y:-26.38, Z:-3.56 [[ 9.72957587e-01 2.30130182e-01 1.98401938e-02 1.41503550e+02] [-2.30079704e-01 9.73159845e-01 -4.82146523e-03 -2.63781668e+01] [-2.04172446e-02 1.26255245e-04 9.99791538e-01 -3.55890136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.868623853 meters 0.017255902877957367 Centerline is valid? [True, True] Translation: X:141.53, Y:-26.39, Z:-3.56 [[ 9.72813972e-01 2.30738813e-01 1.98135591e-02 1.41534887e+02] [-2.30688516e-01 9.73015718e-01 -4.81889509e-03 -2.63853652e+01] [-2.03908106e-02 1.17127917e-04 9.99792079e-01 -3.55914949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.898623853 meters 0.017123284894811554 Centerline is valid? [True, True] Translation: X:141.56, Y:-26.39, Z:-3.56 [[ 9.72628399e-01 2.31481210e-01 2.02594949e-02 1.41564489e+02] [-2.31428706e-01 9.72839369e-01 -4.93114791e-03 -2.63946723e+01] [-2.08507024e-02 1.07545798e-04 9.99782595e-01 -3.55910105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.928623853 meters 0.017091476280154512 Centerline is valid? [True, True] Translation: X:141.60, Y:-26.40, Z:-3.56 [[ 9.72602353e-01 2.31585848e-01 2.03139916e-02 1.41595803e+02] [-2.31533014e-01 9.72814465e-01 -4.94776593e-03 -2.64036810e+01] [-2.09075774e-02 1.08849093e-04 9.99781407e-01 -3.55949205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.958623853 meters 0.01699968868694392 Centerline is valid? [True, True] Translation: X:141.63, Y:-26.41, Z:-3.56 [[ 9.72567139e-01 2.31721672e-01 2.04505977e-02 1.41626935e+02] [-2.31668079e-01 9.72782121e-01 -4.98463908e-03 -2.64123635e+01] [-2.10490247e-02 1.10145471e-04 9.99778439e-01 -3.56024326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.988623853 meters 0.017327133490936963 Centerline is valid? [True, True] Translation: X:141.66, Y:-26.42, Z:-3.56 [[ 9.72677732e-01 2.31212658e-01 2.09460436e-02 1.41656086e+02] [-2.31156236e-01 9.72903228e-01 -5.10920868e-03 -2.64227553e+01] [-2.15597871e-02 1.27804924e-04 9.99767553e-01 -3.56008936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.018623853 meters 0.017952779109046264 Centerline is valid? [True, True] Translation: X:141.69, Y:-26.43, Z:-3.56 [[ 9.72736462e-01 2.30953174e-01 2.10809474e-02 1.41686012e+02] [-2.30895890e-01 9.72964857e-01 -5.14546536e-03 -2.64338840e+01] [-2.16993825e-02 1.37677670e-04 9.99764531e-01 -3.56138804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.048623853 meters 0.017790229375137055 Centerline is valid? [True, True] Translation: X:141.72, Y:-26.44, Z:-3.56 [[ 9.72828226e-01 2.30590640e-01 2.08134610e-02 1.41717792e+02] [-2.30534638e-01 9.73050839e-01 -5.08390312e-03 -2.64429560e+01] [-2.14248561e-02 1.47540779e-04 9.99770451e-01 -3.56156705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.078623853 meters 0.01814228829981518 Centerline is valid? [True, True] Translation: X:141.75, Y:-26.45, Z:-3.56 [[ 9.72903059e-01 2.30275076e-01 2.08093182e-02 1.41749305e+02] [-2.30218934e-01 9.73125565e-01 -5.08705968e-03 -2.64532682e+01] [-2.14215026e-02 1.58516878e-04 9.99770521e-01 -3.56296366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.108623853 meters 0.01888118296176287 Centerline is valid? [True, True] Translation: X:141.78, Y:-26.47, Z:-3.56 [[ 9.73114515e-01 2.29424075e-01 2.03158691e-02 1.41779665e+02] [-2.29370294e-01 9.73326545e-01 -4.97047318e-03 -2.64657242e+01] [-2.09143209e-02 1.76982725e-04 9.99781256e-01 -3.56486019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.138623853 meters 0.019402907003900908 Centerline is valid? [True, True] Translation: X:141.81, Y:-26.48, Z:-3.57 [[ 9.73214641e-01 2.29034410e-01 1.99123312e-02 1.41808716e+02] [-2.28982587e-01 9.73418309e-01 -4.87546983e-03 -2.64760802e+01] [-2.04996781e-02 1.85301515e-04 9.99789842e-01 -3.56627372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.168623853 meters 0.019474356499372493 Centerline is valid? [True, True] Translation: X:141.84, Y:-26.49, Z:-3.57 [[ 9.73282961e-01 2.28790731e-01 1.93669563e-02 1.41840422e+02] [-2.28741635e-01 9.73475612e-01 -4.74319742e-03 -2.64859385e+01] [-1.99384592e-02 1.86443983e-04 9.99801192e-01 -3.56731355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.19862385300002 meters 0.0200039386980711 Centerline is valid? [True, True] Translation: X:141.87, Y:-26.50, Z:-3.57 [[ 9.73382500e-01 2.28378393e-01 1.92306827e-02 1.41871419e+02] [-2.28329829e-01 9.73572427e-01 -4.71363208e-03 -2.64962201e+01] [-1.97989541e-02 1.97228484e-04 9.99803962e-01 -3.56909825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22862385300002 meters 0.0213102699760354 Centerline is valid? [True, True] Translation: X:141.90, Y:-26.51, Z:-3.57 [[ 9.73572874e-01 2.27605851e-01 1.87466336e-02 1.41900545e+02] [-2.27559484e-01 9.73753322e-01 -4.59883536e-03 -2.65087189e+01] [-1.93013186e-02 2.11327081e-04 9.99813690e-01 -3.57144861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25862385300002 meters 0.02125770397877274 Centerline is valid? [True, True] Translation: X:141.93, Y:-26.52, Z:-3.57 [[ 9.73627626e-01 2.27393396e-01 1.84794153e-02 1.41932034e+02] [-2.27348251e-01 9.73802956e-01 -4.53600182e-03 -2.65182132e+01] [-1.90267661e-02 2.15113936e-04 9.99818952e-01 -3.57216073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28862385300002 meters 0.022013447021103704 Centerline is valid? [True, True] Translation: X:141.96, Y:-26.53, Z:-3.57 [[ 9.73664320e-01 2.27230589e-01 1.85486143e-02 1.41962144e+02] [-2.27185004e-01 9.73840957e-01 -4.55675776e-03 -2.65289986e+01] [-1.90988351e-02 2.22785429e-04 9.99817576e-01 -3.57349308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.31862385300002 meters 0.02208772564010804 Centerline is valid? [True, True] Translation: X:141.99, Y:-26.54, Z:-3.57 [[ 9.73718649e-01 2.26987436e-01 1.86734319e-02 1.41993201e+02] [-2.26941126e-01 9.73897659e-01 -4.59083397e-03 -2.65391799e+01] [-1.92280732e-02 2.32411002e-04 9.99815096e-01 -3.57333267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34862385300002 meters 0.022560767584545005 Centerline is valid? [True, True] Translation: X:142.02, Y:-26.55, Z:-3.57 [[ 9.73818459e-01 2.26517112e-01 1.91730661e-02 1.42024254e+02] [-2.26468122e-01 9.74007153e-01 -4.71753645e-03 -2.65518034e+01] [-1.97433063e-02 2.51935797e-04 9.99805050e-01 -3.57295574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.37862385300002 meters 0.022238173434377204 Centerline is valid? [True, True] Translation: X:142.06, Y:-26.56, Z:-3.57 [[ 9.73903628e-01 2.26152106e-01 1.91559120e-02 1.42056199e+02] [-2.26103060e-01 9.74091965e-01 -4.71701082e-03 -2.65611855e+01] [-1.97263819e-02 2.62703620e-04 9.99805381e-01 -3.57316949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40862385300002 meters 0.022747712840022097 Centerline is valid? [True, True] Translation: X:142.09, Y:-26.57, Z:-3.57 [[ 9.73946970e-01 2.25944364e-01 1.94021483e-02 1.42086174e+02] [-2.25893927e-01 9.74140169e-01 -4.78169818e-03 -2.65717974e+01] [-1.99808098e-02 2.74292967e-04 9.99800326e-01 -3.57385505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.43862385300002 meters 0.023035541152124337 Centerline is valid? [True, True] Translation: X:142.12, Y:-26.58, Z:-3.57 [[ 9.74014341e-01 2.25659855e-01 1.93311549e-02 1.42117539e+02] [-2.25609659e-01 9.74206113e-01 -4.76777990e-03 -2.65822190e+01] [-1.99084257e-02 2.82590745e-04 9.99801768e-01 -3.57450981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.468623853 meters 0.023286432239928948 Centerline is valid? [True, True] Translation: X:142.15, Y:-26.59, Z:-3.57 [[ 9.74050971e-01 2.25491251e-01 1.94525372e-02 1.42149487e+02] [-2.25440310e-01 9.74245149e-01 -4.80165043e-03 -2.65924616e+01] [-2.00342701e-02 2.91666253e-04 9.99799251e-01 -3.57470496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.498623853 meters 0.024361643739212874 Centerline is valid? [True, True] Translation: X:142.18, Y:-26.61, Z:-3.58 [[ 9.74197326e-01 2.24845392e-01 1.95989773e-02 1.42178238e+02] [-2.24793466e-01 9.74394403e-01 -4.84197633e-03 -2.66060214e+01] [-2.01858298e-02 3.11318360e-04 9.99796197e-01 -3.57569805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.528623853 meters 0.023892598989588787 Centerline is valid? [True, True] Translation: X:142.21, Y:-26.62, Z:-3.58 [[ 9.74206149e-01 2.24780138e-01 1.99064788e-02 1.42209623e+02] [-2.24726492e-01 9.74409455e-01 -4.92106930e-03 -2.66155552e+01] [-2.05032198e-02 3.20622828e-04 9.99789735e-01 -3.57575238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.558623853 meters 0.024874345727421084 Centerline is valid? [True, True] Translation: X:142.24, Y:-26.63, Z:-3.58 [[ 9.74224648e-01 2.24686720e-01 2.00552420e-02 1.42239706e+02] [-2.24632164e-01 9.74430998e-01 -4.96202074e-03 -2.66270877e+01] [-2.06573497e-02 3.29070503e-04 9.99786560e-01 -3.57636254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.588623853 meters 0.026666761824208317 Centerline is valid? [True, True] Translation: X:142.27, Y:-26.64, Z:-3.58 [[ 9.74337012e-01 2.24222125e-01 1.97945883e-02 1.42268507e+02] [-2.24168798e-01 9.74538005e-01 -4.90164953e-03 -2.66419740e+01] [-2.03896369e-02 3.38529494e-04 9.99792052e-01 -3.57839906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.618623853 meters 0.025313084695489627 Centerline is valid? [True, True] Translation: X:142.30, Y:-26.65, Z:-3.58 [[ 9.74341025e-01 2.24229947e-01 1.95063531e-02 1.42299934e+02] [-2.24178136e-01 9.74536207e-01 -4.83163211e-03 -2.66501508e+01] [-2.00930440e-02 3.34759515e-04 9.99798058e-01 -3.57927864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.648623853 meters 0.025823453602581627 Centerline is valid? [True, True] Translation: X:142.33, Y:-26.66, Z:-3.58 [[ 9.74363975e-01 2.24173044e-01 1.90076481e-02 1.42330345e+02] [-2.24123770e-01 9.74549299e-01 -4.71157091e-03 -2.66603727e+01] [-1.95800974e-02 3.30719210e-04 9.99808237e-01 -3.58151766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.678623853 meters 0.03216109963454565 Centerline is valid? [True, True] Translation: X:142.36, Y:-26.67, Z:-3.58 [[ 9.74319595e-01 2.24482524e-01 1.75762344e-02 1.42360545e+02] [-2.24440389e-01 9.74478068e-01 -4.35971792e-03 -2.66710652e+01] [-1.81063354e-02 3.02941711e-04 9.99836021e-01 -3.57849179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.708623853 meters 0.026559043197656125 Centerline is valid? [True, True] Translation: X:142.39, Y:-26.68, Z:-3.59 [[ 9.74315449e-01 2.24503123e-01 1.75429225e-02 1.42391049e+02] [-2.24461093e-01 9.74473322e-01 -4.35462666e-03 -2.66835145e+01] [-1.80727372e-02 3.05076472e-04 9.99836628e-01 -3.58579165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.738623853 meters 0.026401231951677647 Centerline is valid? [True, True] Translation: X:142.42, Y:-26.69, Z:-3.59 [[ 9.74238852e-01 2.24840343e-01 1.74779407e-02 1.42422923e+02] [-2.24798617e-01 9.74395571e-01 -4.34190745e-03 -2.66936178e+01] [-1.80066640e-02 3.01038023e-04 9.99837822e-01 -3.58684877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.768623853 meters 0.027029005408510845 Centerline is valid? [True, True] Translation: X:142.45, Y:-26.70, Z:-3.59 [[ 9.74138747e-01 2.25306553e-01 1.70487070e-02 1.42453321e+02] [-2.25266857e-01 9.74287880e-01 -4.23905787e-03 -2.67047590e+01] [-1.75654361e-02 2.88921896e-04 9.99845674e-01 -3.58875666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.798623853 meters 0.025810394127992815 Centerline is valid? [True, True] Translation: X:142.48, Y:-26.71, Z:-3.59 [[ 9.73956666e-01 2.26093733e-01 1.70304609e-02 1.42484410e+02] [-2.26054212e-01 9.74105512e-01 -4.23624808e-03 -2.67132182e+01] [-1.75472549e-02 2.76114653e-04 9.99845997e-01 -3.58876858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.828623853 meters 0.024162966303808858 Centerline is valid? [True, True] Translation: X:142.51, Y:-26.72, Z:-3.59 [[ 9.73478472e-01 2.28093696e-01 1.76898189e-02 1.42514815e+02] [-2.28051327e-01 9.73639154e-01 -4.40344579e-03 -2.67217371e+01] [-1.82278985e-02 2.52473015e-04 9.99833826e-01 -3.58829401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.858623853 meters 0.02309533779642814 Centerline is valid? [True, True] Translation: X:142.55, Y:-26.73, Z:-3.59 [[ 9.73126086e-01 2.29571526e-01 1.79592750e-02 1.42545345e+02] [-2.29528049e-01 9.73291765e-01 -4.47371087e-03 -2.67288467e+01] [-1.85066511e-02 2.31327402e-04 9.99828711e-01 -3.58917642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.888623853 meters 0.022060573747359508 Centerline is valid? [True, True] Translation: X:142.58, Y:-26.74, Z:-3.59 [[ 9.72784332e-01 2.31037927e-01 1.76669073e-02 1.42576627e+02] [-2.30996047e-01 9.72944724e-01 -4.40350842e-03 -2.67360319e+01] [-1.82063017e-02 2.02678237e-04 9.99834231e-01 -3.59014246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.918623853 meters 0.02111769750071892 Centerline is valid? [True, True] Translation: X:142.61, Y:-26.74, Z:-3.59 [[ 9.72536808e-01 2.32072522e-01 1.77341766e-02 1.42607984e+02] [-2.32030440e-01 9.72698468e-01 -4.42324590e-03 -2.67438130e+01] [-1.82765202e-02 1.86900658e-04 9.99832953e-01 -3.59081313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94862385300002 meters 0.02070280599478817 Centerline is valid? [True, True] Translation: X:142.64, Y:-26.75, Z:-3.59 [[ 9.72356600e-01 2.32808395e-01 1.79692595e-02 1.42639228e+02] [-2.32765259e-01 9.72522606e-01 -4.48496235e-03 -2.67528422e+01] [-1.85196480e-02 1.78363407e-04 9.99828481e-01 -3.59142095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97862385300002 meters 0.022906747302751773 Centerline is valid? [True, True] Translation: X:142.67, Y:-26.76, Z:-3.59 [[ 9.72367045e-01 2.32803670e-01 1.74580085e-02 1.42670242e+02] [-2.32762906e-01 9.72523738e-01 -4.35994280e-03 -2.67640921e+01] [-1.79933384e-02 1.75887895e-04 9.99838091e-01 -3.58742935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00862385300002 meters 0.02126610213531754 Centerline is valid? [True, True] Translation: X:142.70, Y:-26.78, Z:-3.59 [[ 9.72386155e-01 2.32696246e-01 1.78219618e-02 1.42699719e+02] [-2.32653676e-01 9.72549445e-01 -4.45465921e-03 -2.67778012e+01] [-1.83693215e-02 1.85304013e-04 9.99831253e-01 -3.59349402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03862385300002 meters 0.020683723688937734 Centerline is valid? [True, True] Translation: X:142.73, Y:-26.79, Z:-3.59 [[ 9.72542213e-01 2.32016722e-01 1.81627032e-02 1.42731533e+02] [-2.31972327e-01 9.72711776e-01 -4.54325863e-03 -2.67880204e+01] [-1.87211872e-02 2.05266290e-04 9.99824722e-01 -3.59228247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06862385300002 meters 0.02283856824791592 Centerline is valid? [True, True] Translation: X:142.76, Y:-26.80, Z:-3.59 [[ 9.72681658e-01 2.31429917e-01 1.81819906e-02 1.42759797e+02] [-2.31385249e-01 9.72851553e-01 -4.55211854e-03 -2.68024881e+01] [-1.87418742e-02 2.20717785e-04 9.99824331e-01 -3.59432912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.09862385300002 meters 0.022957756726922046 Centerline is valid? [True, True] Translation: X:142.79, Y:-26.82, Z:-3.59 [[ 9.73134995e-01 2.29517098e-01 1.81709270e-02 1.42789725e+02] [-2.29472095e-01 9.73304595e-01 -4.55232214e-03 -2.68160723e+01] [-1.87306825e-02 2.60303304e-04 9.99824531e-01 -3.59475037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12862385300002 meters 0.024055284750646003 Centerline is valid? [True, True] Translation: X:142.82, Y:-26.83, Z:-3.60 [[ 9.73356877e-01 2.28581864e-01 1.80754505e-02 1.42818383e+02] [-2.28537110e-01 9.73524655e-01 -4.53169777e-03 -2.68287282e+01] [-1.86327607e-02 2.80047965e-04 9.99826356e-01 -3.59619082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.15862385300002 meters 0.02714266423886166 Centerline is valid? [True, True] Translation: X:142.85, Y:-26.84, Z:-3.60 [[ 9.73525017e-01 2.27855466e-01 1.81914228e-02 1.42846835e+02] [-2.27809953e-01 9.73694920e-01 -4.56379439e-03 -2.68447018e+01] [-1.87527814e-02 2.98780851e-04 9.99824106e-01 -3.59801778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18862385300002 meters 0.02565941928426417 Centerline is valid? [True, True] Translation: X:142.88, Y:-26.85, Z:-3.60 [[ 9.73636765e-01 2.27365817e-01 1.83367297e-02 1.42878151e+02] [-2.27319430e-01 9.73809369e-01 -4.60322501e-03 -2.68532571e+01] [-1.89030952e-02 3.13574145e-04 9.99821271e-01 -3.59705256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.218623853 meters 0.02566118505844995 Centerline is valid? [True, True] Translation: X:142.91, Y:-26.87, Z:-3.60 [[ 9.73559869e-01 2.27669071e-01 1.86541121e-02 1.42909089e+02] [-2.27621058e-01 9.73738514e-01 -4.68611146e-03 -2.68668547e+01] [-1.92311101e-02 3.16141327e-04 9.99815015e-01 -3.59732903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.248623853 meters 0.025293787508992537 Centerline is valid? [True, True] Translation: X:142.94, Y:-26.88, Z:-3.60 [[ 9.73392730e-01 2.28373798e-01 1.87617235e-02 1.42939630e+02] [-2.28325285e-01 9.73573476e-01 -4.71706341e-03 -2.68769297e+01] [-1.93431700e-02 3.07779376e-04 9.99812856e-01 -3.59769258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.278623853 meters 0.024613404577163395 Centerline is valid? [True, True] Translation: X:142.97, Y:-26.89, Z:-3.60 [[ 9.73180845e-01 2.29246691e-01 1.91049265e-02 1.42969344e+02] [-2.29196486e-01 9.73368309e-01 -4.80683138e-03 -2.68865488e+01] [-1.96980802e-02 2.99134198e-04 9.99805929e-01 -3.59822731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.308623853 meters 0.0261642978015935 Centerline is valid? [True, True] Translation: X:143.00, Y:-26.90, Z:-3.59 [[ 9.72966512e-01 2.30210054e-01 1.84254471e-02 1.43000733e+02] [-2.30163477e-01 9.73140923e-01 -4.63863074e-03 -2.68956520e+01] [-1.89984160e-02 2.72367403e-04 9.99819477e-01 -3.59443047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.338623853 meters 0.02215849312222969 Centerline is valid? [True, True] Translation: X:143.03, Y:-26.91, Z:-3.60 [[ 9.72340696e-01 2.32737005e-01 1.96737508e-02 1.43029875e+02] [-2.32684343e-01 9.72539679e-01 -4.95664582e-03 -2.69059919e+01] [-2.02870982e-02 2.41774659e-04 9.99794166e-01 -3.59793072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.368623853 meters 0.02215849312222969 Centerline is valid? [True, True] Translation: X:143.06, Y:-26.91, Z:-3.60 [[ 9.72297915e-01 2.32915727e-01 1.96730460e-02 1.43061309e+02] [-2.32863046e-01 9.72496892e-01 -4.95944136e-03 -2.69141171e+01] [-2.02871080e-02 2.40929075e-04 9.99794166e-01 -3.59874838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.398623853 meters 0.021308233640091857 Centerline is valid? [True, True] Translation: X:143.09, Y:-26.92, Z:-3.60 [[ 9.71963322e-01 2.34288136e-01 1.99090374e-02 1.43091074e+02] [-2.34234386e-01 9.72167178e-01 -5.02305071e-03 -2.69227697e+01] [-2.05317539e-02 2.18839898e-04 9.99789177e-01 -3.59884882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.428623853 meters 0.02023044654455885 Centerline is valid? [True, True] Translation: X:143.12, Y:-26.93, Z:-3.60 [[ 9.71578751e-01 2.35826738e-01 2.05056174e-02 1.43122481e+02] [-2.35769990e-01 9.71795098e-01 -5.17687864e-03 -2.69313076e+01] [-2.11481048e-02 1.95136083e-04 9.99776335e-01 -3.59877639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.458623853 meters 0.019273712858588463 Centerline is valid? [True, True] Translation: X:143.15, Y:-26.94, Z:-3.60 [[ 9.71231462e-01 2.37227257e-01 2.08008534e-02 1.43152657e+02] [-2.37169107e-01 9.71454167e-01 -5.25503378e-03 -2.69397772e+01] [-2.14537130e-02 1.70534332e-04 9.99769828e-01 -3.59949933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.488623853 meters 0.01760030308396793 Centerline is valid? [True, True] Translation: X:143.18, Y:-26.95, Z:-3.60 [[ 9.70414086e-01 2.40607758e-01 2.01099037e-02 1.43183411e+02] [-2.40554065e-01 9.70622428e-01 -5.08375098e-03 -2.69465608e+01] [-2.07423135e-02 9.58244975e-05 9.99784850e-01 -3.60168479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.518623853 meters 0.01707811553367895 Centerline is valid? [True, True] Translation: X:143.22, Y:-26.95, Z:-3.60 [[ 9.69905124e-01 2.42699301e-01 1.95217829e-02 1.43215308e+02] [-2.42649099e-01 9.70101565e-01 -4.93641703e-03 -2.69535563e+01] [-2.01361771e-02 5.09131354e-05 9.99797245e-01 -3.60355826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.548623853 meters 0.016765445740096637 Centerline is valid? [True, True] Translation: X:143.25, Y:-26.96, Z:-3.60 [[ 9.69398589e-01 2.44743337e-01 1.91591818e-02 1.43247628e+02] [-2.44695312e-01 9.69587902e-01 -4.84827449e-03 -2.69603989e+01] [-1.97630937e-02 1.17484956e-05 9.99804691e-01 -3.60492069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.578623853 meters 0.016796471146770638 Centerline is valid? [True, True] Translation: X:143.28, Y:-26.97, Z:-3.61 [[ 9.68864479e-01 2.46875700e-01 1.88151710e-02 1.43280036e+02] [-2.46829718e-01 9.69047155e-01 -4.76469877e-03 -2.69667453e+01] [-1.94090763e-02 -2.77959745e-05 9.99811626e-01 -3.60666428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.608623853 meters 0.01733090605051518 Centerline is valid? [True, True] Translation: X:143.31, Y:-26.97, Z:-3.61 [[ 9.67916945e-01 2.50591834e-01 1.84531914e-02 1.43311447e+02] [-2.50548214e-01 9.68092828e-01 -4.67646427e-03 -2.69720759e+01] [-1.90362860e-02 -9.69851248e-05 9.99818789e-01 -3.60680119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.638623853 meters 0.017783958323435132 Centerline is valid? [True, True] Translation: X:143.34, Y:-26.98, Z:-3.61 [[ 9.67488880e-01 2.52269175e-01 1.80424657e-02 1.43342918e+02] [-2.52227709e-01 9.67657092e-01 -4.57546892e-03 -2.69798520e+01] [-1.86131697e-02 -1.24094477e-04 9.99826752e-01 -3.60809733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.668623853 meters 0.018761090176392475 Centerline is valid? [True, True] Translation: X:143.37, Y:-26.99, Z:-3.61 [[ 9.67003934e-01 2.54133948e-01 1.78697464e-02 1.43373553e+02] [-2.54093530e-01 9.67169020e-01 -4.53490704e-03 -2.69871251e+01] [-1.84355389e-02 -1.55313994e-04 9.99830039e-01 -3.60890772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.69862385300002 meters 0.0201186135291745 Centerline is valid? [True, True] Translation: X:143.40, Y:-26.99, Z:-3.61 [[ 9.66686485e-01 2.55344702e-01 1.77854643e-02 1.43404308e+02] [-2.55304808e-01 9.66850067e-01 -4.51690351e-03 -2.69928726e+01] [-1.83492448e-02 -1.74284984e-04 9.99831623e-01 -3.61110812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72862385300002 meters 0.020555893804398737 Centerline is valid? [True, True] Translation: X:143.44, Y:-27.00, Z:-3.61 [[ 9.66012379e-01 2.57871609e-01 1.79531905e-02 1.43435341e+02] [-2.57831372e-01 9.66179167e-01 -4.56072177e-03 -2.70006765e+01] [-1.85220794e-02 -2.23182058e-04 9.99828427e-01 -3.61038547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75862385300002 meters 0.022140050568800602 Centerline is valid? [True, True] Translation: X:143.47, Y:-27.01, Z:-3.61 [[ 9.65734853e-01 2.58890995e-01 1.82111344e-02 1.43466215e+02] [-2.58849711e-01 9.65906514e-01 -4.62961848e-03 -2.70054080e+01] [-1.87888199e-02 -2.42962959e-04 9.99823445e-01 -3.61209551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78862385300002 meters 0.02195256184070699 Centerline is valid? [True, True] Translation: X:143.50, Y:-27.01, Z:-3.61 [[ 9.65474791e-01 2.59840031e-01 1.84820410e-02 1.43497473e+02] [-2.59797626e-01 9.65651640e-01 -4.70150004e-03 -2.70138694e+01] [-1.90688511e-02 -2.62410617e-04 9.99818138e-01 -3.61187342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81862385300002 meters 0.022794005328615148 Centerline is valid? [True, True] Translation: X:143.53, Y:-27.02, Z:-3.61 [[ 9.65281886e-01 2.60546538e-01 1.86113319e-02 1.43528971e+02] [-2.60503608e-01 9.65461250e-01 -4.73756815e-03 -2.70206067e+01] [-1.92028768e-02 -2.75230392e-04 9.99815570e-01 -3.61306616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84862385300002 meters 0.022741496419860917 Centerline is valid? [True, True] Translation: X:143.56, Y:-27.03, Z:-3.61 [[ 9.64969444e-01 2.61677963e-01 1.89371770e-02 1.43560370e+02] [-2.61633663e-01 9.65155197e-01 -4.82412811e-03 -2.70286723e+01] [-1.95396828e-02 -2.99466764e-04 9.99809037e-01 -3.61261841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.87862385300002 meters 0.023410710351553714 Centerline is valid? [True, True] Translation: X:143.59, Y:-27.04, Z:-3.61 [[ 9.64738538e-01 2.62503215e-01 1.92773212e-02 1.43591376e+02] [-2.62457405e-01 9.64931065e-01 -4.91422651e-03 -2.70359443e+01] [-1.98912863e-02 -3.18532002e-04 9.99802098e-01 -3.61254381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90862385300002 meters 0.024292525739674133 Centerline is valid? [True, True] Translation: X:143.62, Y:-27.04, Z:-3.61 [[ 9.64571510e-01 2.63116656e-01 1.92724650e-02 1.43622962e+02] [-2.63070927e-01 9.64763970e-01 -4.91625990e-03 -2.70427651e+01] [-1.98869297e-02 -3.27941020e-04 9.99802182e-01 -3.61291257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.93862385300002 meters 0.023980199521675027 Centerline is valid? [True, True] Translation: X:143.66, Y:-27.05, Z:-3.61 [[ 9.64388582e-01 2.63749945e-01 1.97643588e-02 1.43655103e+02] [-2.63701909e-01 9.64591026e-01 -5.04544438e-03 -2.70511643e+01] [-2.03952588e-02 -3.46130187e-04 9.99791935e-01 -3.61246659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.968623853 meters 0.02794527661704194 Centerline is valid? [True, True] Translation: X:143.69, Y:-27.05, Z:-3.61 [[ 9.64254162e-01 2.64234876e-01 1.98454396e-02 1.43688062e+02] [-2.64186465e-01 9.64458296e-01 -5.07015709e-03 -2.70523836e+01] [-2.04798112e-02 -3.53976466e-04 9.99790204e-01 -3.61430509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.998623853 meters 0.024354479627232025 Centerline is valid? [True, True] Translation: X:143.72, Y:-27.06, Z:-3.61 [[ 9.64207498e-01 2.64384100e-01 2.01233356e-02 1.43718569e+02] [-2.64334279e-01 9.64417399e-01 -5.14489124e-03 -2.70644639e+01] [-2.07675225e-02 -3.58544714e-04 9.99784267e-01 -3.61324600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.028623853 meters 0.025073350460622847 Centerline is valid? [True, True] Translation: X:143.75, Y:-27.07, Z:-3.61 [[ 9.64261770e-01 2.64176468e-01 2.02492353e-02 1.43749497e+02] [-2.64125889e-01 9.64474297e-01 -5.18126921e-03 -2.70706042e+01] [-2.08986364e-02 -3.52247447e-04 9.99781538e-01 -3.61429454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.058623853 meters 0.027360697851286194 Centerline is valid? [True, True] Translation: X:143.78, Y:-27.07, Z:-3.62 [[ 9.64404696e-01 2.63650823e-01 2.02935152e-02 1.43780921e+02] [-2.63599837e-01 9.64618126e-01 -5.19585970e-03 -2.70744540e+01] [-2.09453852e-02 -3.38455791e-04 9.99780564e-01 -3.61659748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.088623853 meters 0.025746384858538227 Centerline is valid? [True, True] Translation: X:143.81, Y:-27.08, Z:-3.62 [[ 9.64788775e-01 2.62254070e-01 2.01350982e-02 1.43811873e+02] [-2.62203509e-01 9.64998814e-01 -5.15839896e-03 -2.70839921e+01] [-2.07831570e-02 -3.02727973e-04 9.99783961e-01 -3.61670638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.118623853 meters 0.024411202470579627 Centerline is valid? [True, True] Translation: X:143.84, Y:-27.09, Z:-3.62 [[ 9.64967744e-01 2.61584178e-01 2.02724082e-02 1.43842479e+02] [-2.61532711e-01 9.65180623e-01 -5.19668265e-03 -2.70937764e+01] [-2.09259055e-02 -2.87266738e-04 9.99780988e-01 -3.61732250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.148623853 meters 0.02112691432748121 Centerline is valid? [True, True] Translation: X:143.87, Y:-27.11, Z:-3.62 [[ 9.65145585e-01 2.60925987e-01 2.02886201e-02 1.43872361e+02] [-2.60874229e-01 9.65358771e-01 -5.20388841e-03 -2.71064436e+01] [-2.09436270e-02 -2.70268192e-04 9.99780622e-01 -3.61626723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.178623853 meters 0.020899111338576415 Centerline is valid? [True, True] Translation: X:143.90, Y:-27.11, Z:-3.62 [[ 9.65340260e-01 2.60199968e-01 2.03509179e-02 1.43902623e+02] [-2.60147655e-01 9.65554718e-01 -5.22344472e-03 -2.71130066e+01] [-2.10090650e-02 -2.51842091e-04 9.99779254e-01 -3.61731267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.208623853 meters 0.0196097038927371 Centerline is valid? [True, True] Translation: X:143.93, Y:-27.12, Z:-3.62 [[ 9.65662236e-01 2.59006865e-01 2.02950940e-02 1.43934225e+02] [-2.58954499e-01 9.65875455e-01 -5.21275652e-03 -2.71211778e+01] [-2.09526729e-02 -2.21743780e-04 9.99780444e-01 -3.61767288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.238623853 meters 0.019633650876275506 Centerline is valid? [True, True] Translation: X:143.96, Y:-27.13, Z:-3.62 [[ 9.65819341e-01 2.58429401e-01 2.01803363e-02 1.43964329e+02] [-2.58377483e-01 9.66030125e-01 -5.18405958e-03 -2.71279835e+01] [-2.08345262e-02 -2.07279502e-04 9.99782916e-01 -3.61946227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.268623853 meters 0.018890673217535837 Centerline is valid? [True, True] Translation: X:144.00, Y:-27.14, Z:-3.62 [[ 9.65963896e-01 2.57883367e-01 2.02465078e-02 1.43995511e+02] [-2.57830916e-01 9.66176036e-01 -5.20454379e-03 -2.71367048e+01] [-2.09038559e-02 -1.92774235e-04 9.99781472e-01 -3.61911381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.298623853 meters 0.018274852292370698 Centerline is valid? [True, True] Translation: X:144.03, Y:-27.14, Z:-3.62 [[ 9.66198765e-01 2.57014152e-01 2.00916196e-02 1.44026912e+02] [-2.56962240e-01 9.66407625e-01 -5.16819177e-03 -2.71444923e+01] [-2.07449928e-02 -1.69287085e-04 9.99784785e-01 -3.61992741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.328623853 meters 0.01744934403076248 Centerline is valid? [True, True] Translation: X:144.06, Y:-27.15, Z:-3.62 [[ 9.66716855e-01 2.55072949e-01 1.99076045e-02 1.44057281e+02] [-2.55021501e-01 9.66921804e-01 -5.12432365e-03 -2.71502546e+01] [-2.05561732e-02 -1.23097127e-04 9.99788692e-01 -3.62139492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.358623853 meters 0.016896222743976504 Centerline is valid? [True, True] Translation: X:144.09, Y:-27.16, Z:-3.62 [[ 9.67033398e-01 2.53896581e-01 1.95686951e-02 1.44089030e+02] [-2.53846571e-01 9.67231367e-01 -5.03998181e-03 -2.71591612e+01] [-2.02070899e-02 -9.36154112e-05 9.99795812e-01 -3.62280235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.388623853 meters 0.016550706552160618 Centerline is valid? [True, True] Translation: X:144.12, Y:-27.17, Z:-3.62 [[ 9.67397691e-01 2.52524414e-01 1.93165025e-02 1.44119423e+02] [-2.52475333e-01 9.67590521e-01 -4.97887607e-03 -2.71680152e+01] [-1.99477525e-02 -6.03871945e-05 9.99801022e-01 -3.62399892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.418623853 meters 0.01680099669548894 Centerline is valid? [True, True] Translation: X:144.15, Y:-27.18, Z:-3.63 [[ 9.67786185e-01 2.51028959e-01 1.93484299e-02 1.44149972e+02] [-2.50979346e-01 9.67979577e-01 -4.99071542e-03 -2.71771173e+01] [-1.99816991e-02 -2.61108465e-05 9.99800346e-01 -3.62737068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44862385300002 meters 0.016693538207970367 Centerline is valid? [True, True] Translation: X:144.18, Y:-27.19, Z:-3.63 [[ 9.68571031e-01 2.47973715e-01 1.94729091e-02 1.44181099e+02] [-2.47922770e-01 9.68766760e-01 -5.02640756e-03 -2.71889781e+01] [-2.01111240e-02 4.06551926e-05 9.99797750e-01 -3.62522845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47862385300002 meters 0.017212437448359236 Centerline is valid? [True, True] Translation: X:144.21, Y:-27.20, Z:-3.63 [[ 9.68932168e-01 2.46526284e-01 1.98807789e-02 1.44212625e+02] [-2.46472797e-01 9.69136103e-01 -5.13560307e-03 -2.71985821e+01] [-2.05332417e-02 7.59798269e-05 9.99789168e-01 -3.62519652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50862385300002 meters 0.017667703837052406 Centerline is valid? [True, True] Translation: X:144.24, Y:-27.21, Z:-3.63 [[ 9.69251300e-01 2.45236216e-01 2.02759912e-02 1.44244775e+02] [-2.45180216e-01 9.69463350e-01 -5.24168405e-03 -2.72075146e+01] [-2.09422812e-02 1.09237169e-04 9.99780680e-01 -3.62570758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53862385300002 meters 0.01832102420650822 Centerline is valid? [True, True] Translation: X:144.28, Y:-27.22, Z:-3.63 [[ 9.69488998e-01 2.44297409e-01 2.02449517e-02 1.44275539e+02] [-2.44241291e-01 9.69700345e-01 -5.23768553e-03 -2.72157685e+01] [-2.09110896e-02 1.33225367e-04 9.99781330e-01 -3.62644866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56862385300002 meters 0.01881847595693039 Centerline is valid? [True, True] Translation: X:144.31, Y:-27.22, Z:-3.63 [[ 9.69699178e-01 2.43475016e-01 2.00853623e-02 1.44306375e+02] [-2.43419526e-01 9.69907157e-01 -5.20010840e-03 -2.72238229e+01] [-2.07470331e-02 1.53371464e-04 9.99784745e-01 -3.62775197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59862385300002 meters 0.01974149335968954 Centerline is valid? [True, True] Translation: X:144.34, Y:-27.23, Z:-3.63 [[ 9.70198667e-01 2.41495033e-01 1.98669700e-02 1.44337470e+02] [-2.41440261e-01 9.70402036e-01 -5.14683127e-03 -2.72317346e+01] [-2.05218823e-02 1.96762422e-04 9.99789385e-01 -3.62852096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62862385300002 meters 0.020609668860890024 Centerline is valid? [True, True] Translation: X:144.37, Y:-27.24, Z:-3.63 [[ 9.70425529e-01 2.40611840e-01 1.94996015e-02 1.44367485e+02] [-2.40558822e-01 9.70621397e-01 -5.05541039e-03 -2.72409063e+01] [-2.01431220e-02 2.15098145e-04 9.99797084e-01 -3.62983774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.65862385300002 meters 0.02116240037365083 Centerline is valid? [True, True] Translation: X:144.40, Y:-27.25, Z:-3.63 [[ 9.70620990e-01 2.39852124e-01 1.91272763e-02 1.44398929e+02] [-2.39800936e-01 9.70809408e-01 -4.96026315e-03 -2.72494605e+01] [-1.97586694e-02 2.27796770e-04 9.99804752e-01 -3.63098419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68862385300002 meters 0.027667071132092175 Centerline is valid? [True, True] Translation: X:144.43, Y:-27.26, Z:-3.62 [[ 9.70838659e-01 2.39064317e-01 1.79039497e-02 1.44430541e+02] [-2.39019281e-01 9.71003707e-01 -4.64588031e-03 -2.72555003e+01] [-1.84954658e-02 2.31011022e-04 9.99828918e-01 -3.62336255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.718623853 meters 0.02317618782991283 Centerline is valid? [True, True] Translation: X:144.46, Y:-27.27, Z:-3.63 [[ 9.70957759e-01 2.38507091e-01 1.88519944e-02 1.44459869e+02] [-2.38456975e-01 9.71140721e-01 -4.89594084e-03 -2.72672547e+01] [-1.94756560e-02 2.58362185e-04 9.99810298e-01 -3.63272071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.748623853 meters 0.022948147698109923 Centerline is valid? [True, True] Translation: X:144.49, Y:-27.27, Z:-3.63 [[ 9.71201883e-01 2.37442946e-01 1.96913624e-02 1.44491184e+02] [-2.37387997e-01 9.71401442e-01 -5.11648095e-03 -2.72732562e+01] [-2.03430901e-02 2.94642857e-04 9.99793015e-01 -3.63109126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.778623853 meters 0.02417114773594549 Centerline is valid? [True, True] Translation: X:144.52, Y:-27.28, Z:-3.63 [[ 9.71344475e-01 2.36829475e-01 2.00427001e-02 1.44521136e+02] [-2.36772340e-01 9.71551182e-01 -5.21151179e-03 -2.72823119e+01] [-2.07067486e-02 3.16616189e-04 9.99785542e-01 -3.63134144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.808623853 meters 0.02559182430094188 Centerline is valid? [True, True] Translation: X:144.55, Y:-27.29, Z:-3.63 [[ 9.71809468e-01 2.34885571e-01 2.03746570e-02 1.44552230e+02] [-2.34826028e-01 9.72022959e-01 -5.30122852e-03 -2.72919502e+01] [-2.10498165e-02 3.67284292e-04 9.99778361e-01 -3.63171127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.838623853 meters 0.026061978716186134 Centerline is valid? [True, True] Translation: X:144.58, Y:-27.30, Z:-3.63 [[ 9.72052699e-01 2.33842511e-01 2.07660968e-02 1.44583374e+02] [-2.33780339e-01 9.72274405e-01 -5.40683392e-03 -2.73011483e+01] [-2.14546921e-02 4.01022359e-04 9.99769741e-01 -3.63191211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.868623853 meters 0.02799135416087485 Centerline is valid? [True, True] Translation: X:144.61, Y:-27.31, Z:-3.63 [[ 9.72267843e-01 2.32949915e-01 2.07263044e-02 1.44612150e+02] [-2.32887697e-01 9.72488642e-01 -5.40026368e-03 -2.73125926e+01] [-2.14140866e-02 4.23601433e-04 9.99770602e-01 -3.63256461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.898623853 meters 0.029516641797274073 Centerline is valid? [True, True] Translation: X:144.64, Y:-27.32, Z:-3.63 [[ 9.72503562e-01 2.31967972e-01 2.06804955e-02 1.44641335e+02] [-2.31905727e-01 9.72723321e-01 -5.39205404e-03 -2.73232751e+01] [-2.13671841e-02 4.47866404e-04 9.99771595e-01 -3.63345642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.928623853 meters 0.031450375602645575 Centerline is valid? [True, True] Translation: X:144.67, Y:-27.33, Z:-3.64 [[ 9.72879161e-01 2.30445681e-01 2.00231448e-02 1.44671385e+02] [-2.30386978e-01 9.73085078e-01 -5.22215191e-03 -2.73343442e+01] [-2.06876458e-02 4.67450947e-04 9.99785878e-01 -3.63535913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.958623853 meters 0.03288410374497353 Centerline is valid? [True, True] Translation: X:144.70, Y:-27.34, Z:-3.64 [[ 9.72932671e-01 2.30262673e-01 1.95222578e-02 1.44700678e+02] [-2.30206766e-01 9.73128402e-01 -5.09486154e-03 -2.73437956e+01] [-2.01708200e-02 4.62801400e-04 9.99796441e-01 -3.63736224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.988623853 meters 0.030860304789621484 Centerline is valid? [True, True] Translation: X:144.73, Y:-27.35, Z:-3.64 [[ 9.72876165e-01 2.30556493e-01 1.88592556e-02 1.44732958e+02] [-2.30504322e-01 9.73058840e-01 -4.92449138e-03 -2.73494124e+01] [-1.94865388e-02 4.43780359e-04 9.99810021e-01 -3.63820427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.018623853 meters 0.03425676041489155 Centerline is valid? [True, True] Translation: X:144.76, Y:-27.36, Z:-3.64 [[ 9.72762166e-01 2.31063689e-01 1.85294282e-02 1.44761475e+02] [-2.31013344e-01 9.72938532e-01 -4.84229177e-03 -2.73617174e+01] [-1.91468725e-02 4.29853043e-04 9.99816589e-01 -3.64123972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.048623853 meters 0.030572156806222394 Centerline is valid? [True, True] Translation: X:144.79, Y:-27.36, Z:-3.64 [[ 9.72576004e-01 2.31855085e-01 1.84156237e-02 1.44793504e+02] [-2.31805443e-01 9.72750249e-01 -4.81548534e-03 -2.73649636e+01] [-1.90302973e-02 4.14583668e-04 9.99818822e-01 -3.64079740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.078623853 meters 0.030971916040109525 Centerline is valid? [True, True] Translation: X:144.82, Y:-27.37, Z:-3.64 [[ 9.72321486e-01 2.32895294e-01 1.87272619e-02 1.44823633e+02] [-2.32844083e-01 9.72501732e-01 -4.90040878e-03 -2.73737826e+01] [-1.93535768e-02 4.04240606e-04 9.99812620e-01 -3.64171115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.108623853 meters 0.029775599011586128 Centerline is valid? [True, True] Translation: X:144.85, Y:-27.38, Z:-3.64 [[ 9.71933612e-01 2.34517164e-01 1.86213072e-02 1.44854981e+02] [-2.34466772e-01 9.72111908e-01 -4.87563616e-03 -2.73801004e+01] [-1.92454148e-02 3.72716880e-04 9.99814720e-01 -3.64248923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.138623853 meters 0.028350448076236528 Centerline is valid? [True, True] Translation: X:144.89, Y:-27.39, Z:-3.64 [[ 9.71783488e-01 2.35131743e-01 1.87060354e-02 1.44886693e+02] [-2.35080944e-01 9.71963441e-01 -4.90096477e-03 -2.73865198e+01] [-1.93339549e-02 3.65244172e-04 9.99813015e-01 -3.64294496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.168623853 meters 0.027913520205762193 Centerline is valid? [True, True] Translation: X:144.92, Y:-27.39, Z:-3.64 [[ 9.71648287e-01 2.35687073e-01 1.87405832e-02 1.44917979e+02] [-2.35636127e-01 9.71828933e-01 -4.91326153e-03 -2.73945783e+01] [-1.93706332e-02 3.58003727e-04 9.99812308e-01 -3.64330785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.19862385300002 meters 0.027551994303342167 Centerline is valid? [True, True] Translation: X:144.95, Y:-27.40, Z:-3.64 [[ 9.71509634e-01 2.36264171e-01 1.86620735e-02 1.44949278e+02] [-2.36213695e-01 9.71688798e-01 -4.89588250e-03 -2.74030859e+01] [-1.92904494e-02 3.48159657e-04 9.99813861e-01 -3.64450430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22862385300002 meters 0.026441097348584342 Centerline is valid? [True, True] Translation: X:144.98, Y:-27.41, Z:-3.65 [[ 9.71369671e-01 2.36865031e-01 1.83281257e-02 1.44980563e+02] [-2.36816395e-01 9.71542509e-01 -4.81131855e-03 -2.74111358e+01] [-1.89461863e-02 3.33168268e-04 9.99820449e-01 -3.64514229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25862385300002 meters 0.027391169678582464 Centerline is valid? [True, True] Translation: X:145.01, Y:-27.42, Z:-3.65 [[ 9.71270264e-01 2.37253773e-01 1.85666822e-02 1.45009575e+02] [-2.37203869e-01 9.71447650e-01 -4.87733106e-03 -2.74214627e+01] [-1.91937250e-02 3.33117786e-04 9.99815728e-01 -3.64680159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28862385300002 meters 0.025056540764603393 Centerline is valid? [True, True] Translation: X:145.04, Y:-27.43, Z:-3.65 [[ 9.71185183e-01 2.37606835e-01 1.85022253e-02 1.45042328e+02] [-2.37557288e-01 9.71361356e-01 -4.86314890e-03 -2.74277874e+01] [-1.91278641e-02 3.27679682e-04 9.99816992e-01 -3.64643135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.31862385300002 meters 0.025056540764603393 Centerline is valid? [True, True] Translation: X:145.07, Y:-27.44, Z:-3.65 [[ 9.71139205e-01 2.37794759e-01 1.85012839e-02 1.45073681e+02] [-2.37745178e-01 9.71315369e-01 -4.86672750e-03 -2.74362254e+01] [-1.91278636e-02 3.27678850e-04 9.99816992e-01 -3.64724928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34862385300002 meters 0.02428312647949987 Centerline is valid? [True, True] Translation: X:145.10, Y:-27.44, Z:-3.65 [[ 9.70786988e-01 2.39283424e-01 1.77782893e-02 1.45103501e+02] [-2.39237824e-01 9.70949720e-01 -4.68028708e-03 -2.74439892e+01] [-1.83817401e-02 2.90322552e-04 9.99830999e-01 -3.64858026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.37862385300002 meters 0.0235475199114003 Centerline is valid? [True, True] Translation: X:145.13, Y:-27.45, Z:-3.65 [[ 9.70471515e-01 2.40580014e-01 1.75012803e-02 1.45134553e+02] [-2.40535984e-01 9.70629274e-01 -4.61014845e-03 -2.74512687e+01] [-1.80963645e-02 2.64330081e-04 9.99836212e-01 -3.65045800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40862385300002 meters 0.02329067997449534 Centerline is valid? [True, True] Translation: X:145.16, Y:-27.46, Z:-3.65 [[ 9.70077406e-01 2.42193766e-01 1.70882091e-02 1.45164342e+02] [-2.42151986e-01 9.70227873e-01 -4.50437630e-03 -2.74596807e+01] [-1.76703887e-02 2.31649893e-04 9.99843840e-01 -3.65252887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.43862385300002 meters 0.021505868236009737 Centerline is valid? [True, True] Translation: X:145.20, Y:-27.47, Z:-3.65 [[ 9.69654346e-01 2.43899134e-01 1.68422549e-02 1.45195763e+02] [-2.43858760e-01 9.69800584e-01 -4.44216782e-03 -2.74656404e+01] [-1.74170695e-02 2.00235949e-04 9.99848291e-01 -3.65283005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.468623853 meters 0.020206169126892597 Centerline is valid? [True, True] Translation: X:145.23, Y:-27.47, Z:-3.65 [[ 9.69138099e-01 2.45940787e-01 1.68663856e-02 1.45227411e+02] [-2.45900555e-01 9.69284840e-01 -4.45150336e-03 -2.74719099e+01] [-1.74431381e-02 1.66667933e-04 9.99847843e-01 -3.65298293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.498623853 meters 0.018797063843920592 Centerline is valid? [True, True] Translation: X:145.26, Y:-27.48, Z:-3.65 [[ 9.68535736e-01 2.48274662e-01 1.72690798e-02 1.45258896e+02] [-2.48232800e-01 9.68689669e-01 -4.56091753e-03 -2.74770703e+01] [-1.78607395e-02 1.30659583e-04 9.99840476e-01 -3.65289649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.528623853 meters 0.01684907487326669 Centerline is valid? [True, True] Translation: X:145.29, Y:-27.48, Z:-3.65 [[ 9.67365497e-01 2.52749528e-01 1.79351952e-02 1.45290582e+02] [-2.52705071e-01 9.67531743e-01 -4.74062346e-03 -2.74791215e+01] [-1.85510610e-02 5.36007916e-05 9.99827913e-01 -3.65324963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.558623853 meters 0.016385240122596144 Centerline is valid? [True, True] Translation: X:145.32, Y:-27.48, Z:-3.65 [[ 9.66799962e-01 2.54889297e-01 1.81460467e-02 1.45322859e+02] [-2.54844143e-01 9.66970241e-01 -4.79759867e-03 -2.74844714e+01] [-1.87695437e-02 1.39044908e-05 9.99823836e-01 -3.65306137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.588623853 meters 0.016147862894056033 Centerline is valid? [True, True] Translation: X:145.36, Y:-27.49, Z:-3.65 [[ 9.66283797e-01 2.56828321e-01 1.82985640e-02 1.45355523e+02] [-2.56782684e-01 9.66457041e-01 -4.84154058e-03 -2.74898560e+01] [-1.89282208e-02 -2.04521518e-05 9.99820845e-01 -3.65284393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.618623853 meters 0.016551462531079576 Centerline is valid? [True, True] Translation: X:145.39, Y:-27.49, Z:-3.65 [[ 9.65487523e-01 2.59769282e-01 1.88085821e-02 1.45387501e+02] [-2.59721540e-01 9.65670707e-01 -4.98070011e-03 -2.74921946e+01] [-1.94567297e-02 -7.61901101e-05 9.99810697e-01 -3.65308849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.648623853 meters 0.016931445367516413 Centerline is valid? [True, True] Translation: X:145.42, Y:-27.50, Z:-3.65 [[ 9.65165808e-01 2.60952003e-01 1.89476750e-02 1.45419830e+02] [-2.60903742e-01 9.65351771e-01 -5.01947178e-03 -2.74988337e+01] [-1.96010128e-02 -9.88967706e-05 9.99807877e-01 -3.65314376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.678623853 meters 0.017412156056825865 Centerline is valid? [True, True] Translation: X:145.45, Y:-27.51, Z:-3.65 [[ 9.64857438e-01 2.62093374e-01 1.88994172e-02 1.45452240e+02] [-2.62045506e-01 9.65042512e-01 -5.01034645e-03 -2.75058138e+01] [-1.95519197e-02 -1.18237297e-04 9.99808836e-01 -3.65488786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.708623853 meters 0.017820783841042933 Centerline is valid? [True, True] Translation: X:145.48, Y:-27.51, Z:-3.66 [[ 9.64683644e-01 2.62766381e-01 1.84199771e-02 1.45483589e+02] [-2.62720967e-01 9.64859479e-01 -4.88673092e-03 -2.75131590e+01] [-1.90567581e-02 -1.25164808e-04 9.99818396e-01 -3.65672702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.738623853 meters 0.018154579188850956 Centerline is valid? [True, True] Translation: X:145.51, Y:-27.52, Z:-3.66 [[ 9.64505772e-01 2.63467907e-01 1.76996559e-02 1.45513972e+02] [-2.63426035e-01 9.64668153e-01 -4.69881270e-03 -2.75185292e+01] [-1.83122807e-02 -1.30518215e-04 9.99832308e-01 -3.65855595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.768623853 meters 0.018261872301419527 Centerline is valid? [True, True] Translation: X:145.55, Y:-27.53, Z:-3.66 [[ 9.64450696e-01 2.63653057e-01 1.79421259e-02 1.45545530e+02] [-2.63610013e-01 9.64617565e-01 -4.76584763e-03 -2.75261603e+01] [-1.85638202e-02 -1.33298994e-04 9.99827669e-01 -3.65950759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.798623853 meters 0.01821291108781594 Centerline is valid? [True, True] Translation: X:145.58, Y:-27.53, Z:-3.66 [[ 9.64460219e-01 2.63630183e-01 1.77654721e-02 1.45577033e+02] [-2.63587923e-01 9.64623818e-01 -4.72195011e-03 -2.75348205e+01] [-1.83818461e-02 -1.28630844e-04 9.99831031e-01 -3.66113932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.828623853 meters 0.017959847918309166 Centerline is valid? [True, True] Translation: X:145.61, Y:-27.54, Z:-3.66 [[ 9.64556281e-01 2.63288935e-01 1.76101353e-02 1.45608258e+02] [-2.63247294e-01 9.64717017e-01 -4.68393819e-03 -2.75442773e+01] [-1.82220263e-02 -1.17898449e-04 9.99833958e-01 -3.66195452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.858623853 meters 0.017395574110736504 Centerline is valid? [True, True] Translation: X:145.64, Y:-27.55, Z:-3.66 [[ 9.64778215e-01 2.62434791e-01 1.81927420e-02 1.45638129e+02] [-2.62390126e-01 9.64949724e-01 -4.84267431e-03 -2.75528801e+01] [-1.88259676e-02 -1.01489199e-04 9.99822771e-01 -3.66149258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.888623853 meters 0.01703809252577398 Centerline is valid? [True, True] Translation: X:145.67, Y:-27.56, Z:-3.66 [[ 9.64935489e-01 2.61854544e-01 1.82126343e-02 1.45669637e+02] [-2.61809630e-01 9.65107346e-01 -4.85052003e-03 -2.75620309e+01] [-1.88472779e-02 -8.78041267e-05 9.99822370e-01 -3.66178764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.918623853 meters 0.016378687087733306 Centerline is valid? [True, True] Translation: X:145.70, Y:-27.57, Z:-3.66 [[ 9.65106834e-01 2.61217580e-01 1.82804261e-02 1.45700924e+02] [-2.61172155e-01 9.65279944e-01 -4.87186529e-03 -2.75726753e+01] [-1.89183455e-02 -7.24677816e-05 9.99821029e-01 -3.66078063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94862385300002 meters 0.016159373047577367 Centerline is valid? [True, True] Translation: X:145.73, Y:-27.58, Z:-3.66 [[ 9.65353572e-01 2.60296744e-01 1.83871005e-02 1.45731622e+02] [-2.60250546e-01 9.65528665e-01 -4.90415279e-03 -2.75821818e+01] [-1.90298076e-02 -5.10115419e-05 9.99818916e-01 -3.66157118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97862385300002 meters 0.01602061893489155 Centerline is valid? [True, True] Translation: X:145.76, Y:-27.59, Z:-3.66 [[ 9.65630020e-01 2.59251687e-01 1.86340562e-02 1.45762084e+02] [-2.59203968e-01 9.65809796e-01 -4.97397819e-03 -2.75915347e+01] [-1.92864662e-02 -2.69986438e-05 9.99813998e-01 -3.66273291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00862385300002 meters 0.016246223353046752 Centerline is valid? [True, True] Translation: X:145.79, Y:-27.60, Z:-3.66 [[ 9.66334132e-01 2.56682140e-01 1.76812028e-02 1.45792421e+02] [-2.56638719e-01 9.66495876e-01 -4.72117994e-03 -2.76040813e+01] [-1.83006521e-02 2.45560970e-05 9.99832529e-01 -3.66412702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03862385300002 meters 0.016521074815175257 Centerline is valid? [True, True] Translation: X:145.82, Y:-27.62, Z:-3.67 [[ 9.66676065e-01 2.55398266e-01 1.75815830e-02 1.45822892e+02] [-2.55355046e-01 9.66835934e-01 -4.69867256e-03 -2.76150917e+01] [-1.81985390e-02 5.25483622e-05 9.99834391e-01 -3.66545287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06862385300002 meters 0.016820399261338333 Centerline is valid? [True, True] Translation: X:145.85, Y:-27.63, Z:-3.67 [[ 9.66892356e-01 2.54568546e-01 1.77208146e-02 1.45854400e+02] [-2.54524466e-01 9.67054730e-01 -4.73768218e-03 -2.76256242e+01] [-1.83430624e-02 7.04478145e-05 9.99831749e-01 -3.66577385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09862385300002 meters 0.017126710737021537 Centerline is valid? [True, True] Translation: X:145.89, Y:-27.64, Z:-3.67 [[ 9.67070125e-01 2.53914064e-01 1.74074891e-02 1.45886231e+02] [-2.53871362e-01 9.67226778e-01 -4.65732638e-03 -2.76351792e+01] [-1.80195503e-02 8.46982435e-05 9.99837631e-01 -3.66679705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12862385300002 meters 0.016918841248036137 Centerline is valid? [True, True] Translation: X:145.92, Y:-27.64, Z:-3.67 [[ 9.66948735e-01 2.54353332e-01 1.77348775e-02 1.45918028e+02] [-2.54309015e-01 9.67111356e-01 -4.74859473e-03 -2.76432048e+01] [-1.83594223e-02 8.15084354e-05 9.99831448e-01 -3.66729294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.15862385300002 meters 0.016947718225072336 Centerline is valid? [True, True] Translation: X:145.95, Y:-27.65, Z:-3.67 [[ 9.66774630e-01 2.55005407e-01 1.78621868e-02 1.45948830e+02] [-2.54960493e-01 9.66939624e-01 -4.78644416e-03 -2.76511713e+01] [-1.84922253e-02 7.32608429e-05 9.99829001e-01 -3.66852046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18862385300002 meters 0.01651653424960726 Centerline is valid? [True, True] Translation: X:145.98, Y:-27.66, Z:-3.67 [[ 9.66471900e-01 2.56148881e-01 1.78834363e-02 1.45980728e+02] [-2.56103994e-01 9.66637340e-01 -4.79549409e-03 -2.76578799e+01] [-1.85151578e-02 5.46908165e-05 9.99828578e-01 -3.66906266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.21862385300003 meters 0.016143861254979783 Centerline is valid? [True, True] Translation: X:146.01, Y:-27.66, Z:-3.67 [[ 9.66079930e-01 2.57604846e-01 1.81469558e-02 1.46011865e+02] [-2.57558813e-01 9.66250352e-01 -4.86986118e-03 -2.76645213e+01] [-1.87890023e-02 3.07667482e-05 9.99823471e-01 -3.66997534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.248623853 meters 0.016006124144572732 Centerline is valid? [True, True] Translation: X:146.04, Y:-27.67, Z:-3.67 [[ 9.65404377e-01 2.60167167e-01 1.75337919e-02 1.46044398e+02] [-2.60124561e-01 9.65563589e-01 -4.70823721e-03 -2.76706248e+01] [-1.81549198e-02 -1.56171100e-05 9.99835186e-01 -3.67037020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.278623853 meters 0.01614671450903449 Centerline is valid? [True, True] Translation: X:146.08, Y:-27.68, Z:-3.67 [[ 9.65057055e-01 2.61480100e-01 1.71183262e-02 1.46075973e+02] [-2.61439635e-01 9.65208867e-01 -4.60012684e-03 -2.76776389e+01] [-1.77256018e-02 -3.60240888e-05 9.99842889e-01 -3.67198808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.308623853 meters 0.016497814150469563 Centerline is valid? [True, True] Translation: X:146.11, Y:-27.68, Z:-3.67 [[ 9.64718693e-01 2.62739867e-01 1.68998920e-02 1.46108328e+02] [-2.62700568e-01 9.64866706e-01 -4.54448558e-03 -2.76841925e+01] [-1.75001606e-02 -5.54610310e-05 9.99846859e-01 -3.67350982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.338623853 meters 0.016599764578955442 Centerline is valid? [True, True] Translation: X:146.14, Y:-27.69, Z:-3.67 [[ 9.64449358e-01 2.63723667e-01 1.69488560e-02 1.46139609e+02] [-2.63684231e-01 9.64598270e-01 -4.56112628e-03 -2.76903062e+01] [-1.75517141e-02 -7.01707457e-05 9.99845954e-01 -3.67466221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.368623853 meters 0.01739288610055141 Centerline is valid? [True, True] Translation: X:146.17, Y:-27.69, Z:-3.68 [[ 9.63849785e-01 2.65876624e-01 1.74129944e-02 1.46171793e+02] [-2.65835288e-01 9.64007059e-01 -4.68940970e-03 -2.76941366e+01] [-1.80330539e-02 -1.09101860e-04 9.99837385e-01 -3.67514883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.398623853 meters 0.017671415457759833 Centerline is valid? [True, True] Translation: X:146.20, Y:-27.70, Z:-3.67 [[ 9.63556104e-01 2.66912999e-01 1.78068732e-02 1.46204442e+02] [-2.66869889e-01 9.63720621e-01 -4.79874174e-03 -2.77013586e+01] [-1.84416974e-02 -1.28261368e-04 9.99829929e-01 -3.67477199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.428623853 meters 0.017723021903294636 Centerline is valid? [True, True] Translation: X:146.24, Y:-27.71, Z:-3.67 [[ 9.63237265e-01 2.68042983e-01 1.80812079e-02 1.46236621e+02] [-2.67998668e-01 9.63406943e-01 -4.87616061e-03 -2.77093185e+01] [-1.87265818e-02 -1.48840013e-04 9.99824631e-01 -3.67390519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.458623853 meters 0.018584165965832712 Centerline is valid? [True, True] Translation: X:146.27, Y:-27.71, Z:-3.67 [[ 9.62907392e-01 2.69217194e-01 1.82059640e-02 1.46267340e+02] [-2.69172400e-01 9.63079474e-01 -4.91376587e-03 -2.77149088e+01] [-1.88566605e-02 -1.69041534e-04 9.99822183e-01 -3.67471957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.488623853 meters 0.01938575853656683 Centerline is valid? [True, True] Translation: X:146.30, Y:-27.72, Z:-3.68 [[ 9.62658805e-01 2.70112429e-01 1.80914600e-02 1.46298094e+02] [-2.70068299e-01 9.62828771e-01 -4.88581942e-03 -2.77207500e+01] [-1.87386988e-02 -1.82552749e-04 9.99824398e-01 -3.67573867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.518623853 meters 0.019517456854999195 Centerline is valid? [True, True] Translation: X:146.33, Y:-27.73, Z:-3.68 [[ 9.62384783e-01 2.71127032e-01 1.74831915e-02 1.46329093e+02] [-2.71085940e-01 9.62543555e-01 -4.72415596e-03 -2.77273084e+01] [-1.81091797e-02 -1.92991608e-04 9.99835997e-01 -3.67698909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.548623853 meters 0.01965592262745588 Centerline is valid? [True, True] Translation: X:146.36, Y:-27.73, Z:-3.68 [[ 9.62297432e-01 2.71436897e-01 1.74832157e-02 1.46360461e+02] [-2.71395808e-01 9.62456219e-01 -4.72683717e-03 -2.77348376e+01] [-1.81098677e-02 -1.96248178e-04 9.99835984e-01 -3.67817095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.578623853 meters 0.020116084464870503 Centerline is valid? [True, True] Translation: X:146.39, Y:-27.74, Z:-3.68 [[ 9.62236981e-01 2.71640106e-01 1.76534792e-02 1.46391693e+02] [-2.71598185e-01 9.62398885e-01 -4.77621089e-03 -2.77413224e+01] [-1.82870992e-02 -1.98806184e-04 9.99832757e-01 -3.67948478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.608623853 meters 0.018813296353182407 Centerline is valid? [True, True] Translation: X:146.42, Y:-27.75, Z:-3.68 [[ 9.62409710e-01 2.71037023e-01 1.75066392e-02 1.46421926e+02] [-2.70995639e-01 9.62568906e-01 -4.73972311e-03 -2.77515742e+01] [-1.81359870e-02 -1.82667342e-04 9.99835513e-01 -3.67895547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.638623853 meters 0.01970431222116461 Centerline is valid? [True, True] Translation: X:146.45, Y:-27.76, Z:-3.68 [[ 9.62540045e-01 2.70592090e-01 1.72215826e-02 1.46453013e+02] [-2.70551919e-01 9.62694080e-01 -4.66545120e-03 -2.77583235e+01] [-1.78415498e-02 -1.68648616e-04 9.99840813e-01 -3.68197545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.668623853 meters 0.018433285597798384 Centerline is valid? [True, True] Translation: X:146.48, Y:-27.77, Z:-3.68 [[ 9.62732089e-01 2.69907527e-01 1.72293943e-02 1.46483687e+02] [-2.69867150e-01 9.62886236e-01 -4.67098311e-03 -2.77689313e+01] [-1.78506802e-02 -1.52742215e-04 9.99840652e-01 -3.68141436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.69862385300002 meters 0.01762632325320791 Centerline is valid? [True, True] Translation: X:146.51, Y:-27.78, Z:-3.68 [[ 9.62937358e-01 2.69163929e-01 1.73903418e-02 1.46513893e+02] [-2.69122618e-01 9.63094368e-01 -4.71759574e-03 -2.77787518e+01] [-1.80183469e-02 -1.37385151e-04 9.99837647e-01 -3.68069395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72862385300002 meters 0.017037577534867746 Centerline is valid? [True, True] Translation: X:146.54, Y:-27.79, Z:-3.68 [[ 9.63323878e-01 2.67743527e-01 1.79027795e-02 1.46543892e+02] [-2.67699438e-01 9.63490213e-01 -4.85998033e-03 -2.77873070e+01] [-1.85503812e-02 -1.10828930e-04 9.99827921e-01 -3.68152956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75862385300002 meters 0.016942949418638494 Centerline is valid? [True, True] Translation: X:146.57, Y:-27.80, Z:-3.68 [[ 9.63418717e-01 2.67410585e-01 1.77751297e-02 1.46574318e+02] [-2.67367016e-01 9.63582674e-01 -4.82807021e-03 -2.77959691e+01] [-1.84188841e-02 -1.01030183e-04 9.99830353e-01 -3.68228448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78862385300002 meters 0.016590954560919028 Centerline is valid? [True, True] Translation: X:146.61, Y:-27.81, Z:-3.68 [[ 9.63544648e-01 2.66957912e-01 1.77534619e-02 1.46606341e+02] [-2.66914314e-01 9.63708185e-01 -4.82530897e-03 -2.78053066e+01] [-1.83973110e-02 -8.92524834e-05 9.99830751e-01 -3.68287468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81862385300002 meters 0.016397111034326783 Centerline is valid? [True, True] Translation: X:146.64, Y:-27.81, Z:-3.68 [[ 9.63669854e-01 2.66522865e-01 1.74921587e-02 1.46638382e+02] [-2.66480409e-01 9.63828593e-01 -4.75758620e-03 -2.78148746e+01] [-1.81274482e-02 -7.65752023e-05 9.99835681e-01 -3.68353806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84862385300002 meters 0.015862708186876004 Centerline is valid? [True, True] Translation: X:146.67, Y:-27.83, Z:-3.68 [[ 9.63995549e-01 2.65353703e-01 1.73203266e-02 1.46669914e+02] [-2.65311830e-01 9.64151134e-01 -4.71418174e-03 -2.78251030e+01] [-1.79503381e-02 -5.08373244e-05 9.99838878e-01 -3.68366657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.87862385300002 meters 0.01584989337476463 Centerline is valid? [True, True] Translation: X:146.70, Y:-27.83, Z:-3.68 [[ 9.64160714e-01 2.64727748e-01 1.77013120e-02 1.46700290e+02] [-2.64683838e-01 9.64323192e-01 -4.82164364e-03 -2.78344725e+01] [-1.83462085e-02 -3.64118039e-05 9.99831693e-01 -3.68456167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90862385300002 meters 0.015627321575890266 Centerline is valid? [True, True] Translation: X:146.73, Y:-27.84, Z:-3.68 [[ 9.64347463e-01 2.64027113e-01 1.79903933e-02 1.46731774e+02] [-2.63981571e-01 9.64515258e-01 -4.90379468e-03 -2.78447047e+01] [-1.86467436e-02 -2.01703281e-05 9.99826134e-01 -3.68465644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.93862385300002 meters 0.01570055032072456 Centerline is valid? [True, True] Translation: X:146.76, Y:-27.85, Z:-3.69 [[ 9.64558480e-01 2.63243370e-01 1.81622511e-02 1.46762632e+02] [-2.63196737e-01 9.64729459e-01 -4.95473233e-03 -2.78546128e+01] [-1.88259591e-02 -1.11614813e-06 9.99822776e-01 -3.68566389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96862385300003 meters 0.015621791513668718 Centerline is valid? [True, True] Translation: X:146.79, Y:-27.86, Z:-3.68 [[ 9.64824831e-01 2.62253280e-01 1.83374903e-02 1.46793962e+02] [-2.62205517e-01 9.64999076e-01 -5.00501309e-03 -2.78647475e+01] [-1.90082423e-02 2.07697876e-05 9.99819327e-01 -3.68439827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.998623853 meters 0.015858912004045527 Centerline is valid? [True, True] Translation: X:146.82, Y:-27.88, Z:-3.69 [[ 9.65102868e-01 2.61211933e-01 1.85682577e-02 1.46824795e+02] [-2.61162746e-01 9.65281474e-01 -5.06911346e-03 -2.78750580e+01] [-1.92477081e-02 4.28787676e-05 9.99814745e-01 -3.68520718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.028623853 meters 0.015967261185357184 Centerline is valid? [True, True] Translation: X:146.86, Y:-27.88, Z:-3.69 [[ 9.65196519e-01 2.60875985e-01 1.84228142e-02 1.46856498e+02] [-2.60827438e-01 9.65372321e-01 -5.03286470e-03 -2.78845249e+01] [-1.90978284e-02 5.25280742e-05 9.99817618e-01 -3.68595346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.058623853 meters 0.01617074886862043 Centerline is valid? [True, True] Translation: X:146.89, Y:-27.89, Z:-3.69 [[ 9.65171757e-01 2.60997719e-01 1.79908177e-02 1.46887409e+02] [-2.60951377e-01 9.65339416e-01 -4.91844583e-03 -2.78939932e+01] [-1.86509486e-02 5.24163458e-05 9.99826055e-01 -3.68841126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.088623853 meters 0.016086840619156738 Centerline is valid? [True, True] Translation: X:146.92, Y:-27.90, Z:-3.69 [[ 9.65251689e-01 2.60722316e-01 1.76932444e-02 1.46919535e+02] [-2.60677392e-01 9.65413834e-01 -4.84016473e-03 -2.79028378e+01] [-1.83432418e-02 5.97483879e-05 9.99831747e-01 -3.68760188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.118623853 meters 0.0216637249134848 Centerline is valid? [True, True] Translation: X:146.95, Y:-27.91, Z:-3.68 [[ 9.65182304e-01 2.61047223e-01 1.66573493e-02 1.46949425e+02] [-2.61007382e-01 9.65326030e-01 -4.56092517e-03 -2.79114887e+01] [-1.72703897e-02 5.44331370e-05 9.99850854e-01 -3.68432437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.148623853 meters 0.016484065790072177 Centerline is valid? [True, True] Translation: X:146.98, Y:-27.92, Z:-3.69 [[ 9.65052806e-01 2.61526714e-01 1.66390813e-02 1.46981165e+02] [-2.61487015e-01 9.65196237e-01 -4.55690112e-03 -2.79198905e+01] [-1.72517300e-02 4.67465175e-05 9.99851177e-01 -3.69186355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.178623853 meters 0.016389353146712145 Centerline is valid? [True, True] Translation: X:147.01, Y:-27.93, Z:-3.69 [[ 9.64850576e-01 2.62297767e-01 1.62249186e-02 1.47012345e+02] [-2.62260073e-01 9.64986985e-01 -4.44675240e-03 -2.79277126e+01] [-1.68232085e-02 3.53032747e-05 9.99858479e-01 -3.69371903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.208623853 meters 0.016389353146712145 Centerline is valid? [True, True] Translation: X:147.04, Y:-27.94, Z:-3.69 [[ 9.64802223e-01 2.62475612e-01 1.62241564e-02 1.47043612e+02] [-2.62437897e-01 9.64938626e-01 -4.44953118e-03 -2.79364835e+01] [-1.68232086e-02 3.50840823e-05 9.99858479e-01 -3.69453681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.238623853 meters 0.016270296376819017 Centerline is valid? [True, True] Translation: X:147.07, Y:-27.94, Z:-3.69 [[ 9.64416289e-01 2.63870087e-01 1.65468570e-02 1.47074781e+02] [-2.63831002e-01 9.64558229e-01 -4.54151043e-03 -2.79424236e+01] [-1.71587759e-02 1.43327698e-05 9.99852777e-01 -3.69498379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.268623853 meters 0.016061673957836434 Centerline is valid? [True, True] Translation: X:147.11, Y:-27.95, Z:-3.69 [[ 9.64149119e-01 2.64839130e-01 1.66346244e-02 1.47106751e+02] [-2.64799723e-01 9.64292609e-01 -4.56855475e-03 -2.79495590e+01] [-1.72505775e-02 -7.59049170e-08 9.99851198e-01 -3.69445351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.298623853 meters 0.015977448691655242 Centerline is valid? [True, True] Translation: X:147.14, Y:-27.96, Z:-3.70 [[ 9.64029090e-01 2.65252742e-01 1.69969778e-02 1.47138540e+02] [-2.65211600e-01 9.64178916e-01 -4.67164427e-03 -2.79572738e+01] [-1.76272941e-02 -4.19470598e-06 9.99844627e-01 -3.69500333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.328623853 meters 0.016130506850919678 Centerline is valid? [True, True] Translation: X:147.17, Y:-27.97, Z:-3.70 [[ 9.63938898e-01 2.65567140e-01 1.72015831e-02 1.47169490e+02] [-2.65524986e-01 9.64092368e-01 -4.73154970e-03 -2.79656875e+01] [-1.78404591e-02 -6.52530131e-06 9.99840846e-01 -3.69642758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.358623853 meters 0.01612014060896522 Centerline is valid? [True, True] Translation: X:147.20, Y:-27.98, Z:-3.70 [[ 9.64137765e-01 2.64845698e-01 1.71792611e-02 1.47200866e+02] [-2.64803482e-01 9.64290805e-01 -4.72859304e-03 -2.79771235e+01] [-1.78181511e-02 9.88695684e-06 9.99841244e-01 -3.69654183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.388623853 meters 0.01635304849352701 Centerline is valid? [True, True] Translation: X:147.23, Y:-27.99, Z:-3.70 [[ 9.64234978e-01 2.64519064e-01 1.67502870e-02 1.47231672e+02] [-2.64478823e-01 9.64380456e-01 -4.61388483e-03 -2.79868816e+01] [-1.73741099e-02 1.87729339e-05 9.99849059e-01 -3.69865990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.418623853 meters 0.016574406781415908 Centerline is valid? [True, True] Translation: X:147.26, Y:-28.00, Z:-3.70 [[ 9.64265764e-01 2.64436417e-01 1.62762884e-02 1.47263522e+02] [-2.64398360e-01 9.64403122e-01 -4.48619142e-03 -2.79961318e+01] [-1.68832157e-02 2.24568437e-05 9.99857468e-01 -3.70101924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44862385300002 meters 0.01654229209225837 Centerline is valid? [True, True] Translation: X:147.30, Y:-28.00, Z:-3.70 [[ 9.64300727e-01 2.64357839e-01 1.54609653e-02 1.47295752e+02] [-2.64323447e-01 9.64424664e-01 -4.26413935e-03 -2.80049469e+01] [-1.60381950e-02 2.52170198e-05 9.99871380e-01 -3.70150575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47862385300002 meters 0.016668577866551296 Centerline is valid? [True, True] Translation: X:147.33, Y:-28.01, Z:-3.70 [[ 9.64216230e-01 2.64673926e-01 1.53223646e-02 1.47326112e+02] [-2.64640135e-01 9.64337966e-01 -4.22928698e-03 -2.80132195e+01] [-1.58953199e-02 2.30345289e-05 9.99873661e-01 -3.70360104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50862385300002 meters 0.016614698718359733 Centerline is valid? [True, True] Translation: X:147.36, Y:-28.02, Z:-3.70 [[ 9.64104175e-01 2.65070512e-01 1.55165708e-02 1.47357225e+02] [-2.65035848e-01 9.64229030e-01 -4.28672806e-03 -2.80208364e+01] [-1.60978132e-02 2.04049216e-05 9.99870422e-01 -3.70430320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53862385300002 meters 0.01666961060588097 Centerline is valid? [True, True] Translation: X:147.39, Y:-28.03, Z:-3.71 [[ 9.63963590e-01 2.65563477e-01 1.58188858e-02 1.47388287e+02] [-2.65527490e-01 9.64093377e-01 -4.37177476e-03 -2.80284512e+01] [-1.64118667e-02 1.38826369e-05 9.99865316e-01 -3.70581739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56862385300002 meters 0.016362758940848838 Centerline is valid? [True, True] Translation: X:147.42, Y:-28.04, Z:-3.70 [[ 9.63827052e-01 2.66046841e-01 1.60153984e-02 1.47420692e+02] [-2.66009975e-01 9.63960102e-01 -4.42888460e-03 -2.80362998e+01] [-1.66164958e-02 8.42305252e-06 9.99861936e-01 -3.70362302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59862385300002 meters 0.016265601085627707 Centerline is valid? [True, True] Translation: X:147.45, Y:-28.05, Z:-3.70 [[ 9.63803790e-01 2.66115820e-01 1.62672914e-02 1.47451354e+02] [-2.66077734e-01 9.63941062e-01 -4.50213419e-03 -2.80451586e+01] [-1.68787993e-02 1.08099450e-05 9.99857543e-01 -3.70385694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62862385300002 meters 0.01628936273891468 Centerline is valid? [True, True] Translation: X:147.48, Y:-28.05, Z:-3.71 [[ 9.63817187e-01 2.66047533e-01 1.65873454e-02 1.47481734e+02] [-2.66007858e-01 9.63959911e-01 -4.59455283e-03 -2.80540703e+01] [-1.72119054e-02 1.59447820e-05 9.99851864e-01 -3.70512728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.65862385300002 meters 0.016203684066836702 Centerline is valid? [True, True] Translation: X:147.51, Y:-28.06, Z:-3.70 [[ 9.63794911e-01 2.66122461e-01 1.66794697e-02 1.47513361e+02] [-2.66082326e-01 9.63939228e-01 -4.62167169e-03 -2.80630179e+01] [-1.73079258e-02 1.62315582e-05 9.99850206e-01 -3.70494273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68862385300002 meters 0.016435228498604668 Centerline is valid? [True, True] Translation: X:147.54, Y:-28.07, Z:-3.71 [[ 9.63780268e-01 2.66159659e-01 1.69301977e-02 1.47543562e+02] [-2.66118252e-01 9.63928958e-01 -4.69472773e-03 -2.80719442e+01] [-1.75690549e-02 1.92513542e-05 9.99845652e-01 -3.70610345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.71862385300003 meters 0.01615690784823862 Centerline is valid? [True, True] Translation: X:147.58, Y:-28.08, Z:-3.71 [[ 9.63705116e-01 2.66415795e-01 1.71776980e-02 1.47575389e+02] [-2.66373152e-01 9.63858197e-01 -4.76656531e-03 -2.80806975e+01] [-1.78267533e-02 1.78858251e-05 9.99841091e-01 -3.70544262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.748623853 meters 0.016148089290166926 Centerline is valid? [True, True] Translation: X:147.61, Y:-28.09, Z:-3.71 [[ 9.63610246e-01 2.66759342e-01 1.71681966e-02 1.47607515e+02] [-2.66716739e-01 9.63763173e-01 -4.76740737e-03 -2.80890016e+01] [-1.78178261e-02 1.48771844e-05 9.99841250e-01 -3.70624893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.778623853 meters 0.01612062621995759 Centerline is valid? [True, True] Translation: X:147.64, Y:-28.10, Z:-3.71 [[ 9.63591487e-01 2.66844645e-01 1.68932277e-02 1.47639727e+02] [-2.66803350e-01 9.63739558e-01 -4.69436637e-03 -2.80978595e+01] [-1.75333383e-02 1.62817139e-05 9.99846279e-01 -3.70764778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.808623853 meters 0.016138713821833607 Centerline is valid? [True, True] Translation: X:147.67, Y:-28.11, Z:-3.71 [[ 9.63458870e-01 2.67332541e-01 1.67427120e-02 1.47671385e+02] [-2.67291993e-01 9.63604334e-01 -4.65594369e-03 -2.81062322e+01] [-1.73780352e-02 1.06173693e-05 9.99848990e-01 -3.70901323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.838623853 meters 0.016159209920624973 Centerline is valid? [True, True] Translation: X:147.70, Y:-28.11, Z:-3.71 [[ 9.63353303e-01 2.67728358e-01 1.64905713e-02 1.47702999e+02] [-2.67689025e-01 9.63494435e-01 -4.58911759e-03 -2.81143679e+01] [-1.71172106e-02 6.59664925e-06 9.99853490e-01 -3.70983788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.868623853 meters 0.0160275499705724 Centerline is valid? [True, True] Translation: X:147.73, Y:-28.12, Z:-3.71 [[ 9.63103896e-01 2.68592021e-01 1.70062262e-02 1.47733884e+02] [-2.68550257e-01 9.63254030e-01 -4.73638753e-03 -2.81211500e+01] [-1.76534719e-02 -5.39314154e-06 9.99844165e-01 -3.71002047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.898623853 meters 0.015907298486311415 Centerline is valid? [True, True] Translation: X:147.77, Y:-28.13, Z:-3.71 [[ 9.63004549e-01 2.68923774e-01 1.73851297e-02 1.47765979e+02] [-2.68880121e-01 9.63161463e-01 -4.84529435e-03 -2.81295216e+01] [-1.80477018e-02 -8.47527815e-06 9.99837127e-01 -3.71068220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.928623853 meters 0.01595025186292286 Centerline is valid? [True, True] Translation: X:147.80, Y:-28.14, Z:-3.71 [[ 9.62976787e-01 2.69040725e-01 1.71112586e-02 1.47796667e+02] [-2.68998385e-01 9.63128801e-01 -4.77290160e-03 -2.81378688e+01] [-1.77644509e-02 -6.70747418e-06 9.99842200e-01 -3.71181020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.958623853 meters 0.01609910355821237 Centerline is valid? [True, True] Translation: X:147.83, Y:-28.15, Z:-3.71 [[ 9.63019780e-01 2.68909489e-01 1.67508062e-02 1.47828750e+02] [-2.68868869e-01 9.63165451e-01 -4.67380551e-03 -2.81472817e+01] [-1.73906285e-02 -2.80316698e-06 9.99848772e-01 -3.71260163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.988623853 meters 0.015945606773517328 Centerline is valid? [True, True] Translation: X:147.86, Y:-28.16, Z:-3.71 [[ 9.63059857e-01 2.68760147e-01 1.68432452e-02 1.47860313e+02] [-2.68718994e-01 9.63207134e-01 -4.70308173e-03 -2.81566003e+01] [-1.74875348e-02 3.24932201e-06 9.99847081e-01 -3.71318327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.018623853 meters 0.016165290385887442 Centerline is valid? [True, True] Translation: X:147.89, Y:-28.17, Z:-3.71 [[ 9.63136780e-01 2.68480908e-01 1.68980929e-02 1.47890796e+02] [-2.68439379e-01 9.63285005e-01 -4.72207088e-03 -2.81659970e+01] [-1.75454654e-02 1.18865778e-05 9.99846066e-01 -3.71469845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.048623853 meters 0.01612712511174966 Centerline is valid? [True, True] Translation: X:147.92, Y:-28.18, Z:-3.72 [[ 9.63217969e-01 2.68165420e-01 1.72757635e-02 1.47922754e+02] [-2.68121901e-01 9.63372881e-01 -4.83106376e-03 -2.81760065e+01] [-1.79385263e-02 2.13568699e-05 9.99839091e-01 -3.71502249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.078623853 meters 0.016430726029935314 Centerline is valid? [True, True] Translation: X:147.95, Y:-28.19, Z:-3.71 [[ 9.63797172e-01 2.66050175e-01 1.76724790e-02 1.47953278e+02] [-2.66004210e-01 9.63959180e-01 -4.94571600e-03 -2.81883405e+01] [-1.83513570e-02 6.57132683e-05 9.99831598e-01 -3.71464732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.108623853 meters 0.02216730885494189 Centerline is valid? [True, True] Translation: X:147.98, Y:-28.20, Z:-3.71 [[ 9.64111131e-01 2.64946010e-01 1.71271238e-02 1.47982744e+02] [-2.64902598e-01 9.64263244e-01 -4.79681855e-03 -2.81989805e+01] [-1.77859539e-02 8.76465837e-05 9.99841814e-01 -3.70973372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.138623853 meters 0.017803629979262967 Centerline is valid? [True, True] Translation: X:148.01, Y:-28.21, Z:-3.72 [[ 9.64503817e-01 2.63498084e-01 1.73536069e-02 1.48012723e+02] [-2.63453229e-01 9.64659912e-01 -4.86318204e-03 -2.82109196e+01] [-1.80217680e-02 1.18693870e-04 9.99837588e-01 -3.71703060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.168623853 meters 0.018799252589499174 Centerline is valid? [True, True] Translation: X:148.04, Y:-28.22, Z:-3.72 [[ 9.64901589e-01 2.62061524e-01 1.69906381e-02 1.48043271e+02] [-2.62018251e-01 9.65051157e-01 -4.76441567e-03 -2.82225065e+01] [-1.76454050e-02 1.45334972e-04 9.99844297e-01 -3.71847000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.19862385300002 meters 0.019566137703499336 Centerline is valid? [True, True] Translation: X:148.07, Y:-28.23, Z:-3.72 [[ 9.65232705e-01 2.60845391e-01 1.68969840e-02 1.48073073e+02] [-2.60802344e-01 9.65380574e-01 -4.74175711e-03 -2.82335117e+01] [-1.75488856e-02 1.70126020e-04 9.99845992e-01 -3.71970646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22862385300002 meters 0.022354208013039008 Centerline is valid? [True, True] Translation: X:148.10, Y:-28.25, Z:-3.72 [[ 9.65770420e-01 2.58853750e-01 1.67997721e-02 1.48101428e+02] [-2.58810876e-01 9.65916504e-01 -4.71561993e-03 -2.82477488e+01] [-1.74478330e-02 2.06242505e-04 9.99847754e-01 -3.72270848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25862385300002 meters 0.022105816543027977 Centerline is valid? [True, True] Translation: X:148.13, Y:-28.26, Z:-3.72 [[ 9.65886967e-01 2.58424940e-01 1.67008450e-02 1.48132165e+02] [-2.58382458e-01 9.66031316e-01 -4.69055067e-03 -2.82569127e+01] [-1.73456946e-02 2.15336365e-04 9.99849529e-01 -3.72225104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28862385300002 meters 0.033303292693637916 Centerline is valid? [True, True] Translation: X:148.16, Y:-28.27, Z:-3.71 [[ 9.65851315e-01 2.58573789e-01 1.64570198e-02 1.48163418e+02] [-2.58532516e-01 9.65991486e-01 -4.62470477e-03 -2.82667724e+01] [-1.70931685e-02 2.12102450e-04 9.99853879e-01 -3.71435450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31862385300002 meters 0.021942153426817792 Centerline is valid? [True, True] Translation: X:148.19, Y:-28.28, Z:-3.72 [[ 9.65826953e-01 2.58609267e-01 1.73073369e-02 1.48194840e+02] [-2.58563557e-01 9.65981985e-01 -4.86737165e-03 -2.82772346e+01] [-1.79773231e-02 2.25992130e-04 9.99838369e-01 -3.72264995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34862385300002 meters 0.02168795725391198 Centerline is valid? [True, True] Translation: X:148.22, Y:-28.29, Z:-3.72 [[ 9.65667686e-01 2.59190744e-01 1.74950905e-02 1.48224156e+02] [-2.59144061e-01 9.65826128e-01 -4.92405824e-03 -2.82866743e+01] [-1.81734859e-02 2.21255112e-04 9.99834824e-01 -3.72285936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.37862385300002 meters 0.02155053512123098 Centerline is valid? [True, True] Translation: X:148.26, Y:-28.30, Z:-3.72 [[ 9.65525990e-01 2.59726735e-01 1.73662000e-02 1.48255720e+02] [-2.59680777e-01 9.65682131e-01 -4.89039262e-03 -2.82959538e+01] [-1.80403947e-02 2.12132867e-04 9.99837236e-01 -3.72359192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40862385300002 meters 0.021020338618589804 Centerline is valid? [True, True] Translation: X:148.29, Y:-28.30, Z:-3.72 [[ 9.65306086e-01 2.60526277e-01 1.76130696e-02 1.48286365e+02] [-2.60479067e-01 9.65466736e-01 -4.96367816e-03 -2.83045314e+01] [-1.82980014e-02 2.03632797e-04 9.99832557e-01 -3.72444129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.43862385300002 meters 0.020500066634830255 Centerline is valid? [True, True] Translation: X:148.32, Y:-28.31, Z:-3.73 [[ 9.65094786e-01 2.61317311e-01 1.74733475e-02 1.48317588e+02] [-2.61270922e-01 9.65252934e-01 -4.92731959e-03 -2.83129931e+01] [-1.81537938e-02 1.90052845e-04 9.99835188e-01 -3.72538631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46862385300003 meters 0.01957689044444919 Centerline is valid? [True, True] Translation: X:148.35, Y:-28.32, Z:-3.73 [[ 9.64644257e-01 2.62985892e-01 1.73170068e-02 1.48348027e+02] [-2.62940543e-01 9.64799666e-01 -4.88632410e-03 -2.83212828e+01] [-1.79924766e-02 1.60221315e-04 9.99838109e-01 -3.72665407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.498623853 meters 0.019141879854095517 Centerline is valid? [True, True] Translation: X:148.38, Y:-28.33, Z:-3.73 [[ 9.64386650e-01 2.63920862e-01 1.74404146e-02 1.48379316e+02] [-2.63874966e-01 9.64544326e-01 -4.92394738e-03 -2.83295323e+01] [-1.81215853e-02 1.46500322e-04 9.99835780e-01 -3.72763158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.528623853 meters 0.01763756134518339 Centerline is valid? [True, True] Translation: X:148.41, Y:-28.34, Z:-3.73 [[ 9.63698792e-01 2.66399671e-01 1.77722612e-02 1.48410800e+02] [-2.66352375e-01 9.63862648e-01 -5.02076178e-03 -2.83352279e+01] [-1.84675481e-02 1.04818066e-04 9.99829455e-01 -3.72787986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.558623853 meters 0.017015152046559876 Centerline is valid? [True, True] Translation: X:148.44, Y:-28.34, Z:-3.73 [[ 9.63324998e-01 2.67739098e-01 1.79087603e-02 1.48442386e+02] [-2.67691246e-01 9.63491447e-01 -5.06245007e-03 -2.83428197e+01] [-1.86103532e-02 8.27663551e-05 9.99826809e-01 -3.72790393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.588623853 meters 0.01646269528718067 Centerline is valid? [True, True] Translation: X:148.47, Y:-28.35, Z:-3.73 [[ 9.62923558e-01 2.69153414e-01 1.82937398e-02 1.48473343e+02] [-2.69103675e-01 9.63097314e-01 -5.17452745e-03 -2.83498603e+01] [-1.90113934e-02 5.97617883e-05 9.99819265e-01 -3.72825474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.618623853 meters 0.016053571938129948 Centerline is valid? [True, True] Translation: X:148.51, Y:-28.36, Z:-3.73 [[ 9.62482226e-01 2.70711341e-01 1.85292861e-02 1.48505822e+02] [-2.70660542e-01 9.62660568e-01 -5.24424575e-03 -2.83576440e+01] [-1.92570899e-02 3.23466989e-05 9.99814565e-01 -3.72857457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.648623853 meters 0.015772522042044736 Centerline is valid? [True, True] Translation: X:148.54, Y:-28.36, Z:-3.73 [[ 9.61594340e-01 2.73833959e-01 1.87426827e-02 1.48538508e+02] [-2.73782504e-01 9.61776981e-01 -5.30833465e-03 -2.83628883e+01] [-1.94798831e-02 -2.69540584e-05 9.99810249e-01 -3.72828899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.678623853 meters 0.016208641692025058 Centerline is valid? [True, True] Translation: X:148.57, Y:-28.37, Z:-3.73 [[ 9.61119169e-01 2.75513316e-01 1.85028580e-02 1.48569844e+02] [-2.75463406e-01 9.61297254e-01 -5.24423643e-03 -2.83692617e+01] [-1.92316036e-02 -5.65241446e-05 9.99815054e-01 -3.73084850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.708623853 meters 0.016674910133309687 Centerline is valid? [True, True] Translation: X:148.60, Y:-28.38, Z:-3.73 [[ 9.60652407e-01 2.77150210e-01 1.82951649e-02 1.48602564e+02] [-2.77101646e-01 9.60826599e-01 -5.18883014e-03 -2.83762773e+01] [-1.90165665e-02 -8.49581601e-05 9.99819165e-01 -3.73192754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.738623853 meters 0.017169150012338003 Centerline is valid? [True, True] Translation: X:148.63, Y:-28.38, Z:-3.73 [[ 9.60232060e-01 2.78609248e-01 1.82010515e-02 1.48634431e+02] [-2.78561380e-01 9.60404537e-01 -5.16554583e-03 -2.83833040e+01] [-1.89195412e-02 -1.09987300e-04 9.99821003e-01 -3.73245167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.768623853 meters 0.018026122224518066 Centerline is valid? [True, True] Translation: X:148.67, Y:-28.39, Z:-3.73 [[ 9.59610140e-01 2.80728188e-01 1.84408248e-02 1.48666347e+02] [-2.80679369e-01 9.59787300e-01 -5.23732508e-03 -2.83884437e+01] [-1.91695342e-02 -1.50168814e-04 9.99816236e-01 -3.73265051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.798623853 meters 0.01831076366835108 Centerline is valid? [True, True] Translation: X:148.70, Y:-28.40, Z:-3.73 [[ 9.59279842e-01 2.81856658e-01 1.84122016e-02 1.48697122e+02] [-2.81808139e-01 9.59456511e-01 -5.23231212e-03 -2.83963324e+01] [-1.91404687e-02 -1.69456709e-04 9.99816790e-01 -3.73281066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.828623853 meters 0.019119918983566544 Centerline is valid? [True, True] Translation: X:148.73, Y:-28.40, Z:-3.73 [[ 9.59085692e-01 2.82544990e-01 1.79712153e-02 1.48727887e+02] [-2.82498829e-01 9.59254032e-01 -5.11015910e-03 -2.84027894e+01] [-1.86828106e-02 -1.75766814e-04 9.99825446e-01 -3.73470547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.858623853 meters 0.019076104029391163 Centerline is valid? [True, True] Translation: X:148.76, Y:-28.41, Z:-3.74 [[ 9.58821987e-01 2.83453273e-01 1.77380840e-02 1.48758567e+02] [-2.83408406e-01 9.58986031e-01 -5.04662731e-03 -2.84110603e+01] [-1.84410578e-02 -1.88304905e-04 9.99829931e-01 -3.73549872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.888623853 meters 0.028386124146799512 Centerline is valid? [True, True] Translation: X:148.79, Y:-28.42, Z:-3.73 [[ 9.58671983e-01 2.83988286e-01 1.72824234e-02 1.48790371e+02] [-2.83945732e-01 9.58827731e-01 -4.91975961e-03 -2.84194405e+01] [-1.79680209e-02 -1.90834669e-04 9.99838544e-01 -3.72874216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.918623853 meters 0.018866776333784366 Centerline is valid? [True, True] Translation: X:148.82, Y:-28.43, Z:-3.74 [[ 9.58680792e-01 2.83917263e-01 1.79478735e-02 1.48820875e+02] [-2.83871282e-01 9.58848763e-01 -5.11317995e-03 -2.84289917e+01] [-1.86610163e-02 -1.92978434e-04 9.99825849e-01 -3.73625616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94862385300002 meters 0.0185676053344788 Centerline is valid? [True, True] Translation: X:148.85, Y:-28.44, Z:-3.74 [[ 9.58671349e-01 2.83947200e-01 1.79786604e-02 1.48852529e+02] [-2.83901009e-01 9.58839899e-01 -5.12501277e-03 -2.84383641e+01] [-1.86938900e-02 -1.90956931e-04 9.99825236e-01 -3.73634778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97862385300002 meters 0.027182901762675377 Centerline is valid? [True, True] Translation: X:148.88, Y:-28.44, Z:-3.73 [[ 9.58646049e-01 2.84041675e-01 1.78347755e-02 1.48884326e+02] [-2.83996159e-01 9.58811917e-01 -5.08820982e-03 -2.84442433e+01] [-1.85454590e-02 -1.87215511e-04 9.99828001e-01 -3.73086234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00862385300002 meters 0.019266792334103992 Centerline is valid? [True, True] Translation: X:148.92, Y:-28.45, Z:-3.74 [[ 9.58586810e-01 2.84205431e-01 1.84010812e-02 1.48916524e+02] [-2.84156968e-01 9.58763388e-01 -5.25191371e-03 -2.84526781e+01] [-1.91349054e-02 -1.94380235e-04 9.99816892e-01 -3.73864109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03862385300002 meters 0.019264957277370383 Centerline is valid? [True, True] Translation: X:148.95, Y:-28.46, Z:-3.74 [[ 9.58521269e-01 2.84428381e-01 1.83704462e-02 1.48948552e+02] [-2.84380051e-01 9.58697271e-01 -5.24677667e-03 -2.84617255e+01] [-1.91040289e-02 -1.95041395e-04 9.99817482e-01 -3.73925935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06862385300002 meters 0.018613142055085366 Centerline is valid? [True, True] Translation: X:148.98, Y:-28.47, Z:-3.74 [[ 9.58453041e-01 2.84662852e-01 1.82983436e-02 1.48979879e+02] [-2.84614875e-01 9.58627677e-01 -5.22974022e-03 -2.84717426e+01] [-1.90300114e-02 -1.95520380e-04 9.99818894e-01 -3.73900230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09862385300002 meters 0.019138179549688217 Centerline is valid? [True, True] Translation: X:149.01, Y:-28.48, Z:-3.74 [[ 9.58389398e-01 2.84862653e-01 1.85210664e-02 1.49010744e+02] [-2.84813462e-01 9.58568323e-01 -5.29738417e-03 -2.84790068e+01] [-1.92627344e-02 -1.98092211e-04 9.99814437e-01 -3.74014690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12862385300002 meters 0.019138179549688217 Centerline is valid? [True, True] Translation: X:149.04, Y:-28.49, Z:-3.74 [[ 9.58336741e-01 2.85039814e-01 1.85201238e-02 1.49041917e+02] [-2.84990592e-01 9.58515657e-01 -5.30067693e-03 -2.84881210e+01] [-1.92627326e-02 -1.98227606e-04 9.99814437e-01 -3.74096472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.15862385300002 meters 0.019441504383664238 Centerline is valid? [True, True] Translation: X:149.07, Y:-28.50, Z:-3.74 [[ 9.58321414e-01 2.85085008e-01 1.86173325e-02 1.49073111e+02] [-2.85035203e-01 9.58502217e-01 -5.33232242e-03 -2.84955061e+01] [-1.93649197e-02 -1.96516386e-04 9.99812463e-01 -3.74181515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18862385300002 meters 0.019333162483518858 Centerline is valid? [True, True] Translation: X:149.10, Y:-28.50, Z:-3.74 [[ 9.58334332e-01 2.85039637e-01 1.86471058e-02 1.49104455e+02] [-2.84989595e-01 9.58515711e-01 -5.34435401e-03 -2.85027675e+01] [-1.93968966e-02 -1.92553217e-04 9.99811844e-01 -3.74231191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.21862385300003 meters 0.018915504633793802 Centerline is valid? [True, True] Translation: X:149.14, Y:-28.51, Z:-3.74 [[ 9.58237892e-01 2.85360550e-01 1.86948895e-02 1.49135797e+02] [-2.85310248e-01 9.58420220e-01 -5.36139409e-03 -2.85117197e+01] [-1.94474904e-02 -1.96352579e-04 9.99810860e-01 -3.74278909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.248623853 meters 0.01865972982238297 Centerline is valid? [True, True] Translation: X:149.17, Y:-28.52, Z:-3.74 [[ 9.58143785e-01 2.85693817e-01 1.84263650e-02 1.49168139e+02] [-2.85644942e-01 9.58320930e-01 -5.28799430e-03 -2.85196355e+01] [-1.91691185e-02 -1.96739093e-04 9.99816236e-01 -3.74369078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.278623853 meters 0.019751679601239178 Centerline is valid? [True, True] Translation: X:149.20, Y:-28.52, Z:-3.75 [[ 9.57924684e-01 2.86473466e-01 1.76989787e-02 1.49199346e+02] [-2.86428439e-01 9.58088155e-01 -5.08295814e-03 -2.85231883e+01] [-1.84133145e-02 -2.00399776e-04 9.99830440e-01 -3.74656024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.308623853 meters 0.019462201592503628 Centerline is valid? [True, True] Translation: X:149.23, Y:-28.53, Z:-3.75 [[ 9.57729547e-01 2.87138585e-01 1.74799071e-02 1.49230835e+02] [-2.87094727e-01 9.57889028e-01 -5.02271831e-03 -2.85312309e+01] [-1.81860274e-02 -2.07983410e-04 9.99834599e-01 -3.74651276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.338623853 meters 0.020433367565431175 Centerline is valid? [True, True] Translation: X:149.26, Y:-28.54, Z:-3.75 [[ 9.57521261e-01 2.87848152e-01 1.72184947e-02 1.49261919e+02] [-2.87805649e-01 9.57676039e-01 -4.95108280e-03 -2.85362171e+01] [-1.79148998e-02 -2.14812981e-04 9.99839492e-01 -3.74809604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.368623853 meters 0.021292024540343953 Centerline is valid? [True, True] Translation: X:149.29, Y:-28.54, Z:-3.75 [[ 9.57311258e-01 2.88522891e-01 1.75982166e-02 1.49292140e+02] [-2.88478532e-01 9.57472970e-01 -5.06432410e-03 -2.85407450e+01] [-1.83109901e-02 -2.28573209e-04 9.99832314e-01 -3.74898748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.398623853 meters 0.020766777467391747 Centerline is valid? [True, True] Translation: X:149.32, Y:-28.55, Z:-3.75 [[ 9.57095120e-01 2.89235213e-01 1.76613139e-02 1.49324567e+02] [-2.89190673e-01 9.57258028e-01 -5.08161450e-03 -2.85460263e+01] [-1.83762164e-02 -2.43898812e-04 9.99831113e-01 -3.74877789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.428623853 meters 0.02065777558547053 Centerline is valid? [True, True] Translation: X:149.35, Y:-28.55, Z:-3.75 [[ 9.57126296e-01 2.89132119e-01 1.76598689e-02 1.49354864e+02] [-2.89087508e-01 9.57289173e-01 -5.08445833e-03 -2.85529108e+01] [-1.83756815e-02 -2.38778737e-04 9.99831124e-01 -3.74989809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.458623853 meters 0.020577006160863637 Centerline is valid? [True, True] Translation: X:149.39, Y:-28.56, Z:-3.75 [[ 9.57229809e-01 2.88796379e-01 1.75426442e-02 1.49385724e+02] [-2.88752232e-01 9.57390516e-01 -5.05452762e-03 -2.85601125e+01] [-1.82548905e-02 -2.27133178e-04 9.99833340e-01 -3.75027417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.488623853 meters 0.020188370547744455 Centerline is valid? [True, True] Translation: X:149.42, Y:-28.57, Z:-3.75 [[ 9.57428902e-01 2.88117900e-01 1.78317871e-02 1.49415428e+02] [-2.88072165e-01 9.57594919e-01 -5.13805338e-03 -2.85670611e+01] [-1.85559939e-02 -2.17520697e-04 9.99827799e-01 -3.75159754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.518623853 meters 0.018708493687696007 Centerline is valid? [True, True] Translation: X:149.44, Y:-28.57, Z:-3.75 [[ 9.58184433e-01 2.85594715e-01 1.78395807e-02 1.49444300e+02] [-2.85548472e-01 9.58350474e-01 -5.14194381e-03 -2.85744458e+01] [-1.85650825e-02 -1.67134476e-04 9.99827640e-01 -3.75316158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.548623853 meters 0.017344098401556617 Centerline is valid? [True, True] Translation: X:149.47, Y:-28.58, Z:-3.75 [[ 9.58630987e-01 2.84071625e-01 1.81643043e-02 1.49473778e+02] [-2.84023418e-01 9.58803052e-01 -5.23507916e-03 -2.85844800e+01] [-1.89031278e-02 -1.40578686e-04 9.99821310e-01 -3.75296604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.578623853 meters 0.016333852113490914 Centerline is valid? [True, True] Translation: X:149.50, Y:-28.59, Z:-3.75 [[ 9.59137003e-01 2.82334992e-01 1.85246235e-02 1.49504614e+02] [-2.82284537e-01 9.59315871e-01 -5.33852521e-03 -2.85949169e+01] [-1.92782178e-02 -1.08837704e-04 9.99814152e-01 -3.75284010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.608623853 meters 0.015867342527171327 Centerline is valid? [True, True] Translation: X:149.53, Y:-28.60, Z:-3.75 [[ 9.59699901e-01 2.80442331e-01 1.81162825e-02 1.49534672e+02] [-2.80393677e-01 9.59870874e-01 -5.22412452e-03 -2.86045619e+01] [-1.88543576e-02 -6.60992853e-05 9.99822239e-01 -3.75456341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.638623853 meters 0.015533732568258818 Centerline is valid? [True, True] Translation: X:149.56, Y:-28.62, Z:-3.76 [[ 9.60281207e-01 2.78455351e-01 1.79616529e-02 1.49564700e+02] [-2.78407121e-01 9.60449175e-01 -5.18246858e-03 -2.86150027e+01] [-1.86943408e-02 -2.40248839e-05 9.99825245e-01 -3.75604881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.668623853 meters 0.015996972290919207 Centerline is valid? [True, True] Translation: X:149.59, Y:-28.63, Z:-3.76 [[ 9.61379899e-01 2.74658113e-01 1.76524858e-02 1.49594511e+02] [-2.74610834e-01 9.61541948e-01 -5.09622789e-03 -2.86272422e+01] [-1.83733260e-02 5.18471929e-05 9.99831195e-01 -3.75765302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.69862385300002 meters 0.016428352999485127 Centerline is valid? [True, True] Translation: X:149.63, Y:-28.64, Z:-3.76 [[ 9.61881506e-01 2.72899954e-01 1.75949970e-02 1.49625521e+02] [-2.72852616e-01 9.62042415e-01 -5.08353695e-03 -2.86374166e+01] [-1.83144304e-02 8.89192004e-05 9.99832273e-01 -3.75856738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72862385300002 meters 0.019368530333495657 Centerline is valid? [True, True] Translation: X:149.65, Y:-28.65, Z:-3.76 [[ 9.62392118e-01 2.71119418e-01 1.71951377e-02 1.49654392e+02] [-2.71073893e-01 9.62545711e-01 -4.96972291e-03 -2.86480000e+01] [-1.78984944e-02 1.21669247e-04 9.99839802e-01 -3.75764105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75862385300002 meters 0.01943468844023356 Centerline is valid? [True, True] Translation: X:149.68, Y:-28.66, Z:-3.76 [[ 9.62881572e-01 2.69384851e-01 1.70552299e-02 1.49683331e+02] [-2.69339773e-01 9.63032595e-01 -4.93031941e-03 -2.86597429e+01] [-1.77528956e-02 1.53661954e-04 9.99842393e-01 -3.76261113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78862385300002 meters 0.022975650997966026 Centerline is valid? [True, True] Translation: X:149.71, Y:-28.67, Z:-3.76 [[ 9.64032034e-01 2.65253538e-01 1.68166150e-02 1.49712072e+02] [-2.65209028e-01 9.64178670e-01 -4.86450990e-03 -2.86741963e+01] [-1.75045500e-02 2.29625250e-04 9.99846757e-01 -3.76435002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81862385300002 meters 0.024017885508089035 Centerline is valid? [True, True] Translation: X:149.74, Y:-28.68, Z:-3.76 [[ 9.64554354e-01 2.63347704e-01 1.68191578e-02 1.49742932e+02] [-2.63302877e-01 9.64700947e-01 -4.86607899e-03 -2.86846802e+01] [-1.75069282e-02 2.65065049e-04 9.99846707e-01 -3.76426307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84862385300002 meters 0.024889822168221155 Centerline is valid? [True, True] Translation: X:149.77, Y:-28.69, Z:-3.76 [[ 9.65079897e-01 2.61402683e-01 1.70126526e-02 1.49773483e+02] [-2.61356462e-01 9.65229788e-01 -4.92510047e-03 -2.86947009e+01] [-1.77085535e-02 3.06748764e-04 9.99843144e-01 -3.76408500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.87862385300002 meters 0.029391392936238894 Centerline is valid? [True, True] Translation: X:149.80, Y:-28.71, Z:-3.77 [[ 9.66058562e-01 2.57717471e-01 1.76793618e-02 1.49801161e+02] [-2.57666873e-01 9.66220240e-01 -5.12163142e-03 -2.87103767e+01] [-1.84020911e-02 3.92410015e-04 9.99830590e-01 -3.76503238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90862385300002 meters 0.0316362535198608 Centerline is valid? [True, True] Translation: X:149.83, Y:-28.72, Z:-3.77 [[ 9.66564238e-01 2.55807700e-01 1.77762343e-02 1.49829616e+02] [-2.55756150e-01 9.66727589e-01 -5.15366116e-03 -2.87228243e+01] [-1.85031223e-02 4.34963338e-04 9.99828708e-01 -3.76518420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.93862385300002 meters 0.036372152860434624 Centerline is valid? [True, True] Translation: X:149.86, Y:-28.74, Z:-3.77 [[ 9.66979102e-01 2.54210762e-01 1.81191950e-02 1.49857674e+02] [-2.54156930e-01 9.67148729e-01 -5.25273235e-03 -2.87390052e+01] [-1.88592575e-02 4.74163437e-04 9.99822036e-01 -3.76635536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96862385300003 meters 0.03282944593056797 Centerline is valid? [True, True] Translation: X:149.89, Y:-28.74, Z:-3.77 [[ 9.67375012e-01 2.52689082e-01 1.82705638e-02 1.49889273e+02] [-2.52634011e-01 9.67547397e-01 -5.30003793e-03 -2.87439752e+01] [-1.90168981e-02 5.11358464e-04 9.99819032e-01 -3.76522265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.998623853 meters 0.039118614677666065 Centerline is valid? [True, True] Translation: X:149.92, Y:-28.76, Z:-3.77 [[ 9.68122121e-01 2.49797214e-01 1.84637884e-02 1.49915084e+02] [-2.49740408e-01 9.68298002e-01 -5.35803293e-03 -2.87622131e+01] [-1.92168711e-02 5.76076146e-04 9.99815173e-01 -3.76739057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.028623853 meters 0.04082301382058228 Centerline is valid? [True, True] Translation: X:149.94, Y:-28.77, Z:-3.77 [[ 9.68393663e-01 2.48753480e-01 1.83144420e-02 1.49944730e+02] [-2.48697393e-01 9.68566650e-01 -5.31525454e-03 -2.87749583e+01] [-1.90609458e-02 5.92504838e-04 9.99818148e-01 -3.76815155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.058623853 meters 0.04189966860426161 Centerline is valid? [True, True] Translation: X:149.97, Y:-28.79, Z:-3.77 [[ 9.68641370e-01 2.47806021e-01 1.80574568e-02 1.49974259e+02] [-2.47751273e-01 9.68809480e-01 -5.24379304e-03 -2.87870762e+01] [-1.87936788e-02 6.05596975e-04 9.99823200e-01 -3.76979238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.088623853 meters 0.04359863467193206 Centerline is valid? [True, True] Translation: X:150.00, Y:-28.80, Z:-3.77 [[ 9.68805441e-01 2.47200911e-01 1.75421313e-02 1.50003045e+02] [-2.47149096e-01 9.68964058e-01 -5.09685361e-03 -2.87998370e+01] [-1.82576416e-02 6.02337615e-04 9.99833134e-01 -3.77149791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.118623853 meters 0.03893239781794178 Centerline is valid? [True, True] Translation: X:150.03, Y:-28.81, Z:-3.77 [[ 9.68873677e-01 2.46952633e-01 1.72683307e-02 1.50034259e+02] [-2.46902327e-01 9.69027366e-01 -5.02039630e-03 -2.88060442e+01] [-1.79732851e-02 6.00538781e-04 9.99838287e-01 -3.77159366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.148623853 meters 0.03960894849734285 Centerline is valid? [True, True] Translation: X:150.06, Y:-28.82, Z:-3.77 [[ 9.68725410e-01 2.47540762e-01 1.71653845e-02 1.50063969e+02] [-2.47491126e-01 9.68877302e-01 -4.99160625e-03 -2.88171432e+01] [-1.78667774e-02 5.87215460e-04 9.99840204e-01 -3.77272313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.178623853 meters 0.04247651004580002 Centerline is valid? [True, True] Translation: X:150.09, Y:-28.83, Z:-3.77 [[ 9.68145285e-01 2.49781877e-01 1.74275982e-02 1.50091117e+02] [-2.49730995e-01 9.68301969e-01 -5.07224556e-03 -2.88313163e+01] [-1.81421326e-02 5.58459187e-04 9.99835262e-01 -3.77464601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.208623853 meters 0.03599931038235384 Centerline is valid? [True, True] Translation: X:150.12, Y:-28.83, Z:-3.77 [[ 9.67770316e-01 2.51218566e-01 1.76025075e-02 1.50124523e+02] [-2.51166898e-01 9.67930237e-01 -5.12304422e-03 -2.88333446e+01] [-1.83250031e-02 5.36762932e-04 9.99831939e-01 -3.77386686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.238623853 meters 0.03953479232438524 Centerline is valid? [True, True] Translation: X:150.15, Y:-28.85, Z:-3.78 [[ 9.67421884e-01 2.52549715e-01 1.77070757e-02 1.50152582e+02] [-2.52497644e-01 9.67583783e-01 -5.15397345e-03 -2.88481357e+01] [-1.84347138e-02 5.15071793e-04 9.99829934e-01 -3.77608280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.268623853 meters 0.03165978560132091 Centerline is valid? [True, True] Translation: X:150.19, Y:-28.85, Z:-3.77 [[ 9.67124770e-01 2.53673261e-01 1.78761527e-02 1.50185837e+02] [-2.53620329e-01 9.67289835e-01 -5.20609522e-03 -2.88487715e+01] [-1.86120680e-02 5.01187922e-04 9.99826655e-01 -3.77444055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.298623853 meters 0.03310380806061445 Centerline is valid? [True, True] Translation: X:150.21, Y:-28.86, Z:-3.78 [[ 9.66865808e-01 2.54670561e-01 1.77035466e-02 1.50214631e+02] [-2.54618750e-01 9.67027753e-01 -5.15923054e-03 -2.88614111e+01] [-1.84337250e-02 4.80628712e-04 9.99829969e-01 -3.77605103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.328623853 meters 0.0371088067573071 Centerline is valid? [True, True] Translation: X:150.25, Y:-28.87, Z:-3.77 [[ 9.66496913e-01 2.56083856e-01 1.74578289e-02 1.50245238e+02] [-2.56033650e-01 9.66654466e-01 -5.09060090e-03 -2.88720855e+01] [-1.81793089e-02 4.50258408e-04 9.99834641e-01 -3.76980026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.358623853 meters 0.03224464118890295 Centerline is valid? [True, True] Translation: X:150.27, Y:-28.88, Z:-3.78 [[ 9.66245976e-01 2.56995532e-01 1.79446396e-02 1.50273969e+02] [-2.56942571e-01 9.66412487e-01 -5.23641855e-03 -2.88845078e+01] [-1.86876599e-02 4.48926520e-04 9.99825270e-01 -3.77801915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.388623853 meters 0.03129027802615843 Centerline is valid? [True, True] Translation: X:150.30, Y:-28.89, Z:-3.78 [[ 9.65919637e-01 2.58208934e-01 1.80942550e-02 1.50304615e+02] [-2.58155271e-01 9.66089003e-01 -5.28152893e-03 -2.88946652e+01] [-1.88443987e-02 4.30405191e-04 9.99822336e-01 -3.77831923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.418623853 meters 0.029046704217200542 Centerline is valid? [True, True] Translation: X:150.33, Y:-28.91, Z:-3.78 [[ 9.65219011e-01 2.60821925e-01 1.80051391e-02 1.50333972e+02] [-2.60769183e-01 9.65386854e-01 -5.25876933e-03 -2.89052795e+01] [-1.87535269e-02 3.80678732e-04 9.99824065e-01 -3.77921179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44862385300002 meters 0.027503462142378754 Centerline is valid? [True, True] Translation: X:150.36, Y:-28.91, Z:-3.78 [[ 9.64766040e-01 2.62503582e-01 1.78425933e-02 1.50364744e+02] [-2.62452024e-01 9.64930955e-01 -5.21410206e-03 -2.89140711e+01] [-1.85855911e-02 3.47563867e-04 9.99827213e-01 -3.78019894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47862385300002 meters 0.024176371771515645 Centerline is valid? [True, True] Translation: X:150.40, Y:-28.92, Z:-3.78 [[ 9.64253381e-01 2.64379751e-01 1.78539851e-02 1.50396623e+02] [-2.64328390e-01 9.64418606e-01 -5.22053395e-03 -2.89201766e+01] [-1.85989189e-02 3.14602383e-04 9.99826976e-01 -3.78035620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50862385300002 meters 0.022389046331696794 Centerline is valid? [True, True] Translation: X:150.43, Y:-28.93, Z:-3.78 [[ 9.63638358e-01 2.66628050e-01 1.76237578e-02 1.50427995e+02] [-2.66578322e-01 9.63799465e-01 -5.15642635e-03 -2.89277980e+01] [-1.83606163e-02 2.70818431e-04 9.99831393e-01 -3.78102703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53862385300002 meters 0.021062320707058484 Centerline is valid? [True, True] Translation: X:150.46, Y:-28.94, Z:-3.78 [[ 9.63068939e-01 2.68658563e-01 1.79107354e-02 1.50458153e+02] [-2.68607488e-01 9.63235443e-01 -5.24385079e-03 -2.89357310e+01] [-1.86610605e-02 2.39232184e-04 9.99825839e-01 -3.78141959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56862385300002 meters 0.019596828862744636 Centerline is valid? [True, True] Translation: X:150.49, Y:-28.94, Z:-3.78 [[ 9.62465381e-01 2.70778825e-01 1.84178583e-02 1.50488248e+02] [-2.70725143e-01 9.62641566e-01 -5.39556813e-03 -2.89436158e+01] [-1.91908016e-02 2.06870211e-04 9.99815818e-01 -3.78139653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59862385300002 meters 0.018126080885725322 Centerline is valid? [True, True] Translation: X:150.52, Y:-28.95, Z:-3.78 [[ 9.61533441e-01 2.74023742e-01 1.90900576e-02 1.50517863e+02] [-2.73966640e-01 9.61722916e-01 -5.59588096e-03 -2.89530287e+01] [-1.98927501e-02 1.50587736e-04 9.99802108e-01 -3.78194905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62862385300002 meters 0.01742980922362659 Centerline is valid? [True, True] Translation: X:150.55, Y:-28.96, Z:-3.78 [[ 9.61162306e-01 2.75322317e-01 1.90956200e-02 1.50547437e+02] [-2.75265374e-01 9.61351968e-01 -5.60074607e-03 -2.89620413e+01] [-1.98996223e-02 1.26863019e-04 9.99801975e-01 -3.78247720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.65862385300002 meters 0.016478060835711274 Centerline is valid? [True, True] Translation: X:150.58, Y:-28.97, Z:-3.78 [[ 9.60787008e-01 2.76629376e-01 1.90922540e-02 1.50578889e+02] [-2.76572653e-01 9.60976679e-01 -5.60267311e-03 -2.89704230e+01] [-1.98970748e-02 1.02580201e-04 9.99802028e-01 -3.78247846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68862385300002 meters 0.01564250080382537 Centerline is valid? [True, True] Translation: X:150.61, Y:-28.98, Z:-3.78 [[ 9.60070659e-01 2.79080845e-01 1.94476362e-02 1.50608917e+02] [-2.79022420e-01 9.60267608e-01 -5.71056681e-03 -2.89789405e+01] [-2.02686449e-02 5.62211362e-05 9.99794568e-01 -3.78338922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.71862385300003 meters 0.01530979424995927 Centerline is valid? [True, True] Translation: X:150.64, Y:-28.99, Z:-3.78 [[ 9.59647856e-01 2.80528945e-01 1.94808585e-02 1.50640516e+02] [-2.80470557e-01 9.59845566e-01 -5.72333572e-03 -2.89876233e+01] [-2.03041770e-02 2.85796113e-05 9.99793849e-01 -3.78348058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.748623853 meters 0.015188139807106251 Centerline is valid? [True, True] Translation: X:150.67, Y:-29.00, Z:-3.78 [[ 9.59212768e-01 2.82018486e-01 1.94020527e-02 1.50671861e+02] [-2.81960794e-01 9.59408971e-01 -5.70413895e-03 -2.89963071e+01] [-2.02231760e-02 8.64744852e-07 9.99795491e-01 -3.78437085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.778623853 meters 0.015187526945498766 Centerline is valid? [True, True] Translation: X:150.70, Y:-29.00, Z:-3.78 [[ 9.58733939e-01 2.83627636e-01 1.96111602e-02 1.50703373e+02] [-2.83568946e-01 9.58934494e-01 -5.76972991e-03 -2.90044900e+01] [-2.04422729e-02 -2.94801594e-05 9.99791034e-01 -3.78488824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.808623853 meters 0.016042222706304527 Centerline is valid? [True, True] Translation: X:150.73, Y:-29.01, Z:-3.79 [[ 9.57801277e-01 2.86787794e-01 1.92217331e-02 1.50733718e+02] [-2.86731966e-01 9.57994130e-01 -5.65921509e-03 -2.90100197e+01] [-2.00373013e-02 -9.10818853e-05 9.99799229e-01 -3.78666840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.838623853 meters 0.01671713202704474 Centerline is valid? [True, True] Translation: X:150.76, Y:-29.02, Z:-3.79 [[ 9.57295042e-01 2.88496758e-01 1.88632658e-02 1.50764880e+02] [-2.88443265e-01 9.57480864e-01 -5.55671246e-03 -2.90179858e+01] [-1.96643096e-02 -1.21568701e-04 9.99806631e-01 -3.78790103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.868623853 meters 0.017326306780706235 Centerline is valid? [True, True] Translation: X:150.80, Y:-29.03, Z:-3.79 [[ 9.56910903e-01 2.89786367e-01 1.85845264e-02 1.50795623e+02] [-2.89734625e-01 9.57091344e-01 -5.47778973e-03 -2.90256517e+01] [-1.93744781e-02 -1.42824057e-04 9.99812287e-01 -3.78950539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.898623853 meters 0.018097841061470377 Centerline is valid? [True, True] Translation: X:150.83, Y:-29.03, Z:-3.79 [[ 9.56556083e-01 2.90981864e-01 1.81663037e-02 1.50826212e+02] [-2.90932579e-01 9.56728556e-01 -5.35769533e-03 -2.90325174e+01] [-1.89392137e-02 -1.60233523e-04 9.99820624e-01 -3.79132291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.928623853 meters 0.018602232301782828 Centerline is valid? [True, True] Translation: X:150.86, Y:-29.04, Z:-3.79 [[ 9.56047964e-01 2.92660795e-01 1.79429579e-02 1.50857130e+02] [-2.92612958e-01 9.56216306e-01 -5.29460841e-03 -2.90402794e+01] [-1.87068732e-02 -1.88442403e-04 9.99824993e-01 -3.79207525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.958623853 meters 0.019292696916386007 Centerline is valid? [True, True] Translation: X:150.89, Y:-29.05, Z:-3.79 [[ 9.55859711e-01 2.93266430e-01 1.80835196e-02 1.50888449e+02] [-2.93217889e-01 9.56030733e-01 -5.33928709e-03 -2.90482311e+01] [-1.88542342e-02 -1.98802031e-04 9.99822223e-01 -3.79321434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.988623853 meters 0.01905154465501694 Centerline is valid? [True, True] Translation: X:150.92, Y:-29.06, Z:-3.79 [[ 9.55708444e-01 2.93754924e-01 1.81497643e-02 1.50919698e+02] [-2.93706051e-01 9.55880747e-01 -5.36222557e-03 -2.90578724e+01] [-1.89241904e-02 -2.05971322e-04 9.99820900e-01 -3.79366736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.018623853 meters 0.01905154465501694 Centerline is valid? [True, True] Translation: X:150.95, Y:-29.07, Z:-3.79 [[ 9.55653046e-01 2.93935160e-01 1.81487546e-02 1.50950789e+02] [-2.93886255e-01 9.55825339e-01 -5.36564027e-03 -2.90672513e+01] [-1.89241899e-02 -2.05979055e-04 9.99820900e-01 -3.79448521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.048623853 meters 0.019716379747483893 Centerline is valid? [True, True] Translation: X:150.98, Y:-29.08, Z:-3.80 [[ 9.55533136e-01 2.94322190e-01 1.81899708e-02 1.50981397e+02] [-2.94273060e-01 9.55706233e-01 -5.38164876e-03 -2.90753471e+01] [-1.89682072e-02 -2.10474668e-04 9.99820065e-01 -3.79572501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.078623853 meters 0.020024506718341283 Centerline is valid? [True, True] Translation: X:151.01, Y:-29.08, Z:-3.80 [[ 9.55452323e-01 2.94591650e-01 1.80725859e-02 1.51012572e+02] [-2.94543134e-01 9.55623208e-01 -5.35038980e-03 -2.90837700e+01] [-1.88467626e-02 -2.11113720e-04 9.99822362e-01 -3.79692633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.108623853 meters 0.019000053800782523 Centerline is valid? [True, True] Translation: X:151.04, Y:-29.10, Z:-3.80 [[ 9.55558927e-01 2.94244148e-01 1.80974942e-02 1.51042949e+02] [-2.94195373e-01 9.55730266e-01 -5.36114859e-03 -2.90952603e+01] [-1.88738095e-02 -2.01305653e-04 9.99821854e-01 -3.79736330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.138623853 meters 0.018288527786152427 Centerline is valid? [True, True] Translation: X:151.07, Y:-29.11, Z:-3.80 [[ 9.55706795e-01 2.93763470e-01 1.80982334e-02 1.51073204e+02] [-2.93714544e-01 9.55878124e-01 -5.36455352e-03 -2.91063437e+01] [-1.88756152e-02 -1.88774120e-04 9.99821822e-01 -3.79780802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.168623853 meters 0.018591616249102796 Centerline is valid? [True, True] Translation: X:151.10, Y:-29.12, Z:-3.80 [[ 9.55867379e-01 2.93229624e-01 1.82740848e-02 1.51103059e+02] [-2.93179580e-01 9.56042027e-01 -5.42010605e-03 -2.91156746e+01] [-1.90601287e-02 -1.76685946e-04 9.99818324e-01 -3.79942000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.19862385300002 meters 0.02484092264954185 Centerline is valid? [True, True] Translation: X:151.13, Y:-29.13, Z:-3.79 [[ 9.56002628e-01 2.92805966e-01 1.79900407e-02 1.51134388e+02] [-2.92757339e-01 9.56171867e-01 -5.33862183e-03 -2.91261149e+01] [-1.87647512e-02 -1.62979949e-04 9.99823913e-01 -3.79266505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22862385300002 meters 0.017107494777571126 Centerline is valid? [True, True] Translation: X:151.16, Y:-29.14, Z:-3.80 [[ 9.56366075e-01 2.91538391e-01 1.92171242e-02 1.51164492e+02] [-2.91482562e-01 9.56559118e-01 -5.70703452e-03 -2.91368734e+01] [-2.00461350e-02 -1.43442385e-04 9.99799046e-01 -3.79819504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25862385300002 meters 0.016438875645420258 Centerline is valid? [True, True] Translation: X:151.20, Y:-29.15, Z:-3.80 [[ 9.56449849e-01 2.91239867e-01 1.95710289e-02 1.51195675e+02] [-2.91181832e-01 9.56650052e-01 -5.81546326e-03 -2.91471783e+01] [-2.04163205e-02 -1.36529075e-04 9.99791556e-01 -3.79810657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28862385300002 meters 0.016530158669304237 Centerline is valid? [True, True] Translation: X:151.23, Y:-29.16, Z:-3.80 [[ 9.56421526e-01 2.91316549e-01 1.98124539e-02 1.51226952e+02] [-2.91257001e-01 9.56626703e-01 -5.89150071e-03 -2.91554256e+01] [-2.06694141e-02 -1.35757815e-04 9.99786356e-01 -3.79899264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31862385300002 meters 0.01666005028294609 Centerline is valid? [True, True] Translation: X:151.26, Y:-29.16, Z:-3.80 [[ 9.56282445e-01 2.91784691e-01 1.96361752e-02 1.51259233e+02] [-2.91726219e-01 9.56484017e-01 -5.84285348e-03 -2.91640518e+01] [-2.04865429e-02 -1.40968925e-04 9.99790119e-01 -3.79992921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34862385300002 meters 0.017523759569495118 Centerline is valid? [True, True] Translation: X:151.29, Y:-29.17, Z:-3.80 [[ 9.55954954e-01 2.92868296e-01 1.94496146e-02 1.51290918e+02] [-2.92811072e-01 9.56152778e-01 -5.79140474e-03 -2.91695626e+01] [-2.02929219e-02 -1.58740461e-04 9.99794065e-01 -3.80196006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.37862385300002 meters 0.01749495533679077 Centerline is valid? [True, True] Translation: X:151.32, Y:-29.18, Z:-3.80 [[ 9.55823054e-01 2.93310307e-01 1.92705438e-02 1.51322526e+02] [-2.93254148e-01 9.56017279e-01 -5.74172715e-03 -2.91781372e+01] [-2.01070806e-02 -1.63091712e-04 9.99797819e-01 -3.80239059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40862385300002 meters 0.017799810270167075 Centerline is valid? [True, True] Translation: X:151.35, Y:-29.19, Z:-3.80 [[ 9.55581251e-01 2.94106364e-01 1.91290319e-02 1.51354347e+02] [-2.94051109e-01 9.55772680e-01 -5.70342125e-03 -2.91856172e+01] [-1.99604186e-02 -1.74830626e-04 9.99800756e-01 -3.80387575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.43862385300002 meters 0.019837729652491393 Centerline is valid? [True, True] Translation: X:151.39, Y:-29.19, Z:-3.81 [[ 9.55411191e-01 2.94656877e-01 1.91515096e-02 1.51386552e+02] [-2.94601517e-01 9.55603104e-01 -5.71443248e-03 -2.91892264e+01] [-1.99850388e-02 -1.82431026e-04 9.99800263e-01 -3.80675799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46862385300003 meters 0.01836438375294319 Centerline is valid? [True, True] Translation: X:151.42, Y:-29.20, Z:-3.81 [[ 9.55218324e-01 2.95290946e-01 1.90055687e-02 1.51417550e+02] [-2.95236512e-01 9.55407358e-01 -5.67289503e-03 -2.91995644e+01] [-1.98332147e-02 -1.92284533e-04 9.99803284e-01 -3.80548902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.498623853 meters 0.018966285016464298 Centerline is valid? [True, True] Translation: X:151.45, Y:-29.20, Z:-3.81 [[ 9.54966818e-01 2.96138714e-01 1.84455643e-02 1.51449199e+02] [-2.96087524e-01 9.55144922e-01 -5.50958618e-03 -2.92040208e+01] [-1.92497889e-02 -2.00029500e-04 9.99814686e-01 -3.80749824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.528623853 meters 0.0191443023538908 Centerline is valid? [True, True] Translation: X:151.48, Y:-29.21, Z:-3.81 [[ 9.55003572e-01 2.96038387e-01 1.81507858e-02 1.51480014e+02] [-2.95988743e-01 9.55176024e-01 -5.42469423e-03 -2.92114759e+01] [-1.89431132e-02 -1.91825928e-04 9.99820545e-01 -3.80947788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.558623853 meters 0.018715860144377736 Centerline is valid? [True, True] Translation: X:151.51, Y:-29.22, Z:-3.81 [[ 9.55085453e-01 2.95781285e-01 1.80335478e-02 1.51511259e+02] [-2.95732201e-01 9.55255671e-01 -5.39146253e-03 -2.92205923e+01] [-1.88213425e-02 -1.83793336e-04 9.99822846e-01 -3.81063421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.588623853 meters 0.01791279232551001 Centerline is valid? [True, True] Translation: X:151.54, Y:-29.23, Z:-3.81 [[ 9.55310307e-01 2.95066333e-01 1.78346690e-02 1.51542340e+02] [-2.95018119e-01 9.55476756e-01 -5.33641713e-03 -2.92305848e+01] [-1.86152087e-02 -1.63616215e-04 9.99826709e-01 -3.81131838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.618623853 meters 0.016927077366874335 Centerline is valid? [True, True] Translation: X:151.57, Y:-29.24, Z:-3.81 [[ 9.56038178e-01 2.92667777e-01 1.83459646e-02 1.51571895e+02] [-2.92616304e-01 9.56214180e-01 -5.49005094e-03 -2.92400841e+01] [-1.91494325e-02 -1.19630038e-04 9.99816626e-01 -3.81196635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.648623853 meters 0.01606899650986281 Centerline is valid? [True, True] Translation: X:151.60, Y:-29.25, Z:-3.81 [[ 9.56435554e-01 2.91346851e-01 1.86559351e-02 1.51602452e+02] [-2.91293310e-01 9.56617481e-01 -5.58596545e-03 -2.92509390e+01] [-1.94740471e-02 -9.17331410e-05 9.99810359e-01 -3.81153326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.678623853 meters 0.01574900621890542 Centerline is valid? [True, True] Translation: X:151.63, Y:-29.26, Z:-3.81 [[ 9.56908803e-01 2.89791978e-01 1.86051610e-02 1.51632152e+02] [-2.89738362e-01 9.57089654e-01 -5.57455507e-03 -2.92605398e+01] [-1.94222685e-02 -5.62880524e-05 9.99811368e-01 -3.81335876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.708623853 meters 0.015500447870445692 Centerline is valid? [True, True] Translation: X:151.66, Y:-29.27, Z:-3.81 [[ 9.57877652e-01 2.86583186e-01 1.84521054e-02 1.51662639e+02] [-2.86529827e-01 9.58055362e-01 -5.52999450e-03 -2.92726879e+01] [-1.92629420e-02 9.97957391e-06 9.99814452e-01 -3.81444331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.738623853 meters 0.015875101180799173 Centerline is valid? [True, True] Translation: X:151.69, Y:-29.28, Z:-3.82 [[ 9.58362175e-01 2.84943559e-01 1.86845013e-02 1.51692852e+02] [-2.84888460e-01 9.58544295e-01 -5.60350797e-03 -2.92843598e+01] [-1.95066056e-02 4.71912808e-05 9.99809727e-01 -3.81583310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.768623853 meters 0.016534536722929784 Centerline is valid? [True, True] Translation: X:151.72, Y:-29.30, Z:-3.82 [[ 9.58939666e-01 2.82981363e-01 1.88749819e-02 1.51723643e+02] [-2.82924686e-01 9.59125404e-01 -5.66413158e-03 -2.92964596e+01] [-1.97063183e-02 9.13621255e-05 9.99805807e-01 -3.81577932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.798623853 meters 0.017949192470367786 Centerline is valid? [True, True] Translation: X:151.75, Y:-29.31, Z:-3.82 [[ 9.59512852e-01 2.81049290e-01 1.86113908e-02 1.51752183e+02] [-2.80993745e-01 9.59693325e-01 -5.58895995e-03 -2.93096326e+01] [-1.94320007e-02 1.32994506e-04 9.99811172e-01 -3.81756353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.828623853 meters 0.019951725079589654 Centerline is valid? [True, True] Translation: X:151.78, Y:-29.32, Z:-3.82 [[ 9.60716916e-01 2.76901600e-01 1.86684703e-02 1.51781157e+02] [-2.76844872e-01 9.60898254e-01 -5.60907109e-03 -2.93242554e+01] [-1.94916613e-02 2.20459201e-04 9.99809995e-01 -3.81692327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.858623853 meters 0.021734638727539876 Centerline is valid? [True, True] Translation: X:151.81, Y:-29.34, Z:-3.82 [[ 9.61265113e-01 2.75000668e-01 1.85476711e-02 1.51810164e+02] [-2.74944250e-01 9.61444000e-01 -5.57624512e-03 -2.93368928e+01] [-1.93660182e-02 2.60674368e-04 9.99812427e-01 -3.81750288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.888623853 meters 0.0234123648673471 Centerline is valid? [True, True] Translation: X:151.84, Y:-29.35, Z:-3.82 [[ 9.61761403e-01 2.73271006e-01 1.83837296e-02 1.51839026e+02] [-2.73215206e-01 9.61937040e-01 -5.53007256e-03 -2.93495342e+01] [-1.91951989e-02 2.95895875e-04 9.99815711e-01 -3.81884753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.918623853 meters 0.02515574409710569 Centerline is valid? [True, True] Translation: X:151.87, Y:-29.36, Z:-3.82 [[ 9.62220757e-01 2.71648858e-01 1.83878483e-02 1.51867879e+02] [-2.71592668e-01 9.62396378e-01 -5.53484738e-03 -2.93619919e+01] [-1.91999336e-02 3.31740239e-04 9.99815609e-01 -3.82004334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94862385300002 meters 0.02775493012199501 Centerline is valid? [True, True] Translation: X:151.90, Y:-29.38, Z:-3.82 [[ 9.63033329e-01 2.68752478e-01 1.84095683e-02 1.51897095e+02] [-2.68695587e-01 9.63209194e-01 -5.54341522e-03 -2.93776508e+01] [-1.92220720e-02 3.91923874e-04 9.99815162e-01 -3.82092438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97862385300002 meters 0.029094886353912112 Centerline is valid? [True, True] Translation: X:151.93, Y:-29.39, Z:-3.82 [[ 9.63291799e-01 2.67825682e-01 1.83932983e-02 1.51926216e+02] [-2.67768709e-01 9.63467299e-01 -5.53921907e-03 -2.93900986e+01] [-1.92048865e-02 4.10734579e-04 9.99815485e-01 -3.82200568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00862385300002 meters 0.030562953945092362 Centerline is valid? [True, True] Translation: X:151.96, Y:-29.40, Z:-3.82 [[ 9.63477387e-01 2.67131413e-01 1.87651758e-02 1.51955322e+02] [-2.67071952e-01 9.63660012e-01 -5.65274825e-03 -2.94023671e+01] [-1.95932762e-02 4.34642991e-04 9.99807939e-01 -3.82272390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03862385300002 meters 0.03128182092448749 Centerline is valid? [True, True] Translation: X:151.98, Y:-29.41, Z:-3.82 [[ 9.63549967e-01 2.66871701e-01 1.87338502e-02 1.51984280e+02] [-2.66812327e-01 9.63731965e-01 -5.64645989e-03 -2.94137179e+01] [-1.95612906e-02 4.42224080e-04 9.99808562e-01 -3.82326931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06862385300002 meters 0.029908742466324603 Centerline is valid? [True, True] Translation: X:152.02, Y:-29.42, Z:-3.82 [[ 9.63540069e-01 2.66898814e-01 1.88562487e-02 1.52016223e+02] [-2.66838609e-01 9.63724454e-01 -5.68626666e-03 -2.94229606e+01] [-1.96898859e-02 4.47370576e-04 9.99806035e-01 -3.82337441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.09862385300002 meters 0.03122997762554886 Centerline is valid? [True, True] Translation: X:152.05, Y:-29.44, Z:-3.82 [[ 9.63416264e-01 2.67340543e-01 1.89244900e-02 1.52045456e+02] [-2.67279903e-01 9.63602012e-01 -5.71108074e-03 -2.94353733e+01] [-1.97624800e-02 4.44012228e-04 9.99804605e-01 -3.82447588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12862385300002 meters 0.02882984482689819 Centerline is valid? [True, True] Translation: X:152.08, Y:-29.44, Z:-3.83 [[ 9.62933226e-01 2.69108016e-01 1.84520398e-02 1.52076560e+02] [-2.69050633e-01 9.63109919e-01 -5.57149998e-03 -2.94434666e+01] [-1.92706779e-02 4.00449472e-04 9.99814223e-01 -3.82556825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.15862385300002 meters 0.02857713798437304 Centerline is valid? [True, True] Translation: X:152.11, Y:-29.45, Z:-3.83 [[ 9.62504854e-01 2.70635287e-01 1.84647604e-02 1.52105851e+02] [-2.70578040e-01 9.62681880e-01 -5.57876891e-03 -2.94537856e+01] [-1.92855020e-02 3.73433472e-04 9.99813948e-01 -3.82693891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18862385300002 meters 0.024065188708284068 Centerline is valid? [True, True] Translation: X:152.14, Y:-29.46, Z:-3.83 [[ 9.61409999e-01 2.74509650e-01 1.83102766e-02 1.52136699e+02] [-2.74453984e-01 9.61584299e-01 -5.53594447e-03 -2.94593346e+01] [-1.91265447e-02 2.96983988e-04 9.99817027e-01 -3.82762330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.21862385300003 meters 0.021818861124751718 Centerline is valid? [True, True] Translation: X:152.17, Y:-29.47, Z:-3.83 [[ 9.60695466e-01 2.76999906e-01 1.83104833e-02 1.52168475e+02] [-2.76944699e-01 9.60869914e-01 -5.53558662e-03 -2.94662286e+01] [-1.91273495e-02 2.47021688e-04 9.99817025e-01 -3.82833087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.248623853 meters 0.020169349329524 Centerline is valid? [True, True] Translation: X:152.20, Y:-29.47, Z:-3.83 [[ 9.59886769e-01 2.79774272e-01 1.85404308e-02 1.52199319e+02] [-2.79718121e-01 9.60065788e-01 -5.60850785e-03 -2.94733032e+01] [-1.93691495e-02 1.97438036e-04 9.99812381e-01 -3.82865988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.278623853 meters 0.017864427310679172 Centerline is valid? [True, True] Translation: X:152.23, Y:-29.48, Z:-3.83 [[ 9.58928974e-01 2.82987140e-01 1.93261818e-02 1.52231208e+02] [-2.82926705e-01 9.59123693e-01 -5.84984995e-03 -2.94787538e+01] [-2.01916312e-02 1.41697666e-04 9.99796118e-01 -3.82816965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.308623853 meters 0.01556712701726645 Centerline is valid? [True, True] Translation: X:152.26, Y:-29.48, Z:-3.83 [[ 9.56947942e-01 2.89586042e-01 1.97626141e-02 1.52263748e+02] [-2.89524176e-01 9.57151986e-01 -5.98558876e-03 -2.94785672e+01] [-2.06491683e-02 6.14227729e-06 9.99786783e-01 -3.82769308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.338623853 meters 0.01585042820208739 Centerline is valid? [True, True] Translation: X:152.30, Y:-29.48, Z:-3.83 [[ 9.55942319e-01 2.92890964e-01 1.97273096e-02 1.52295639e+02] [-2.92829958e-01 9.56145846e-01 -5.97800078e-03 -2.94830535e+01] [-2.06130875e-02 -6.21233025e-05 9.99787526e-01 -3.82875300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.368623853 meters 0.01697919105625615 Centerline is valid? [True, True] Translation: X:152.33, Y:-29.49, Z:-3.83 [[ 9.54964756e-01 2.96051107e-01 1.99011694e-02 1.52328027e+02] [-2.95989627e-01 9.55172092e-01 -6.03448335e-03 -2.94880039e+01] [-2.07955570e-02 -1.27820779e-04 9.99783741e-01 -3.82997184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.398623853 meters 0.018612018901735042 Centerline is valid? [True, True] Translation: X:152.36, Y:-29.49, Z:-3.83 [[ 9.54070905e-01 2.98912130e-01 2.00061655e-02 1.52359695e+02] [-2.98850555e-01 9.54280621e-01 -6.06978302e-03 -2.94936032e+01] [-2.09058278e-02 -1.87850281e-04 9.99781432e-01 -3.83044700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.428623853 meters 0.02058580279568232 Centerline is valid? [True, True] Translation: X:152.39, Y:-29.50, Z:-3.83 [[ 9.53240543e-01 3.01551849e-01 1.99737119e-02 1.52390490e+02] [-3.01490980e-01 9.53449749e-01 -6.06341959e-03 -2.94991877e+01] [-2.08723660e-02 -2.41996586e-04 9.99782119e-01 -3.83154898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.458623853 meters 0.024221196405144477 Centerline is valid? [True, True] Translation: X:152.42, Y:-29.50, Z:-3.83 [[ 9.51953548e-01 3.05606926e-01 1.97192441e-02 1.52421817e+02] [-3.05548390e-01 9.52157709e-01 -5.98989375e-03 -2.95020037e+01] [-2.06063833e-02 -3.23082683e-04 9.99787614e-01 -3.83270331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.488623853 meters 0.024051537295130942 Centerline is valid? [True, True] Translation: X:152.45, Y:-29.51, Z:-3.83 [[ 9.51308021e-01 3.07618102e-01 1.95998279e-02 1.52452758e+02] [-3.07560710e-01 9.51509837e-01 -5.95310366e-03 -2.95110518e+01] [-2.04807115e-02 -3.64901730e-04 9.99790182e-01 -3.83317583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.518623853 meters 0.027940310135219845 Centerline is valid? [True, True] Translation: X:152.48, Y:-29.51, Z:-3.84 [[ 9.50849494e-01 3.09065235e-01 1.90767208e-02 1.52484296e+02] [-3.09011082e-01 9.51040764e-01 -5.79798090e-03 -2.95132532e+01] [-1.99346935e-02 -3.81910943e-04 9.99801211e-01 -3.83583578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.548623853 meters 0.029783160392476467 Centerline is valid? [True, True] Translation: X:152.51, Y:-29.52, Z:-3.84 [[ 9.50438603e-01 3.10336777e-01 1.89088875e-02 1.52512979e+02] [-3.10283776e-01 9.50626595e-01 -5.74941689e-03 -2.95179778e+01] [-1.97595468e-02 -4.02653244e-04 9.99804680e-01 -3.83745016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.578623853 meters 0.03423642427985281 Centerline is valid? [True, True] Translation: X:152.54, Y:-29.52, Z:-3.83 [[ 9.50055475e-01 3.11547849e-01 1.82354774e-02 1.52541071e+02] [-3.11498785e-01 9.50230376e-01 -5.54430628e-03 -2.95232899e+01] [-1.90552213e-02 -4.12930536e-04 9.99818348e-01 -3.83263254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.608623853 meters 0.03311913798934381 Centerline is valid? [True, True] Translation: X:152.57, Y:-29.53, Z:-3.84 [[ 9.49614124e-01 3.12871552e-01 1.85582448e-02 1.52569168e+02] [-3.12821010e-01 9.49795342e-01 -5.64129723e-03 -2.95252983e+01] [-1.93915359e-02 -4.48353358e-04 9.99811866e-01 -3.83987155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.638623853 meters 0.033715218487037 Centerline is valid? [True, True] Translation: X:152.60, Y:-29.53, Z:-3.84 [[ 9.49431597e-01 3.13411041e-01 1.87926023e-02 1.52597019e+02] [-3.13359343e-01 9.49617450e-01 -5.71139241e-03 -2.95311129e+01] [-1.96357965e-02 -4.66261103e-04 9.99807090e-01 -3.84031268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.668623853 meters 0.03451956487096716 Centerline is valid? [True, True] Translation: X:152.62, Y:-29.54, Z:-3.84 [[ 9.49348350e-01 3.13638766e-01 1.91946600e-02 1.52624825e+02] [-3.13584903e-01 9.49542254e-01 -5.83242374e-03 -2.95363151e+01] [-2.00554150e-02 -4.82153744e-04 9.99798754e-01 -3.84027609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.69862385300002 meters 0.030945210017111743 Centerline is valid? [True, True] Translation: X:152.65, Y:-29.55, Z:-3.84 [[ 9.49384983e-01 3.13516346e-01 1.93818155e-02 1.52652559e+02] [-3.13461428e-01 9.49582679e-01 -5.88798381e-03 -2.95479406e+01] [-2.02506154e-02 -4.85488140e-04 9.99794817e-01 -3.83931211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72862385300002 meters 0.0334895117531469 Centerline is valid? [True, True] Translation: X:152.68, Y:-29.55, Z:-3.84 [[ 9.49670689e-01 3.12670329e-01 1.90485728e-02 1.52681235e+02] [-3.12617119e-01 9.49861597e-01 -5.78646974e-03 -2.95482540e+01] [-1.99027652e-02 -4.59669230e-04 9.99801815e-01 -3.84248870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75862385300002 meters 0.03275579884844646 Centerline is valid? [True, True] Translation: X:152.71, Y:-29.56, Z:-3.84 [[ 9.49935711e-01 3.11867464e-01 1.89955231e-02 1.52708728e+02] [-3.11814414e-01 9.50125512e-01 -5.76909522e-03 -2.95553698e+01] [-1.98473242e-02 -4.42808319e-04 9.99802924e-01 -3.84341957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78862385300002 meters 0.029081360881378065 Centerline is valid? [True, True] Translation: X:152.74, Y:-29.57, Z:-3.84 [[ 9.50302598e-01 3.10730864e-01 1.92691896e-02 1.52735195e+02] [-3.10676059e-01 9.50497842e-01 -5.85131229e-03 -2.95666656e+01] [-2.01335065e-02 -4.25958624e-04 9.99797210e-01 -3.84324761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.81862385300002 meters 0.028521211716387423 Centerline is valid? [True, True] Translation: X:152.76, Y:-29.57, Z:-3.84 [[ 9.51306878e-01 3.07620451e-01 1.96184266e-02 1.52763234e+02] [-3.07563000e-01 9.51509077e-01 -5.95637884e-03 -2.95721274e+01] [-2.04994149e-02 -3.67557974e-04 9.99789797e-01 -3.84461988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84862385300002 meters 0.02476050846802061 Centerline is valid? [True, True] Translation: X:152.79, Y:-29.58, Z:-3.84 [[ 9.51823669e-01 3.05990736e-01 2.00342895e-02 1.52790058e+02] [-3.05930483e-01 9.52034429e-01 -6.08163395e-03 -2.95840908e+01] [-2.09342570e-02 -3.40456734e-04 9.99780796e-01 -3.84371663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.87862385300002 meters 0.02498036065074217 Centerline is valid? [True, True] Translation: X:152.82, Y:-29.59, Z:-3.84 [[ 9.52335854e-01 3.04371279e-01 2.03603946e-02 1.52817386e+02] [-3.04308698e-01 9.52553425e-01 -6.17966007e-03 -2.95894551e+01] [-2.12752747e-02 -3.10733326e-04 9.99773607e-01 -3.84469234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90862385300002 meters 0.021752817060923503 Centerline is valid? [True, True] Translation: X:152.84, Y:-29.60, Z:-3.85 [[ 9.53464153e-01 3.00840157e-01 2.00326672e-02 1.52843415e+02] [-3.00778820e-01 9.53674550e-01 -6.07898479e-03 -2.95983743e+01] [-2.09334476e-02 -2.29307912e-04 9.99780845e-01 -3.84624862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.93862385300002 meters 0.021752817060923503 Centerline is valid? [True, True] Translation: X:152.87, Y:-29.61, Z:-3.85 [[ 9.53482767e-01 3.00781140e-01 2.00329733e-02 1.52869768e+02] [-3.00719811e-01 9.53693165e-01 -6.07797569e-03 -2.96062215e+01] [-2.09334502e-02 -2.29066875e-04 9.99780845e-01 -3.84694015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96862385300003 meters 0.019482195260786924 Centerline is valid? [True, True] Translation: X:152.90, Y:-29.62, Z:-3.85 [[ 9.54086590e-01 2.98851771e-01 2.01593007e-02 1.52896432e+02] [-2.98789266e-01 9.54299525e-01 -6.11484754e-03 -2.96162618e+01] [-2.10654441e-02 -1.89288625e-04 9.99778081e-01 -3.84680132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.998623853 meters 0.017165044734413777 Centerline is valid? [True, True] Translation: X:152.92, Y:-29.63, Z:-3.85 [[ 9.54704158e-01 2.96853780e-01 2.04402584e-02 1.52924748e+02] [-2.96789087e-01 9.54922935e-01 -6.19893865e-03 -2.96278990e+01] [-2.13590499e-02 -1.48293111e-04 9.99771858e-01 -3.84630159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.028623853 meters 0.016821154358607985 Centerline is valid? [True, True] Translation: X:152.95, Y:-29.64, Z:-3.85 [[ 9.55364945e-01 2.94725759e-01 2.03604680e-02 1.52953010e+02] [-2.94661085e-01 9.55581873e-01 -6.17478698e-03 -2.96355861e+01] [-2.12759630e-02 -1.00262585e-04 9.99773636e-01 -3.84857938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.058623853 meters 0.01563781356575684 Centerline is valid? [True, True] Translation: X:152.98, Y:-29.65, Z:-3.85 [[ 9.55960856e-01 2.92798111e-01 2.02016804e-02 1.52981156e+02] [-2.92734018e-01 9.56174285e-01 -6.12633175e-03 -2.96467631e+01] [-2.11101057e-02 -5.71857438e-05 9.99777155e-01 -3.84866364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.088623853 meters 0.01545282510154177 Centerline is valid? [True, True] Translation: X:153.01, Y:-29.66, Z:-3.85 [[ 9.57158718e-01 2.88901824e-01 1.95684469e-02 1.53010736e+02] [-2.88840873e-01 9.57358729e-01 -5.93418600e-03 -2.96586263e+01] [-2.04484206e-02 2.77905682e-05 9.99790909e-01 -3.85066009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.118623853 meters 0.01617943086673941 Centerline is valid? [True, True] Translation: X:153.04, Y:-29.67, Z:-3.85 [[ 9.57725473e-01 2.87034059e-01 1.93227313e-02 1.53039370e+02] [-2.86974239e-01 9.57920375e-01 -5.86020652e-03 -2.96691954e+01] [-2.01917169e-02 6.73429513e-05 9.99796124e-01 -3.85275342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.148623853 meters 0.016802598681465594 Centerline is valid? [True, True] Translation: X:153.07, Y:-29.68, Z:-3.85 [[ 9.58318078e-01 2.85052289e-01 1.92783146e-02 1.53069467e+02] [-2.84992354e-01 9.58511962e-01 -5.84616626e-03 -2.96794556e+01] [-2.01449583e-02 1.08314545e-04 9.99797064e-01 -3.85283946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.178623853 meters 0.018341926482484193 Centerline is valid? [True, True] Translation: X:153.10, Y:-29.69, Z:-3.85 [[ 9.58922219e-01 2.83026109e-01 1.90892288e-02 1.53097923e+02] [-2.82966865e-01 9.59112193e-01 -5.79269178e-03 -2.96911386e+01] [-1.99481951e-02 1.53121640e-04 9.99801003e-01 -3.85429432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.208623853 meters 0.020908875179503524 Centerline is valid? [True, True] Translation: X:153.13, Y:-29.70, Z:-3.85 [[ 9.60119087e-01 2.78938911e-01 1.90898458e-02 1.53128139e+02] [-2.78878829e-01 9.60308818e-01 -5.79415335e-03 -2.97030666e+01] [-1.99483621e-02 2.39323375e-04 9.99800983e-01 -3.85478235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.238623853 meters 0.023543102998097757 Centerline is valid? [True, True] Translation: X:153.16, Y:-29.72, Z:-3.86 [[ 9.60737394e-01 2.76799311e-01 1.91259107e-02 1.53156714e+02] [-2.76738499e-01 9.60927707e-01 -5.80901946e-03 -2.97154271e+01] [-1.99865501e-02 2.88066400e-04 9.99800207e-01 -3.85605969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.268623853 meters 0.02520369048228762 Centerline is valid? [True, True] Translation: X:153.19, Y:-29.73, Z:-3.86 [[ 9.61279076e-01 2.74906801e-01 1.92039022e-02 1.53186637e+02] [-2.74845084e-01 9.61470822e-01 -5.83419544e-03 -2.97269019e+01] [-2.00678517e-02 3.30191888e-04 9.99798566e-01 -3.85641412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.298623853 meters 0.028499887487697925 Centerline is valid? [True, True] Translation: X:153.22, Y:-29.74, Z:-3.86 [[ 9.61777334e-01 2.73138346e-01 1.94885670e-02 1.53215093e+02] [-2.73074350e-01 9.61974689e-01 -5.92426904e-03 -2.97408933e+01] [-2.03656533e-02 3.75999903e-04 9.99792528e-01 -3.85698638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.328623853 meters 0.03218483702557232 Centerline is valid? [True, True] Translation: X:153.24, Y:-29.76, Z:-3.86 [[ 9.62690825e-01 2.69896813e-01 1.95470259e-02 1.53244110e+02] [-2.69831687e-01 9.62889146e-01 -5.94578679e-03 -2.97552917e+01] [-2.04263680e-02 4.49547421e-04 9.99791259e-01 -3.85712274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.358623853 meters 0.0339978522981826 Centerline is valid? [True, True] Translation: X:153.27, Y:-29.77, Z:-3.86 [[ 9.62981556e-01 2.68869124e-01 1.93885568e-02 1.53273319e+02] [-2.68804833e-01 9.63176606e-01 -5.89801362e-03 -2.97671937e+01] [-2.02603981e-02 4.67940548e-04 9.99794628e-01 -3.85807307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.388623853 meters 0.03308235047792327 Centerline is valid? [True, True] Translation: X:153.30, Y:-29.78, Z:-3.86 [[ 9.63245349e-01 2.67931860e-01 1.92591949e-02 1.53304040e+02] [-2.67868178e-01 9.63437741e-01 -5.86157122e-03 -2.97756722e+01] [-2.01255369e-02 4.87205764e-04 9.99797342e-01 -3.85863139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.418623853 meters 0.03398782268291023 Centerline is valid? [True, True] Translation: X:153.33, Y:-29.79, Z:-3.86 [[ 9.63433752e-01 2.67249645e-01 1.93140577e-02 1.53334642e+02] [-2.67185394e-01 9.63627195e-01 -5.88167748e-03 -2.97866231e+01] [-2.01834275e-02 5.06172483e-04 9.99796166e-01 -3.85964054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44862385300002 meters 0.03461549479550336 Centerline is valid? [True, True] Translation: X:153.36, Y:-29.80, Z:-3.86 [[ 9.63504025e-01 2.66982077e-01 1.95080631e-02 1.53364923e+02] [-2.66916403e-01 9.63701354e-01 -5.94422682e-03 -2.97965809e+01] [-2.03869489e-02 5.20264415e-04 9.99792029e-01 -3.85965950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47862385300002 meters 0.03473910147123274 Centerline is valid? [True, True] Translation: X:153.39, Y:-29.81, Z:-3.86 [[ 9.63397997e-01 2.67359751e-01 1.95719666e-02 1.53394752e+02] [-2.67293653e-01 9.63596646e-01 -5.96718385e-03 -2.98059682e+01] [-2.04548661e-02 5.17310536e-04 9.99790644e-01 -3.86014956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50862385300002 meters 0.0317654409783012 Centerline is valid? [True, True] Translation: X:153.43, Y:-29.81, Z:-3.86 [[ 9.63297819e-01 2.67694681e-01 1.99215674e-02 1.53427134e+02] [-2.67626208e-01 9.63503651e-01 -6.07684313e-03 -2.98118523e+01] [-2.08212415e-02 5.22276200e-04 9.99783078e-01 -3.86022709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53862385300002 meters 0.03449870401100213 Centerline is valid? [True, True] Translation: X:153.46, Y:-29.83, Z:-3.86 [[ 9.63119104e-01 2.68329409e-01 2.00229817e-02 1.53455582e+02] [-2.68260282e-01 9.63327080e-01 -6.11217095e-03 -2.98259555e+01] [-2.09287557e-02 5.15377906e-04 9.99780837e-01 -3.86144933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56862385300002 meters 0.03443637774796649 Centerline is valid? [True, True] Translation: X:153.48, Y:-29.84, Z:-3.86 [[ 9.63025698e-01 2.68652006e-01 2.01892230e-02 1.53484866e+02] [-2.68581723e-01 9.63237164e-01 -6.16641854e-03 -2.98355167e+01] [-2.11036306e-02 5.15963213e-04 9.99777160e-01 -3.86211216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59862385300002 meters 0.034043611515101706 Centerline is valid? [True, True] Translation: X:153.52, Y:-29.85, Z:-3.86 [[ 9.62827831e-01 2.69361388e-01 2.01744992e-02 1.53515930e+02] [-2.69291296e-01 9.63039038e-01 -6.16508331e-03 -2.98453309e+01] [-2.10894657e-02 5.03096741e-04 9.99777466e-01 -3.86354642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62862385300002 meters 0.03663826321064328 Centerline is valid? [True, True] Translation: X:153.54, Y:-29.86, Z:-3.87 [[ 9.62697723e-01 2.69856608e-01 1.97612093e-02 1.53544537e+02] [-2.69789394e-01 9.62900398e-01 -6.04213127e-03 -2.98584360e+01] [-2.06585854e-02 4.85381328e-04 9.99786471e-01 -3.86557472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.65862385300002 meters 0.03255281005282483 Centerline is valid? [True, True] Translation: X:153.58, Y:-29.86, Z:-3.87 [[ 9.62157420e-01 2.71778703e-01 1.97341260e-02 1.53576449e+02] [-2.71712007e-01 9.62359671e-01 -6.03723933e-03 -2.98634846e+01] [-2.06321200e-02 4.46775647e-04 9.99787035e-01 -3.86645189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68862385300002 meters 0.030858888872234518 Centerline is valid? [True, True] Translation: X:153.61, Y:-29.87, Z:-3.87 [[ 9.61754989e-01 2.73193273e-01 1.98186106e-02 1.53607699e+02] [-2.73126272e-01 9.61959074e-01 -6.06468749e-03 -2.98709560e+01] [-2.07215241e-02 4.19760224e-04 9.99785198e-01 -3.86646656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.71862385300003 meters 0.029689710557931362 Centerline is valid? [True, True] Translation: X:153.64, Y:-29.88, Z:-3.87 [[ 9.61322305e-01 2.74692725e-01 2.00831248e-02 1.53638115e+02] [-2.74624176e-01 9.61531981e-01 -6.14913059e-03 -2.98788052e+01] [-2.09996882e-02 3.95984791e-04 9.99779404e-01 -3.86720920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.748623853 meters 0.027956909993365194 Centerline is valid? [True, True] Translation: X:153.67, Y:-29.89, Z:-3.87 [[ 9.60840112e-01 2.76378734e-01 2.00268289e-02 1.53669342e+02] [-2.76310870e-01 9.61048732e-01 -6.13495754e-03 -2.98862439e+01] [-2.09423303e-02 3.61082767e-04 9.99780620e-01 -3.86823721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.778623853 meters 0.026537372157181827 Centerline is valid? [True, True] Translation: X:153.70, Y:-29.89, Z:-3.87 [[ 9.60377825e-01 2.78003686e-01 1.97074759e-02 1.53699770e+02] [-2.77938245e-01 9.60579953e-01 -6.04039562e-03 -2.98936969e+01] [-2.06098585e-02 3.23600745e-04 9.99787542e-01 -3.86975826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.808623853 meters 0.02510180847994884 Centerline is valid? [True, True] Translation: X:153.73, Y:-29.90, Z:-3.87 [[ 9.59976749e-01 2.79407223e-01 1.93970448e-02 1.53729663e+02] [-2.79344039e-01 9.60172650e-01 -5.94888591e-03 -2.99006201e+01] [-2.02866736e-02 2.92343302e-04 9.99794162e-01 -3.87106610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.838623853 meters 0.020436687004270385 Centerline is valid? [True, True] Translation: X:153.76, Y:-29.90, Z:-3.87 [[ 9.59214634e-01 2.81957942e-01 2.01743538e-02 1.53762878e+02] [-2.81890171e-01 9.59426734e-01 -6.18657460e-03 -2.99033619e+01] [-2.11001683e-02 2.47300836e-04 9.99777336e-01 -3.86937358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.868623853 meters 0.01995810370968701 Centerline is valid? [True, True] Translation: X:153.79, Y:-29.91, Z:-3.87 [[ 9.58865455e-01 2.83119282e-01 2.05063864e-02 1.53792766e+02] [-2.83049444e-01 9.59084678e-01 -6.29225155e-03 -2.99124205e+01] [-2.14488187e-02 2.29101367e-04 9.99769921e-01 -3.86931988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.898623853 meters 0.01860263223398721 Centerline is valid? [True, True] Translation: X:153.82, Y:-29.92, Z:-3.87 [[ 9.58568153e-01 2.84114345e-01 2.06430389e-02 1.53824561e+02] [-2.84043730e-01 9.58790381e-01 -6.33759938e-03 -2.99198325e+01] [-2.15929501e-02 2.11495137e-04 9.99766823e-01 -3.86967781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.928623853 meters 0.018612525665180644 Centerline is valid? [True, True] Translation: X:153.85, Y:-29.93, Z:-3.87 [[ 9.58322934e-01 2.84951785e-01 2.04849730e-02 1.53854001e+02] [-2.84882356e-01 9.58541831e-01 -6.29294511e-03 -2.99287022e+01] [-2.14288894e-02 1.94866273e-04 9.99770356e-01 -3.87050479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.958623853 meters 0.01764204839785071 Centerline is valid? [True, True] Translation: X:153.89, Y:-29.94, Z:-3.87 [[ 9.57916786e-01 2.86328480e-01 2.02838188e-02 1.53885440e+02] [-2.86260634e-01 9.58131501e-01 -6.23503365e-03 -2.99359870e+01] [-2.12198334e-02 1.66184578e-04 9.99774820e-01 -3.87218039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.988623853 meters 0.02536741736672341 Centerline is valid? [True, True] Translation: X:153.92, Y:-29.94, Z:-3.87 [[ 9.57678232e-01 2.87175442e-01 1.95619343e-02 1.53916726e+02] [-2.87112503e-01 9.57877991e-01 -6.01377721e-03 -2.99449207e+01] [-2.04649554e-02 1.42787619e-04 9.99790561e-01 -3.86779392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.018623853 meters 0.017202679122294832 Centerline is valid? [True, True] Translation: X:153.95, Y:-29.95, Z:-3.87 [[ 9.57527297e-01 2.87651322e-01 1.99547565e-02 1.53947155e+02] [-2.87585847e-01 9.57735192e-01 -6.13866095e-03 -2.99544040e+01] [-2.08771665e-02 1.39229885e-04 9.99782039e-01 -3.87493569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.048623853 meters 0.016912492362099678 Centerline is valid? [True, True] Translation: X:153.98, Y:-29.96, Z:-3.88 [[ 9.57333728e-01 2.88308165e-01 1.97619825e-02 1.53979152e+02] [-2.88244019e-01 9.57537668e-01 -6.08275156e-03 -2.99638101e+01] [-2.06765496e-02 1.26949964e-04 9.99786209e-01 -3.87637296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.078623853 meters 0.016883725282298964 Centerline is valid? [True, True] Translation: X:154.01, Y:-29.97, Z:-3.88 [[ 9.57261032e-01 2.88564528e-01 1.95404642e-02 1.54010562e+02] [-2.88501783e-01 9.57460442e-01 -6.01858929e-03 -2.99741584e+01] [-2.04459729e-02 1.23902218e-04 9.99790952e-01 -3.87758745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.108623853 meters 0.016908975911765736 Centerline is valid? [True, True] Translation: X:154.04, Y:-29.98, Z:-3.88 [[ 9.57243495e-01 2.88628435e-01 1.94555121e-02 1.54041841e+02] [-2.88566166e-01 9.57441179e-01 -5.99644503e-03 -2.99844383e+01] [-2.03582530e-02 1.25855462e-04 9.99792741e-01 -3.87835599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.138623853 meters 0.017541437449260275 Centerline is valid? [True, True] Translation: X:154.07, Y:-30.00, Z:-3.88 [[ 9.57322758e-01 2.88378664e-01 1.92583381e-02 1.54072026e+02] [-2.88317519e-01 9.57516438e-01 -5.93969257e-03 -2.99960859e+01] [-2.01530559e-02 1.33686614e-04 9.99796898e-01 -3.87995667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.168623853 meters 0.017621260272102923 Centerline is valid? [True, True] Translation: X:154.10, Y:-30.01, Z:-3.88 [[ 9.57379337e-01 2.88180928e-01 1.94050725e-02 1.54103659e+02] [-2.88118723e-01 9.57575967e-01 -5.98909044e-03 -3.00066459e+01] [-2.03077727e-02 1.42866740e-04 9.99793766e-01 -3.88048439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.19862385300002 meters 0.03185261360887464 Centerline is valid? [True, True] Translation: X:154.13, Y:-30.02, Z:-3.87 [[ 9.57528573e-01 2.87729304e-01 1.87318002e-02 1.54134774e+02] [-2.87671179e-01 9.57711765e-01 -5.78512467e-03 -3.00168050e+01] [-1.96042154e-02 1.50823105e-04 9.99807808e-01 -3.87396267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22862385300002 meters 0.018517650632547525 Centerline is valid? [True, True] Translation: X:154.16, Y:-30.03, Z:-3.88 [[ 9.57688495e-01 2.87140957e-01 1.95657167e-02 1.54164828e+02] [-2.87077344e-01 9.57888324e-01 -6.04635679e-03 -3.00276726e+01] [-2.04779282e-02 1.73652361e-04 9.99790290e-01 -3.88257616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25862385300002 meters 0.018468117449099496 Centerline is valid? [True, True] Translation: X:154.20, Y:-30.04, Z:-3.88 [[ 9.57687288e-01 2.87142541e-01 1.96015075e-02 1.54196221e+02] [-2.87078625e-01 9.57887848e-01 -6.06080483e-03 -3.00373517e+01] [-2.05163608e-02 1.77181915e-04 9.99789502e-01 -3.88262679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28862385300002 meters 0.018656247922660133 Centerline is valid? [True, True] Translation: X:154.23, Y:-30.05, Z:-3.88 [[ 9.57679400e-01 2.87159709e-01 1.97349512e-02 1.54226234e+02] [-2.87094836e-01 9.57882701e-01 -6.10626666e-03 -3.00478504e+01] [-2.06572421e-02 1.82043205e-04 9.99786600e-01 -3.88315560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31862385300002 meters 0.018558236948063165 Centerline is valid? [True, True] Translation: X:154.26, Y:-30.06, Z:-3.88 [[ 9.57483038e-01 2.87818889e-01 1.96600705e-02 1.54256389e+02] [-2.87754569e-01 9.57684843e-01 -6.08689413e-03 -3.00571385e+01] [-2.05800746e-02 1.70822776e-04 9.99788193e-01 -3.88424543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34862385300002 meters 0.018251241047038003 Centerline is valid? [True, True] Translation: X:154.29, Y:-30.07, Z:-3.89 [[ 9.57293463e-01 2.88449643e-01 1.96476049e-02 1.54287470e+02] [-2.88385458e-01 9.57495053e-01 -6.08689030e-03 -3.00654594e+01] [-2.05682459e-02 1.60856744e-04 9.99788438e-01 -3.88524507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.37862385300002 meters 0.017864120487020962 Centerline is valid? [True, True] Translation: X:154.32, Y:-30.07, Z:-3.89 [[ 9.57102573e-01 2.89085593e-01 1.96006048e-02 1.54317945e+02] [-2.89021764e-01 9.57303242e-01 -6.07641072e-03 -3.00731714e+01] [-2.05203253e-02 1.50746953e-04 9.99789425e-01 -3.88588542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40862385300002 meters 0.01759292276106885 Centerline is valid? [True, True] Translation: X:154.35, Y:-30.08, Z:-3.89 [[ 9.56934355e-01 2.89652777e-01 1.94398875e-02 1.54347606e+02] [-2.89590097e-01 9.57131783e-01 -6.02712552e-03 -3.00808220e+01] [-2.03523078e-02 1.37964564e-04 9.99792861e-01 -3.88707628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.43862385300002 meters 0.016813819742092197 Centerline is valid? [True, True] Translation: X:154.38, Y:-30.09, Z:-3.89 [[ 9.56475132e-01 2.91188697e-01 1.90909821e-02 1.54377187e+02] [-2.91128544e-01 9.56665632e-01 -5.91936629e-03 -3.00856099e+01] [-1.99873390e-02 1.03796832e-04 9.99800228e-01 -3.88849248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46862385300003 meters 0.01655122566572475 Centerline is valid? [True, True] Translation: X:154.41, Y:-30.09, Z:-3.89 [[ 9.56318605e-01 2.91703468e-01 1.90738895e-02 1.54405028e+02] [-2.91643533e-01 9.56508797e-01 -5.91365668e-03 -3.00927849e+01] [-1.99693772e-02 9.25633789e-05 9.99800588e-01 -3.88972500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.498623853 meters 0.016097590696277697 Centerline is valid? [True, True] Translation: X:154.44, Y:-30.10, Z:-3.89 [[ 9.56151966e-01 2.92259600e-01 1.89141168e-02 1.54435703e+02] [-2.92200794e-01 9.56339019e-01 -5.86311295e-03 -3.01003735e+01] [-1.98018590e-02 7.93070298e-05 9.99803921e-01 -3.89011602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.528623853 meters 0.01581163119602045 Centerline is valid? [True, True] Translation: X:154.47, Y:-30.11, Z:-3.89 [[ 9.55948716e-01 2.92928377e-01 1.88419488e-02 1.54467535e+02] [-2.92870159e-01 9.56134385e-01 -5.84024932e-03 -3.01085801e+01] [-1.97262099e-02 6.47343044e-05 9.99805417e-01 -3.89086764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.558623853 meters 0.01580835392332693 Centerline is valid? [True, True] Translation: X:154.50, Y:-30.12, Z:-3.89 [[ 9.55844556e-01 2.93236203e-01 1.93317102e-02 1.54498901e+02] [-2.93174892e-01 9.56040023e-01 -5.99642900e-03 -3.01163788e+01] [-2.02402587e-02 6.40819501e-05 9.99795143e-01 -3.89055330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.588623853 meters 0.01597666687618228 Centerline is valid? [True, True] Translation: X:154.53, Y:-30.13, Z:-3.89 [[ 9.55868320e-01 2.93155087e-01 1.93868334e-02 1.54528565e+02] [-2.93093322e-01 9.56064898e-01 -6.01785670e-03 -3.01262051e+01] [-2.02992362e-02 7.01271828e-05 9.99793947e-01 -3.89160593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.618623853 meters 0.016226080635059523 Centerline is valid? [True, True] Translation: X:154.56, Y:-30.14, Z:-3.89 [[ 9.56048257e-01 2.92577710e-01 1.92357327e-02 1.54556977e+02] [-2.92516737e-01 9.56241746e-01 -5.97348268e-03 -3.01356198e+01] [-2.01417185e-02 8.41639527e-05 9.99797131e-01 -3.89277468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.648623853 meters 0.0166445691337687 Centerline is valid? [True, True] Translation: X:154.59, Y:-30.15, Z:-3.89 [[ 9.56288938e-01 2.91786406e-01 1.92914678e-02 1.54585520e+02] [-2.91724924e-01 9.56483498e-01 -5.99048293e-03 -3.01455338e+01] [-2.01999121e-02 1.00830568e-04 9.99795956e-01 -3.89394765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.678623853 meters 0.016832245162531234 Centerline is valid? [True, True] Translation: X:154.62, Y:-30.16, Z:-3.89 [[ 9.56536492e-01 2.90968360e-01 1.93739978e-02 1.54615279e+02] [-2.90906185e-01 9.56732669e-01 -6.01598935e-03 -3.01554754e+01] [-2.02861992e-02 1.18497561e-04 9.99794207e-01 -3.89405751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.708623853 meters 0.0175815710886003 Centerline is valid? [True, True] Translation: X:154.65, Y:-30.17, Z:-3.89 [[ 9.56983776e-01 2.89512290e-01 1.90967468e-02 1.54645722e+02] [-2.89451598e-01 9.57174285e-01 -5.92960900e-03 -3.01671240e+01] [-1.99956097e-02 1.46955724e-04 9.99800057e-01 -3.89495402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.738623853 meters 0.018338427052454153 Centerline is valid? [True, True] Translation: X:154.68, Y:-30.18, Z:-3.90 [[ 9.57193922e-01 2.88821203e-01 1.90291287e-02 1.54675337e+02] [-2.88760735e-01 9.57383040e-01 -5.91204253e-03 -3.01785432e+01] [-1.99256883e-02 1.64105979e-04 9.99801450e-01 -3.89574968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.768623853 meters 0.018719522855199507 Centerline is valid? [True, True] Translation: X:154.71, Y:-30.19, Z:-3.90 [[ 9.57450598e-01 2.87978622e-01 1.88855831e-02 1.54705505e+02] [-2.87918813e-01 9.57636820e-01 -5.87179427e-03 -3.01897849e+01] [-1.97764809e-02 1.84438283e-04 9.99804409e-01 -3.89686473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.798623853 meters 0.020235546389121707 Centerline is valid? [True, True] Translation: X:154.73, Y:-30.20, Z:-3.90 [[ 9.57949886e-01 2.86311774e-01 1.89098837e-02 1.54733879e+02] [-2.86251472e-01 9.58136483e-01 -5.88006101e-03 -3.02026262e+01] [-1.98017801e-02 2.19821733e-04 9.99803901e-01 -3.89766051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.828623853 meters 0.020235546389121707 Centerline is valid? [True, True] Translation: X:154.76, Y:-30.21, Z:-3.90 [[ 9.57895837e-01 2.86492610e-01 1.89090163e-02 1.54764836e+02] [-2.86432288e-01 9.58082427e-01 -5.88284891e-03 -3.02124579e+01] [-1.98017889e-02 2.19003690e-04 9.99803901e-01 -3.89847822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.858623853 meters 0.02123623654853826 Centerline is valid? [True, True] Translation: X:154.79, Y:-30.22, Z:-3.90 [[ 9.58152953e-01 2.85637919e-01 1.88121876e-02 1.54793685e+02] [-2.85577969e-01 9.58337582e-01 -5.85680116e-03 -3.02235578e+01] [-1.97013509e-02 2.39365003e-04 9.99805881e-01 -3.89969308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.888623853 meters 0.02175638330953148 Centerline is valid? [True, True] Translation: X:154.82, Y:-30.23, Z:-3.90 [[ 9.58364419e-01 2.84916493e-01 1.89797706e-02 1.54824299e+02] [-2.84855266e-01 9.58552307e-01 -5.91211088e-03 -3.02346296e+01] [-1.98775608e-02 2.59469112e-04 9.99802388e-01 -3.89969536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.918623853 meters 0.022273168570198343 Centerline is valid? [True, True] Translation: X:154.86, Y:-30.25, Z:-3.90 [[ 9.58480485e-01 2.84515075e-01 1.91398072e-02 1.54855242e+02] [-2.84452662e-01 9.58671527e-01 -5.96535867e-03 -3.02464623e+01] [-2.00460227e-02 2.73310743e-04 9.99799021e-01 -3.90031766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94862385300002 meters 0.022860860743305303 Centerline is valid? [True, True] Translation: X:154.89, Y:-30.26, Z:-3.90 [[ 9.58584125e-01 2.84165667e-01 1.91402390e-02 1.54885711e+02] [-2.84103102e-01 9.58775153e-01 -5.96945959e-03 -3.02584289e+01] [-2.00475010e-02 2.84427929e-04 9.99798988e-01 -3.90130797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97862385300002 meters 0.023543515781381395 Centerline is valid? [True, True] Translation: X:154.91, Y:-30.27, Z:-3.90 [[ 9.58703843e-01 2.83770260e-01 1.90100197e-02 1.54914545e+02] [-2.83708378e-01 9.58892253e-01 -5.93326423e-03 -3.02699642e+01] [-1.99122445e-02 2.94941376e-04 9.99801688e-01 -3.90231405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00862385300002 meters 0.02326163842871069 Centerline is valid? [True, True] Translation: X:154.94, Y:-30.28, Z:-3.90 [[ 9.58545692e-01 2.84294565e-01 1.91508802e-02 1.54944262e+02] [-2.84231835e-01 9.58736939e-01 -5.97882291e-03 -3.02796513e+01] [-2.00604031e-02 2.87685122e-04 9.99798728e-01 -3.90270581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03862385300002 meters 0.022904195648010096 Centerline is valid? [True, True] Translation: X:154.97, Y:-30.29, Z:-3.90 [[ 9.58311278e-01 2.85068051e-01 1.93829990e-02 1.54974343e+02] [-2.85003885e-01 9.58507240e-01 -6.05448298e-03 -3.02895173e+01] [-2.03046846e-02 2.77849302e-04 9.99793800e-01 -3.90362032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06862385300002 meters 0.022434713803416436 Centerline is valid? [True, True] Translation: X:155.00, Y:-30.30, Z:-3.90 [[ 9.58016714e-01 2.86062379e-01 1.92948666e-02 1.55003863e+02] [-2.85998926e-01 9.58210962e-01 -6.03041474e-03 -3.02990747e+01] [-2.02136275e-02 2.58926983e-04 9.99795650e-01 -3.90452778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.09862385300002 meters 0.019047446172703358 Centerline is valid? [True, True] Translation: X:155.04, Y:-30.30, Z:-3.90 [[ 9.57162435e-01 2.88907617e-01 1.92992808e-02 1.55035644e+02] [-2.88844652e-01 9.57356960e-01 -6.03481726e-03 -3.03038476e+01] [-2.02198055e-02 2.01806339e-04 9.99795538e-01 -3.90446759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12862385300002 meters 0.01863929013280861 Centerline is valid? [True, True] Translation: X:155.07, Y:-30.31, Z:-3.91 [[ 9.56576247e-01 2.90839720e-01 1.93427500e-02 1.55065812e+02] [-2.90776792e-01 9.56771776e-01 -6.05201999e-03 -3.03131445e+01] [-2.02667650e-02 1.64795790e-04 9.99794594e-01 -3.90610229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.15862385300002 meters 0.025400268805542858 Centerline is valid? [True, True] Translation: X:155.10, Y:-30.32, Z:-3.90 [[ 9.55980188e-01 2.92807448e-01 1.91227136e-02 1.55097617e+02] [-2.92746267e-01 9.56171419e-01 -5.98667558e-03 -3.03194530e+01] [-2.00375354e-02 1.25040237e-04 9.99799221e-01 -3.89919930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18862385300002 meters 0.016153014385635215 Centerline is valid? [True, True] Translation: X:155.13, Y:-30.33, Z:-3.91 [[ 9.55313180e-01 2.94941018e-01 1.96602291e-02 1.55129010e+02] [-2.94876725e-01 9.55515457e-01 -6.15860504e-03 -3.03272891e+01] [-2.06020781e-02 8.60525736e-05 9.99787751e-01 -3.90639519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.21862385300003 meters 0.015481328349138901 Centerline is valid? [True, True] Translation: X:155.16, Y:-30.33, Z:-3.91 [[ 9.54110603e-01 2.98810703e-01 1.96244885e-02 1.55159011e+02] [-2.98747371e-01 9.54312404e-01 -6.15181936e-03 -3.03307856e+01] [-2.05661223e-02 6.75173430e-06 9.99788495e-01 -3.90724814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.248623853 meters 0.028569366577109498 Centerline is valid? [True, True] Translation: X:155.19, Y:-30.34, Z:-3.90 [[ 9.53558499e-01 3.00594687e-01 1.92099532e-02 1.55189805e+02] [-3.00534373e-01 9.53751977e-01 -6.02144261e-03 -3.03368197e+01] [-2.01315445e-02 -3.14534533e-05 9.99797339e-01 -3.89933715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.278623853 meters 0.015854257959154384 Centerline is valid? [True, True] Translation: X:155.22, Y:-30.34, Z:-3.91 [[ 9.52977172e-01 3.02388760e-01 1.98883917e-02 1.55218699e+02] [-3.02324488e-01 9.53184679e-01 -6.23469967e-03 -3.03438055e+01] [-2.08426134e-02 -7.12213896e-05 9.99782767e-01 -3.90812330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.308623853 meters 0.016368004993610682 Centerline is valid? [True, True] Translation: X:155.25, Y:-30.35, Z:-3.91 [[ 9.52512455e-01 3.03855652e-01 1.97930458e-02 1.55246850e+02] [-3.03792301e-01 9.52718076e-01 -6.20531587e-03 -3.03498843e+01] [-2.07427128e-02 -1.02334250e-04 9.99784842e-01 -3.90882714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.338623853 meters 0.01786643315509122 Centerline is valid? [True, True] Translation: X:155.28, Y:-30.35, Z:-3.91 [[ 9.51615400e-01 3.06642537e-01 1.99621119e-02 1.55275685e+02] [-3.06578726e-01 9.51824736e-01 -6.25759651e-03 -3.03535820e+01] [-2.09192771e-02 -1.65133631e-04 9.99781154e-01 -3.91015854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.368623853 meters 0.01907253481349502 Centerline is valid? [True, True] Translation: X:155.30, Y:-30.36, Z:-3.91 [[ 9.51215904e-01 3.07890435e-01 1.97935305e-02 1.55302863e+02] [-3.07827987e-01 9.51421801e-01 -6.20381799e-03 -3.03585051e+01] [-2.07420927e-02 -1.91832308e-04 9.99784841e-01 -3.91141614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.398623853 meters 0.020357411698020442 Centerline is valid? [True, True] Translation: X:155.33, Y:-30.36, Z:-3.91 [[ 9.50787403e-01 3.09208009e-01 1.98424058e-02 1.55330726e+02] [-3.09145564e-01 9.50994405e-01 -6.21791863e-03 -3.03638556e+01] [-2.07926471e-02 -2.22273005e-04 9.99783785e-01 -3.91214251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.428623853 meters 0.020905471535919186 Centerline is valid? [True, True] Translation: X:155.36, Y:-30.37, Z:-3.91 [[ 9.50334862e-01 3.10602120e-01 1.97477408e-02 1.55358526e+02] [-3.10540600e-01 9.50539983e-01 -6.18681271e-03 -3.03704547e+01] [-2.06926543e-02 -2.52931475e-04 9.99785852e-01 -3.91227981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.458623853 meters 0.02184232118455391 Centerline is valid? [True, True] Translation: X:155.39, Y:-30.37, Z:-3.91 [[ 9.49575547e-01 3.12896199e-01 2.00561684e-02 1.55386849e+02] [-3.12833274e-01 9.49787278e-01 -6.28247277e-03 -3.03748911e+01] [-2.10148554e-02 -3.08554291e-04 9.99779116e-01 -3.91192040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.488623853 meters 0.02522930615922357 Centerline is valid? [True, True] Translation: X:155.42, Y:-30.38, Z:-3.91 [[ 9.49227964e-01 3.13958153e-01 1.99135872e-02 1.55415462e+02] [-3.13896380e-01 9.49436764e-01 -6.23654554e-03 -3.03763603e+01] [-2.08647062e-02 -3.30899520e-04 9.99782254e-01 -3.91360790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.518623853 meters 0.024766109621257464 Centerline is valid? [True, True] Translation: X:155.44, Y:-30.38, Z:-3.91 [[ 9.48878767e-01 3.14999320e-01 2.01125195e-02 1.55442842e+02] [-3.14936570e-01 9.49091829e-01 -6.29737676e-03 -3.03837556e+01] [-2.10722974e-02 -3.58720834e-04 9.99777890e-01 -3.91357991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.548623853 meters 0.02451442871371067 Centerline is valid? [True, True] Translation: X:155.47, Y:-30.39, Z:-3.91 [[ 9.48642525e-01 3.15699437e-01 2.02787046e-02 1.55471055e+02] [-3.15635834e-01 9.48859169e-01 -6.34808847e-03 -3.03908347e+01] [-2.12457227e-02 -3.78619168e-04 9.99774212e-01 -3.91358968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.578623853 meters 0.025398163233852508 Centerline is valid? [True, True] Translation: X:155.50, Y:-30.40, Z:-3.91 [[ 9.48438651e-01 3.16308128e-01 2.03296108e-02 1.55498736e+02] [-3.16244366e-01 9.48656425e-01 -6.36301681e-03 -3.03954408e+01] [-2.12984899e-02 -3.94193822e-04 9.99773084e-01 -3.91365821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.608623853 meters 0.026230837271951926 Centerline is valid? [True, True] Translation: X:155.53, Y:-30.40, Z:-3.91 [[ 9.48383646e-01 3.16452782e-01 2.06420958e-02 1.55526741e+02] [-3.16387109e-01 9.48608177e-01 -6.45947509e-03 -3.03975911e+01] [-2.16253797e-02 -4.04832458e-04 9.99766062e-01 -3.91456557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.638623853 meters 0.04102162534884361 Centerline is valid? [True, True] Translation: X:155.56, Y:-30.40, Z:-3.91 [[ 9.48606591e-01 3.15818784e-01 2.01005031e-02 1.55555073e+02] [-3.15756397e-01 9.48819451e-01 -6.28870361e-03 -3.04046088e+01] [-2.10578391e-02 -3.81356752e-04 9.99778186e-01 -3.90685573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.668623853 meters 0.024666675832732035 Centerline is valid? [True, True] Translation: X:155.58, Y:-30.41, Z:-3.92 [[ 9.48828325e-01 3.15129535e-01 2.04495907e-02 1.55581422e+02] [-3.15064823e-01 9.49048596e-01 -6.39689801e-03 -3.04119199e+01] [-2.14235068e-02 -3.73388649e-04 9.99770421e-01 -3.91600361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.69862385300002 meters 0.02299267159574119 Centerline is valid? [True, True] Translation: X:155.61, Y:-30.42, Z:-3.92 [[ 9.49250929e-01 3.13842917e-01 2.06227640e-02 1.55608473e+02] [-3.13776830e-01 9.49474856e-01 -6.44970065e-03 -3.04210649e+01] [-2.16049887e-02 -3.48561190e-04 9.99766524e-01 -3.91659303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72862385300002 meters 0.020738055327621893 Centerline is valid? [True, True] Translation: X:155.63, Y:-30.43, Z:-3.92 [[ 9.50389347e-01 3.10382016e-01 2.05692385e-02 1.55634882e+02] [-3.10315483e-01 9.50611872e-01 -6.43194978e-03 -3.04295200e+01] [-2.15497238e-02 -2.70096626e-04 9.99767741e-01 -3.91775976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75862385300002 meters 0.01860035227189395 Centerline is valid? [True, True] Translation: X:155.66, Y:-30.44, Z:-3.92 [[ 9.51053226e-01 3.08356397e-01 2.03493047e-02 1.55662286e+02] [-3.08290846e-01 9.51270877e-01 -6.36174772e-03 -3.04400308e+01] [-2.13193865e-02 -2.23143672e-04 9.99772691e-01 -3.91847772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78862385300002 meters 0.018046798282856956 Centerline is valid? [True, True] Translation: X:155.69, Y:-30.45, Z:-3.92 [[ 9.51756455e-01 3.06194191e-01 2.01188580e-02 1.55689389e+02] [-3.06129647e-01 9.51969058e-01 -6.28901965e-03 -3.04478979e+01] [-2.10781916e-02 -1.73363863e-04 9.99777815e-01 -3.92092243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81862385300002 meters 0.01564203166078667 Centerline is valid? [True, True] Translation: X:155.72, Y:-30.46, Z:-3.92 [[ 9.53050715e-01 3.02143935e-01 2.00842735e-02 1.55716350e+02] [-3.02078742e-01 9.53262312e-01 -6.27679650e-03 -3.04598062e+01] [-2.10420770e-02 -8.49266914e-05 9.99778587e-01 -3.92113813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84862385300002 meters 0.015261165684385045 Centerline is valid? [True, True] Translation: X:155.74, Y:-30.47, Z:-3.92 [[ 9.53620814e-01 3.00335297e-01 2.01507583e-02 1.55744007e+02] [-3.00269284e-01 9.53833690e-01 -6.29682167e-03 -3.04688535e+01] [-2.11116299e-02 -4.58735605e-05 9.99777124e-01 -3.92193642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.87862385300002 meters 0.015136450670207798 Centerline is valid? [True, True] Translation: X:155.77, Y:-30.48, Z:-3.92 [[ 9.54096579e-01 2.98843154e-01 1.98112773e-02 1.55770802e+02] [-2.98779045e-01 9.54302242e-01 -6.18976166e-03 -3.04768535e+01] [-2.07557142e-02 -1.35640872e-05 9.99784577e-01 -3.92367909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90862385300002 meters 0.015229314955977026 Centerline is valid? [True, True] Translation: X:155.80, Y:-30.48, Z:-3.92 [[ 9.54493411e-01 2.97594009e-01 1.94970453e-02 1.55798040e+02] [-2.97531684e-01 9.54692519e-01 -6.09025930e-03 -3.04849087e+01] [-2.04261079e-02 1.21236635e-05 9.99791365e-01 -3.92480046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.93862385300002 meters 0.015540095799179613 Centerline is valid? [True, True] Translation: X:155.82, Y:-30.49, Z:-3.93 [[ 9.55091724e-01 2.95688372e-01 1.91881436e-02 1.55824894e+02] [-2.95627642e-01 9.55284452e-01 -5.99276356e-03 -3.04917391e+01] [-2.01021258e-02 5.10932338e-05 9.99797931e-01 -3.92673472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96862385300003 meters 0.0212507960149538 Centerline is valid? [True, True] Translation: X:155.85, Y:-30.50, Z:-3.92 [[ 9.55323747e-01 2.94959901e-01 1.88466191e-02 1.55853036e+02] [-2.94901191e-01 9.55509630e-01 -5.88512141e-03 -3.04985527e+01] [-1.97440008e-02 6.43058151e-05 9.99805066e-01 -3.92182290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.998623853 meters 0.016044736968966706 Centerline is valid? [True, True] Translation: X:155.88, Y:-30.51, Z:-3.93 [[ 9.55583796e-01 2.94100731e-01 1.90884619e-02 1.55879065e+02] [-2.94040353e-01 9.55774426e-01 -5.95967612e-03 -3.05067160e+01] [-1.99970088e-02 8.21918540e-05 9.99800036e-01 -3.92853802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.028623853 meters 0.016336160993472564 Centerline is valid? [True, True] Translation: X:155.91, Y:-30.51, Z:-3.93 [[ 9.55906065e-01 2.93049960e-01 1.91132163e-02 1.55907201e+02] [-2.92989242e-01 9.56097124e-01 -5.96608275e-03 -3.05147940e+01] [-2.00224515e-02 1.03047922e-04 9.99799525e-01 -3.92896953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.058623853 meters 0.017797098741288844 Centerline is valid? [True, True] Translation: X:155.93, Y:-30.52, Z:-3.93 [[ 9.56787106e-01 2.90135633e-01 1.94871284e-02 1.55934516e+02] [-2.90071932e-01 9.56985521e-01 -6.08174805e-03 -3.05247102e+01] [-2.04134315e-02 1.66269145e-04 9.99791610e-01 -3.92918036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.088623853 meters 0.019097734949129166 Centerline is valid? [True, True] Translation: X:155.96, Y:-30.53, Z:-3.93 [[ 9.57357066e-01 2.88235012e-01 1.96983896e-02 1.55961565e+02] [-2.88169540e-01 9.57559677e-01 -6.14663733e-03 -3.05345213e+01] [-2.06340597e-02 2.08050798e-04 9.99787073e-01 -3.93002948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.118623853 meters 0.020591301519808 Centerline is valid? [True, True] Translation: X:155.99, Y:-30.54, Z:-3.93 [[ 9.57898789e-01 2.86420981e-01 1.98224826e-02 1.55987340e+02] [-2.86354314e-01 9.58103836e-01 -6.18441650e-03 -3.05448089e+01] [-2.07633433e-02 2.47791671e-04 9.99784388e-01 -3.93007190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.148623853 meters 0.022270483770784485 Centerline is valid? [True, True] Translation: X:156.01, Y:-30.56, Z:-3.93 [[ 9.58502209e-01 2.84354835e-01 2.03922254e-02 1.56014202e+02] [-2.84283847e-01 9.58719061e-01 -6.36049061e-03 -3.05553000e+01] [-2.13590515e-02 2.99363999e-04 9.99771825e-01 -3.93049723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.178623853 meters 0.025450545427375276 Centerline is valid? [True, True] Translation: X:156.04, Y:-30.57, Z:-3.93 [[ 9.59535601e-01 2.80835094e-01 2.05689300e-02 1.56041520e+02] [-2.80762086e-01 9.59755962e-01 -6.41445195e-03 -3.05684224e+01] [-2.15425564e-02 3.79919331e-04 9.99767860e-01 -3.93086918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.208623853 meters 0.02642297873687061 Centerline is valid? [True, True] Translation: X:156.07, Y:-30.58, Z:-3.93 [[ 9.60050256e-01 2.79077787e-01 2.04718058e-02 1.56070468e+02] [-2.79005081e-01 9.60268408e-01 -6.38355254e-03 -3.05789084e+01] [-2.14399361e-02 4.16793414e-04 9.99770051e-01 -3.93119756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.238623853 meters 0.02720945510462961 Centerline is valid? [True, True] Translation: X:156.10, Y:-30.59, Z:-3.93 [[ 9.60469020e-01 2.77635315e-01 2.04424335e-02 1.56098934e+02] [-2.77562491e-01 9.60686437e-01 -6.37439362e-03 -3.05893865e+01] [-2.14085254e-02 4.48354823e-04 9.99770711e-01 -3.93182544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.268623853 meters 0.030599263982690982 Centerline is valid? [True, True] Translation: X:156.13, Y:-30.60, Z:-3.93 [[ 9.60874272e-01 2.76237329e-01 2.03364465e-02 1.56126593e+02] [-2.76164946e-01 9.61089335e-01 -6.34129627e-03 -3.06033158e+01] [-2.12968446e-02 4.76974800e-04 9.99773083e-01 -3.93324811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.298623853 meters 0.033001290748157705 Centerline is valid? [True, True] Translation: X:156.15, Y:-30.62, Z:-3.93 [[ 9.61482786e-01 2.74087296e-01 2.06641373e-02 1.56154627e+02] [-2.74012058e-01 9.61704669e-01 -6.44379740e-03 -3.06158643e+01] [-2.16389604e-02 5.33377469e-04 9.99765708e-01 -3.93404852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.328623853 meters 0.033155263630824355 Centerline is valid? [True, True] Translation: X:156.18, Y:-30.63, Z:-3.93 [[ 9.61725990e-01 2.73215639e-01 2.08886462e-02 1.56184173e+02] [-2.73138553e-01 9.61952651e-01 -6.51372781e-03 -3.06252321e+01] [-2.18735409e-02 5.58926712e-04 9.99760589e-01 -3.93437052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.358623853 meters 0.032638808169800325 Centerline is valid? [True, True] Translation: X:156.21, Y:-30.63, Z:-3.93 [[ 9.61834237e-01 2.72827925e-01 2.09719983e-02 1.56214729e+02] [-2.72750129e-01 9.62062679e-01 -6.53978046e-03 -3.06344436e+01] [-2.19606116e-02 5.70069496e-04 9.99758674e-01 -3.93484104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.388623853 meters 0.033524886818931614 Centerline is valid? [True, True] Translation: X:156.24, Y:-30.65, Z:-3.94 [[ 9.61873746e-01 2.72691860e-01 2.09295539e-02 1.56244053e+02] [-2.72614263e-01 9.62101251e-01 -6.53037989e-03 -3.06451103e+01] [-2.19171314e-02 5.75706064e-04 9.99759625e-01 -3.93577648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.418623853 meters 0.030945096995931808 Centerline is valid? [True, True] Translation: X:156.28, Y:-30.65, Z:-3.94 [[ 9.61771973e-01 2.73011986e-01 2.14272501e-02 1.56276274e+02] [-2.72930652e-01 9.62010454e-01 -6.68925282e-03 -3.06516162e+01] [-2.24394848e-02 5.85382541e-04 9.99748032e-01 -3.93581790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44862385300002 meters 0.03367960027955516 Centerline is valid? [True, True] Translation: X:156.30, Y:-30.67, Z:-3.94 [[ 9.61296993e-01 2.74701132e-01 2.11513427e-02 1.56304840e+02] [-2.74622187e-01 9.61529507e-01 -6.60771209e-03 -3.06653917e+01] [-2.21527861e-02 5.43345774e-04 9.99754449e-01 -3.93732617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.47862385300002 meters 0.029490479882705083 Centerline is valid? [True, True] Translation: X:156.34, Y:-30.67, Z:-3.94 [[ 9.60970875e-01 2.75830348e-01 2.12743003e-02 1.56335923e+02] [-2.75750666e-01 9.61206192e-01 -6.65026241e-03 -3.06697650e+01] [-2.22833334e-02 5.24306026e-04 9.99751558e-01 -3.93763394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50862385300002 meters 0.02990682696110327 Centerline is valid? [True, True] Translation: X:156.37, Y:-30.68, Z:-3.94 [[ 9.60531992e-01 2.77384761e-01 2.08803192e-02 1.56365244e+02] [-2.77308368e-01 9.60758796e-01 -6.52719269e-03 -3.06804694e+01] [-2.18714942e-02 4.79290147e-04 9.99760675e-01 -3.93852753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.53862385300002 meters 0.0249004615113671 Centerline is valid? [True, True] Translation: X:156.40, Y:-30.68, Z:-3.94 [[ 9.59621576e-01 2.80501388e-01 2.11045371e-02 1.56396332e+02] [-2.80424006e-01 9.59853529e-01 -6.60144450e-03 -3.06830319e+01] [-2.21089787e-02 4.16669753e-04 9.99755480e-01 -3.93898696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56862385300002 meters 0.023292226434334085 Centerline is valid? [True, True] Translation: X:156.43, Y:-30.69, Z:-3.94 [[ 9.59093330e-01 2.82302033e-01 2.11079786e-02 1.56425963e+02] [-2.82225062e-01 9.59325503e-01 -6.60252101e-03 -3.06897995e+01] [-2.21133273e-02 3.75233288e-04 9.99755400e-01 -3.93987179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59862385300002 meters 0.023402558729125854 Centerline is valid? [True, True] Translation: X:156.45, Y:-30.70, Z:-3.94 [[ 9.58528107e-01 2.84225579e-01 2.09687347e-02 1.56453673e+02] [-2.84150079e-01 9.58757379e-01 -6.55900658e-03 -3.06985703e+01] [-2.19681666e-02 3.28724546e-04 9.99758617e-01 -3.94137979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62862385300002 meters 0.02046615832785343 Centerline is valid? [True, True] Translation: X:156.48, Y:-30.70, Z:-3.94 [[ 9.58021000e-01 2.85907482e-01 2.12761739e-02 1.56483234e+02] [-2.85830168e-01 9.58257181e-01 -6.65507042e-03 -3.07023956e+01] [-2.22907808e-02 2.94324866e-04 9.99751486e-01 -3.94118886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.65862385300002 meters 0.01888035173084445 Centerline is valid? [True, True] Translation: X:156.51, Y:-30.71, Z:-3.94 [[ 9.57043515e-01 2.89160385e-01 2.13068655e-02 1.56511040e+02] [-2.89083693e-01 9.57280640e-01 -6.66287417e-03 -3.07069259e+01] [-2.23232891e-02 2.17193136e-04 9.99750781e-01 -3.94262752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68862385300002 meters 0.017337835877971993 Centerline is valid? [True, True] Translation: X:156.54, Y:-30.71, Z:-3.94 [[ 9.56571223e-01 2.90708539e-01 2.14485823e-02 1.56539338e+02] [-2.90631245e-01 9.56811639e-01 -6.70572502e-03 -3.07122710e+01] [-2.24716647e-02 1.80875406e-04 9.99747464e-01 -3.94312172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.71862385300003 meters 0.016401558142796757 Centerline is valid? [True, True] Translation: X:156.57, Y:-30.72, Z:-3.94 [[ 9.56211051e-01 2.91880660e-01 2.15894909e-02 1.56567473e+02] [-2.91802671e-01 9.56454733e-01 -6.74865615e-03 -3.07177341e+01] [-2.26191730e-02 1.53268495e-04 9.99744142e-01 -3.94326257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.748623853 meters 0.016401558142796757 Centerline is valid? [True, True] Translation: X:156.59, Y:-30.73, Z:-3.94 [[ 9.56225448e-01 2.91833467e-01 2.15898227e-02 1.56594536e+02] [-2.91755490e-01 9.56469134e-01 -6.74759456e-03 -3.07261008e+01] [-2.26191729e-02 1.53272350e-04 9.99744142e-01 -3.94397503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.778623853 meters 0.015691196624806274 Centerline is valid? [True, True] Translation: X:156.62, Y:-30.73, Z:-3.94 [[ 9.55814758e-01 2.93179839e-01 2.15344106e-02 1.56621999e+02] [-2.93102628e-01 9.56057304e-01 -6.72914589e-03 -3.07324248e+01] [-2.25609804e-02 1.20024615e-04 9.99745461e-01 -3.94467212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.808623853 meters 0.015470538329239461 Centerline is valid? [True, True] Translation: X:156.65, Y:-30.74, Z:-3.95 [[ 9.55457808e-01 2.94344882e-01 2.14817960e-02 1.56648677e+02] [-2.94268376e-01 9.55699263e-01 -6.71126053e-03 -3.07388684e+01] [-2.25055618e-02 9.09130702e-05 9.99746714e-01 -3.94569299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.838623853 meters 0.014823272385999217 Centerline is valid? [True, True] Translation: X:156.68, Y:-30.74, Z:-3.95 [[ 9.54779656e-01 2.96592832e-01 2.07002612e-02 1.56677943e+02] [-2.96522349e-01 9.55004027e-01 -6.46572518e-03 -3.07432988e+01] [-2.16865205e-02 3.52527820e-05 9.99764819e-01 -3.94792509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.868623853 meters 0.014781342896834825 Centerline is valid? [True, True] Translation: X:156.71, Y:-30.75, Z:-3.95 [[ 9.54568204e-01 2.97274245e-01 2.06776731e-02 1.56705050e+02] [-2.97204097e-01 9.54792136e-01 -6.45768284e-03 -3.07496057e+01] [-2.16625825e-02 1.88095378e-05 9.99765339e-01 -3.94841829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.898623853 meters 0.014657964794722316 Centerline is valid? [True, True] Translation: X:156.73, Y:-30.76, Z:-3.95 [[ 9.54473184e-01 2.97566094e-01 2.08653040e-02 1.56732476e+02] [-2.97494773e-01 9.54701220e-01 -6.51462814e-03 -3.07562718e+01] [-2.18586636e-02 1.07189791e-05 9.99761071e-01 -3.94905748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.928623853 meters 0.014664675000529209 Centerline is valid? [True, True] Translation: X:156.76, Y:-30.76, Z:-3.95 [[ 9.54410586e-01 2.97754235e-01 2.10439875e-02 1.56758684e+02] [-2.97681769e-01 9.54642559e-01 -6.56877812e-03 -3.07628718e+01] [-2.20453676e-02 4.89994759e-06 9.99756971e-01 -3.94994575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.958623853 meters 0.014714136616892552 Centerline is valid? [True, True] Translation: X:156.79, Y:-30.77, Z:-3.95 [[ 9.54556972e-01 2.97253654e-01 2.14767773e-02 1.56785473e+02] [-2.97178096e-01 9.54798547e-01 -6.70181405e-03 -3.07695503e+01] [-2.24981345e-02 1.48355315e-05 9.99746885e-01 -3.94961072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.988623853 meters 0.014691500066439375 Centerline is valid? [True, True] Translation: X:156.81, Y:-30.78, Z:-3.95 [[ 9.54826996e-01 2.96392307e-01 2.13777642e-02 1.56811723e+02] [-2.96317265e-01 9.55066280e-01 -6.66927607e-03 -3.07780006e+01] [-2.23939038e-02 3.34042257e-05 9.99749225e-01 -3.95068744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.018623853 meters 0.015021799440369488 Centerline is valid? [True, True] Translation: X:156.84, Y:-30.79, Z:-3.95 [[ 9.55126530e-01 2.95441471e-01 2.11577420e-02 1.56838914e+02] [-2.95367769e-01 9.55360840e-01 -6.59895066e-03 -3.07874211e+01] [-2.21628818e-02 5.35177959e-05 9.99754372e-01 -3.95208525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.048623853 meters 0.016156089982996318 Centerline is valid? [True, True] Translation: X:156.86, Y:-30.80, Z:-3.95 [[ 9.55960401e-01 2.92765860e-01 2.06848442e-02 1.56864203e+02] [-2.92694812e-01 9.56184155e-01 -6.45046159e-03 -3.07995106e+01] [-2.16669952e-02 1.12039264e-04 9.99765237e-01 -3.95413777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.078623853 meters 0.016553904276958513 Centerline is valid? [True, True] Translation: X:156.89, Y:-30.81, Z:-3.95 [[ 9.56436409e-01 2.91204471e-01 2.07208180e-02 1.56891683e+02] [-2.91132839e-01 9.56660825e-01 -6.46030905e-03 -3.08092224e+01] [-2.17040657e-02 1.46364216e-04 9.99764428e-01 -3.95462276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.108623853 meters 0.017900086617065457 Centerline is valid? [True, True] Translation: X:156.92, Y:-30.82, Z:-3.96 [[ 9.56951644e-01 2.89504796e-01 2.07490933e-02 1.56916915e+02] [-2.89432591e-01 9.57176546e-01 -6.46806692e-03 -3.08207829e+01] [-2.17330818e-02 1.84163439e-04 9.99763792e-01 -3.95589604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.138623853 meters 0.01934018765481249 Centerline is valid? [True, True] Translation: X:156.94, Y:-30.83, Z:-3.96 [[ 9.57557231e-01 2.87512794e-01 2.05071297e-02 1.56943544e+02] [-2.87441839e-01 9.57776771e-01 -6.39116726e-03 -3.08324309e+01] [-2.14787948e-02 2.25301369e-04 9.99769279e-01 -3.95684067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.168623853 meters 0.02276772340236191 Centerline is valid? [True, True] Translation: X:156.97, Y:-30.85, Z:-3.96 [[ 9.58725530e-01 2.83580274e-01 2.06781794e-02 1.56969181e+02] [-2.83507237e-01 9.58948450e-01 -6.44340685e-03 -3.08473209e+01] [-2.16565312e-02 3.15045135e-04 9.99765420e-01 -3.95809339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.19862385300002 meters 0.02456098685459594 Centerline is valid? [True, True] Translation: X:157.00, Y:-30.86, Z:-3.96 [[ 9.59261259e-01 2.81755162e-01 2.07813891e-02 1.56995310e+02] [-2.81680986e-01 9.59486270e-01 -6.47460232e-03 -3.08584647e+01] [-2.17637101e-02 3.57113006e-04 9.99763079e-01 -3.95828344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22862385300002 meters 0.025627009400537852 Centerline is valid? [True, True] Translation: X:157.02, Y:-30.87, Z:-3.96 [[ 9.59692110e-01 2.80283362e-01 2.07916075e-02 1.57023034e+02] [-2.80208806e-01 9.59917228e-01 -6.47607063e-03 -3.08691000e+01] [-2.17733571e-02 3.89042378e-04 9.99762857e-01 -3.95905430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25862385300002 meters 0.026552837290290895 Centerline is valid? [True, True] Translation: X:157.05, Y:-30.88, Z:-3.96 [[ 9.60078198e-01 2.78956905e-01 2.08061993e-02 1.57050456e+02] [-2.78881945e-01 9.60303530e-01 -6.48008555e-03 -3.08798976e+01] [-2.17879313e-02 4.18915530e-04 9.99762527e-01 -3.95906412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28862385300002 meters 0.02850086412835062 Centerline is valid? [True, True] Translation: X:157.08, Y:-30.89, Z:-3.96 [[ 9.60522905e-01 2.77406156e-01 2.10136347e-02 1.57076747e+02] [-2.77329334e-01 9.60752629e-01 -6.54414485e-03 -3.08931183e+01] [-2.20042909e-02 4.58103704e-04 9.99757771e-01 -3.95954600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31862385300002 meters 0.03006834441298117 Centerline is valid? [True, True] Translation: X:157.10, Y:-30.90, Z:-3.96 [[ 9.60632081e-01 2.77015298e-01 2.11785377e-02 1.57103762e+02] [-2.76937181e-01 9.60865393e-01 -6.59499158e-03 -3.09043589e+01] [-2.21766375e-02 4.70235951e-04 9.99753958e-01 -3.96014296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34862385300002 meters 0.02860746162201712 Centerline is valid? [True, True] Translation: X:157.13, Y:-30.91, Z:-3.96 [[ 9.60619832e-01 2.77062620e-01 2.11149942e-02 1.57132247e+02] [-2.76985002e-01 9.60851750e-01 -6.57436802e-03 -3.09110594e+01] [-2.21098908e-02 4.66931589e-04 9.99755437e-01 -3.96061939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.37862385300002 meters 0.029540462571453884 Centerline is valid? [True, True] Translation: X:157.16, Y:-30.92, Z:-3.96 [[ 9.60334841e-01 2.78038884e-01 2.12455302e-02 1.57158948e+02] [-2.77960553e-01 9.60569716e-01 -6.61449990e-03 -3.09212346e+01] [-2.22469011e-02 4.46715382e-04 9.99752407e-01 -3.96173908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40862385300002 meters 0.0283059547814007 Centerline is valid? [True, True] Translation: X:157.19, Y:-30.93, Z:-3.96 [[ 9.60123947e-01 2.78788478e-01 2.09521021e-02 1.57187096e+02] [-2.78712491e-01 9.60352438e-01 -6.52239626e-03 -3.09286102e+01] [-2.19397713e-02 4.22696274e-04 9.99759205e-01 -3.96278785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.43862385300002 meters 0.028528686002631753 Centerline is valid? [True, True] Translation: X:157.21, Y:-30.94, Z:-3.96 [[ 9.60102875e-01 2.78876894e-01 2.07400122e-02 1.57213090e+02] [-2.78802479e-01 9.60326770e-01 -6.45540680e-03 -3.09370356e+01] [-2.17174527e-02 4.15487814e-04 9.99764062e-01 -3.96440902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46862385300003 meters 0.02885116454866685 Centerline is valid? [True, True] Translation: X:157.24, Y:-30.95, Z:-3.97 [[ 9.60110274e-01 2.78883765e-01 2.03004112e-02 1.57239909e+02] [-2.78812499e-01 9.60324779e-01 -6.31737299e-03 -3.09457703e+01] [-2.12568006e-02 4.05366351e-04 9.99773967e-01 -3.96618846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.498623853 meters 0.029893440087994372 Centerline is valid? [True, True] Translation: X:157.27, Y:-30.96, Z:-3.97 [[ 9.60283739e-01 2.78344791e-01 1.94760905e-02 1.57265969e+02] [-2.78279108e-01 9.60481139e-01 -6.05973188e-03 -3.09566880e+01] [-2.03931124e-02 3.99272905e-04 9.99791959e-01 -3.96862415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.528623853 meters 0.026050303198764457 Centerline is valid? [True, True] Translation: X:157.30, Y:-30.96, Z:-3.97 [[ 9.60390543e-01 2.77947555e-01 1.98786783e-02 1.57296891e+02] [-2.77879075e-01 9.60596161e-01 -6.18340945e-03 -3.09617748e+01] [-2.08140456e-02 4.14619231e-04 9.99783278e-01 -3.96759140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.558623853 meters 0.027248246965494105 Centerline is valid? [True, True] Translation: X:157.32, Y:-30.97, Z:-3.97 [[ 9.60446019e-01 2.77731475e-01 2.02156594e-02 1.57324918e+02] [-2.77660593e-01 9.60658652e-01 -6.28883247e-03 -3.09739903e+01] [-2.11669549e-02 4.26992113e-04 9.99775864e-01 -3.96794618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.588623853 meters 0.02721642242835919 Centerline is valid? [True, True] Translation: X:157.35, Y:-30.98, Z:-3.97 [[ 9.60537041e-01 2.77375821e-01 2.07664783e-02 1.57354006e+02] [-2.77300934e-01 9.60761393e-01 -6.46051311e-03 -3.09840531e+01] [-2.17436208e-02 4.46998314e-04 9.99763480e-01 -3.96759758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.618623853 meters 0.02852775387342644 Centerline is valid? [True, True] Translation: X:157.38, Y:-31.00, Z:-3.97 [[ 9.60623630e-01 2.77018737e-01 2.15142104e-02 1.57381961e+02] [-2.76938269e-01 9.60864401e-01 -6.69310231e-03 -3.09979262e+01] [-2.25263536e-02 4.71444038e-04 9.99746138e-01 -3.96710881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.648623853 meters 0.028277082169470655 Centerline is valid? [True, True] Translation: X:157.41, Y:-31.01, Z:-3.97 [[ 9.60672395e-01 2.76827821e-01 2.17923779e-02 1.57411396e+02] [-2.76745205e-01 9.60919416e-01 -6.77989914e-03 -3.10089418e+01] [-2.28175838e-02 4.82325854e-04 9.99739529e-01 -3.96771932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.678623853 meters 0.029030483485628717 Centerline is valid? [True, True] Translation: X:157.44, Y:-31.02, Z:-3.97 [[ 9.60754170e-01 2.76583364e-01 2.12853916e-02 1.57439790e+02] [-2.76504482e-01 9.60989810e-01 -6.62238800e-03 -3.10207966e+01] [-2.22866868e-02 4.76980705e-04 9.99751507e-01 -3.96907846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.708623853 meters 0.033558967729318386 Centerline is valid? [True, True] Translation: X:157.47, Y:-31.04, Z:-3.97 [[ 9.60781300e-01 2.76506617e-01 2.10567141e-02 1.57467051e+02] [-2.76429339e-01 9.61011896e-01 -6.55413684e-03 -3.10382225e+01] [-2.20480149e-02 4.76398557e-04 9.99756799e-01 -3.97134573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.738623853 meters 0.028868819607961598 Centerline is valid? [True, True] Translation: X:157.50, Y:-31.04, Z:-3.97 [[ 9.60833831e-01 2.76328291e-01 2.10006108e-02 1.57498936e+02] [-2.76251307e-01 9.61063184e-01 -6.54008106e-03 -3.10431169e+01] [-2.19901233e-02 4.82484948e-04 9.99758072e-01 -3.97130414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.768623853 meters 0.030148783571062803 Centerline is valid? [True, True] Translation: X:157.53, Y:-31.06, Z:-3.97 [[ 9.60784203e-01 2.76481614e-01 2.12516281e-02 1.57527636e+02] [-2.76402730e-01 9.61019083e-01 -6.62212114e-03 -3.10588326e+01] [-2.22541149e-02 4.88421381e-04 9.99752227e-01 -3.97250508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.798623853 meters 0.02877547591947614 Centerline is valid? [True, True] Translation: X:157.56, Y:-31.07, Z:-3.97 [[ 9.60661413e-01 2.76908873e-01 2.12397160e-02 1.57557899e+02] [-2.76830089e-01 9.60896063e-01 -6.62254459e-03 -3.10685538e+01] [-2.22430009e-02 4.82230563e-04 9.99752478e-01 -3.97301305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.828623853 meters 0.029005760386060477 Centerline is valid? [True, True] Translation: X:157.59, Y:-31.08, Z:-3.97 [[ 9.60531023e-01 2.77375639e-01 2.10453997e-02 1.57586738e+02] [-2.77298314e-01 9.60761434e-01 -6.56595238e-03 -3.10799665e+01] [-2.20408437e-02 4.70947093e-04 9.99756960e-01 -3.97443664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.858623853 meters 0.02700082157926119 Centerline is valid? [True, True] Translation: X:157.62, Y:-31.09, Z:-3.98 [[ 9.60320219e-01 2.78126280e-01 2.07568861e-02 1.57617675e+02] [-2.78051198e-01 9.60544414e-01 -6.47774351e-03 -3.10882894e+01] [-2.17395417e-02 4.49231022e-04 9.99763567e-01 -3.97550023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.888623853 meters 0.02767121234681941 Centerline is valid? [True, True] Translation: X:157.65, Y:-31.10, Z:-3.98 [[ 9.59734000e-01 2.80187744e-01 2.01364626e-02 1.57646470e+02] [-2.80117454e-01 9.59945140e-01 -6.28803460e-03 -3.11013939e+01] [-2.10917297e-02 3.94265959e-04 9.99777467e-01 -3.97844470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.918623853 meters 0.026854454551041292 Centerline is valid? [True, True] Translation: X:157.68, Y:-31.11, Z:-3.98 [[ 9.59482017e-01 2.81038626e-01 2.02866783e-02 1.57675785e+02] [-2.80967419e-01 9.59696382e-01 -6.33748912e-03 -3.11112477e+01] [-2.12501310e-02 3.80811211e-04 9.99774118e-01 -3.97917765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94862385300002 meters 0.026058979475059585 Centerline is valid? [True, True] Translation: X:157.70, Y:-31.12, Z:-3.98 [[ 9.59190332e-01 2.82029908e-01 2.03233134e-02 1.57703875e+02] [-2.81958665e-01 9.59405546e-01 -6.34897911e-03 -3.11211921e+01] [-2.12889016e-02 3.59545048e-04 9.99773301e-01 -3.97966407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97862385300002 meters 0.022496533292473725 Centerline is valid? [True, True] Translation: X:157.73, Y:-31.13, Z:-3.98 [[ 9.58611829e-01 2.83940510e-01 2.10035052e-02 1.57734785e+02] [-2.83864895e-01 9.58841843e-01 -6.56061360e-03 -3.11297003e+01] [-2.20018636e-02 3.26924003e-04 9.99757876e-01 -3.97893094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00862385300002 meters 0.022904111146583108 Centerline is valid? [True, True] Translation: X:157.76, Y:-31.14, Z:-3.98 [[ 9.58307262e-01 2.84995775e-01 2.06058099e-02 1.57764000e+02] [-2.84923160e-01 9.58528726e-01 -6.44014134e-03 -3.11411210e+01] [-2.15866738e-02 3.00561740e-04 9.99766935e-01 -3.98050388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03862385300002 meters 0.022372554934994272 Centerline is valid? [True, True] Translation: X:157.79, Y:-31.15, Z:-3.98 [[ 9.58080895e-01 2.85770074e-01 2.04074176e-02 1.57792229e+02] [-2.85698939e-01 9.58298171e-01 -6.38220944e-03 -3.11502843e+01] [-2.13802354e-02 2.84295386e-04 9.99771376e-01 -3.98192983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06862385300002 meters 0.02095744735738367 Centerline is valid? [True, True] Translation: X:157.82, Y:-31.16, Z:-3.98 [[ 9.57839672e-01 2.86586872e-01 2.02762971e-02 1.57823510e+02] [-2.86516851e-01 9.58054224e-01 -6.34023001e-03 -3.11593817e+01] [-2.12428187e-02 2.63423053e-04 9.99774311e-01 -3.98321266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09862385300002 meters 0.020867493511630652 Centerline is valid? [True, True] Translation: X:157.85, Y:-31.17, Z:-3.99 [[ 9.57649521e-01 2.87239483e-01 2.00218640e-02 1.57852220e+02] [-2.87171275e-01 9.57858767e-01 -6.26429733e-03 -3.11718530e+01] [-2.09774715e-02 2.49297120e-04 9.99779918e-01 -3.98506823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12862385300002 meters 0.02053692806645312 Centerline is valid? [True, True] Translation: X:157.88, Y:-31.18, Z:-3.99 [[ 9.57555428e-01 2.87559044e-01 1.99348602e-02 1.57882004e+02] [-2.87491429e-01 9.57762881e-01 -6.24033361e-03 -3.11828646e+01] [-2.08873335e-02 2.44363865e-04 9.99781806e-01 -3.98568470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.15862385300002 meters 0.020647126884518325 Centerline is valid? [True, True] Translation: X:157.91, Y:-31.19, Z:-3.99 [[ 9.57428566e-01 2.87983046e-01 1.99074594e-02 1.57911369e+02] [-2.87915632e-01 9.57635478e-01 -6.23539119e-03 -3.11946242e+01] [-2.08597763e-02 2.38272892e-04 9.99782383e-01 -3.98676647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18862385300002 meters 0.02061706129502639 Centerline is valid? [True, True] Translation: X:157.94, Y:-31.21, Z:-3.99 [[ 9.57386509e-01 2.88141249e-01 1.96390494e-02 1.57942174e+02] [-2.88075611e-01 9.57587889e-01 -6.15437695e-03 -3.12063715e+01] [-2.05794457e-02 2.34586291e-04 9.99788193e-01 -3.98795047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.21862385300003 meters 0.023146181448620514 Centerline is valid? [True, True] Translation: X:157.97, Y:-31.22, Z:-3.98 [[ 9.57255411e-01 2.88600320e-01 1.92855557e-02 1.57970908e+02] [-2.88537036e-01 9.57449636e-01 -6.04763375e-03 -3.12175797e+01] [-2.02102973e-02 2.24533055e-04 9.99795726e-01 -3.98430393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.248623853 meters 0.020324907158265647 Centerline is valid? [True, True] Translation: X:158.00, Y:-31.23, Z:-3.99 [[ 9.57066178e-01 2.89190285e-01 1.98320450e-02 1.57999509e+02] [-2.89123419e-01 9.57271607e-01 -6.22240844e-03 -3.12289661e+01] [-2.07841137e-02 2.21348011e-04 9.99783962e-01 -3.98972718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.278623853 meters 0.027673950111509322 Centerline is valid? [True, True] Translation: X:158.03, Y:-31.24, Z:-3.98 [[ 9.56755336e-01 2.90237872e-01 1.95244867e-02 1.58030311e+02] [-2.90173219e-01 9.56954512e-01 -6.12897438e-03 -3.12390703e+01] [-2.04629061e-02 1.98445775e-04 9.99790593e-01 -3.98309834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.308623853 meters 0.019653859812799563 Centerline is valid? [True, True] Translation: X:158.06, Y:-31.25, Z:-3.99 [[ 9.56667666e-01 2.90504596e-01 1.98508772e-02 1.58059171e+02] [-2.90437747e-01 9.56873576e-01 -6.23500868e-03 -3.12523966e+01] [-2.08060785e-02 1.99387148e-04 9.99783510e-01 -3.99186353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.338623853 meters 0.02331945761831171 Centerline is valid? [True, True] Translation: X:158.09, Y:-31.26, Z:-3.99 [[ 9.56530152e-01 2.90989391e-01 1.93711614e-02 1.58091166e+02] [-2.90925762e-01 9.56726261e-01 -6.08784881e-03 -3.12622376e+01] [-2.03043983e-02 1.87641059e-04 9.99793827e-01 -3.98713053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.368623853 meters 0.01924404479193187 Centerline is valid? [True, True] Translation: X:158.12, Y:-31.27, Z:-3.99 [[ 9.56421498e-01 2.91330395e-01 1.96091724e-02 1.58120088e+02] [-2.91265180e-01 9.56622478e-01 -6.16675847e-03 -3.12749193e+01] [-2.05551393e-02 1.86551233e-04 9.99788703e-01 -3.99407445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.398623853 meters 0.018219648395215064 Centerline is valid? [True, True] Translation: X:158.15, Y:-31.29, Z:-3.99 [[ 9.56181603e-01 2.92094441e-01 1.99393890e-02 1.58149891e+02] [-2.92027094e-01 9.56389464e-01 -6.27451896e-03 -3.12861563e+01] [-2.09025737e-02 1.76737751e-04 9.99781502e-01 -3.99438339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.428623853 meters 0.01809059223700608 Centerline is valid? [True, True] Translation: X:158.18, Y:-31.30, Z:-4.00 [[ 9.56027000e-01 2.92623461e-01 1.95929928e-02 1.58180522e+02] [-2.92558477e-01 9.56227736e-01 -6.16883979e-03 -3.12977510e+01] [-2.05405104e-02 1.65481259e-04 9.99789008e-01 -3.99544073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.458623853 meters 0.017947932072430204 Centerline is valid? [True, True] Translation: X:158.21, Y:-31.31, Z:-4.00 [[ 9.55882022e-01 2.93112552e-01 1.93543595e-02 1.58211226e+02] [-2.93049163e-01 9.56077930e-01 -6.09760767e-03 -3.13092052e+01] [-2.02915613e-02 1.56814704e-04 9.99794093e-01 -3.99705513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.488623853 meters 0.028105064423932437 Centerline is valid? [True, True] Translation: X:158.24, Y:-31.32, Z:-3.99 [[ 9.55719993e-01 2.93673409e-01 1.88473705e-02 1.58242940e+02] [-2.93613334e-01 9.55905805e-01 -5.94159302e-03 -3.13193172e+01] [-1.97611988e-02 1.44659946e-04 9.99804718e-01 -3.99050237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.518623853 meters 0.017703446177350004 Centerline is valid? [True, True] Translation: X:158.27, Y:-31.33, Z:-4.00 [[ 9.55620275e-01 2.93961698e-01 1.94013080e-02 1.58271873e+02] [-2.93898014e-01 9.55817189e-01 -6.12033888e-03 -3.13328877e+01] [-2.03432488e-02 1.46714041e-04 9.99793044e-01 -3.99860680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.548623853 meters 0.017709284907174376 Centerline is valid? [True, True] Translation: X:158.30, Y:-31.34, Z:-4.00 [[ 9.55568760e-01 2.94115087e-01 1.96127627e-02 1.58301731e+02] [-2.94049957e-01 9.55770000e-01 -6.19107248e-03 -3.13448141e+01] [-2.05661780e-02 1.48863418e-04 9.99788483e-01 -3.99961672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.578623853 meters 0.017937124366874446 Centerline is valid? [True, True] Translation: X:158.33, Y:-31.36, Z:-4.00 [[ 9.55608282e-01 2.93979609e-01 1.97180418e-02 1.58332459e+02] [-2.93913704e-01 9.55811679e-01 -6.22647075e-03 -3.13576059e+01] [-2.06771901e-02 1.54664313e-04 9.99786192e-01 -4.00011256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.608623853 meters 0.018162343274114267 Centerline is valid? [True, True] Translation: X:158.36, Y:-31.37, Z:-4.00 [[ 9.55581858e-01 2.94084339e-01 1.94348490e-02 1.58362357e+02] [-2.94020257e-01 9.55779461e-01 -6.14092218e-03 -3.13701019e+01] [-2.03813785e-02 1.53914545e-04 9.99792266e-01 -4.00125659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.638623853 meters 0.018162343274114267 Centerline is valid? [True, True] Translation: X:158.39, Y:-31.38, Z:-4.00 [[ 9.55528802e-01 2.94256749e-01 1.94338260e-02 1.58393260e+02] [-2.94192637e-01 9.55726395e-01 -6.14415743e-03 -3.13800831e+01] [-2.03813803e-02 1.53630863e-04 9.99792266e-01 -4.00207435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.668623853 meters 0.017940577164424938 Centerline is valid? [True, True] Translation: X:158.42, Y:-31.39, Z:-4.00 [[ 9.55336370e-01 2.94885846e-01 1.93586366e-02 1.58422508e+02] [-2.94822271e-01 9.55532478e-01 -6.12467716e-03 -3.13924179e+01] [-2.03038867e-02 1.43769627e-04 9.99793845e-01 -4.00288334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.69862385300002 meters 0.01757129445634024 Centerline is valid? [True, True] Translation: X:158.45, Y:-31.40, Z:-4.00 [[ 9.55100435e-01 2.95642316e-01 1.94622538e-02 1.58452407e+02] [-2.95578184e-01 9.55298699e-01 -6.15897011e-03 -3.14027510e+01] [-2.04131179e-02 1.29817393e-04 9.99791622e-01 -4.00361619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72862385300002 meters 0.017091431090736235 Centerline is valid? [True, True] Translation: X:158.48, Y:-31.41, Z:-4.00 [[ 9.54842647e-01 2.96467844e-01 1.95534398e-02 1.58483336e+02] [-2.96403209e-01 9.55042828e-01 -6.19139611e-03 -3.14129715e+01] [-2.05099223e-02 1.16106746e-04 9.99789643e-01 -4.00463369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75862385300002 meters 0.016097174486154914 Centerline is valid? [True, True] Translation: X:158.51, Y:-31.42, Z:-4.01 [[ 9.54162577e-01 2.98653732e-01 1.94865185e-02 1.58513486e+02] [-2.98589914e-01 9.54361537e-01 -6.17416487e-03 -3.14211417e+01] [-2.04411211e-02 7.26791858e-05 9.99791056e-01 -4.00563244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78862385300002 meters 0.020988504367276867 Centerline is valid? [True, True] Translation: X:158.55, Y:-31.43, Z:-4.00 [[ 9.53772839e-01 2.99918114e-01 1.91441137e-02 1.58545486e+02] [-2.99856719e-01 9.53964948e-01 -6.06839248e-03 -3.14290077e+01] [-2.00828342e-02 4.73768194e-05 9.99798318e-01 -3.99961882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.81862385300002 meters 0.015529262784082057 Centerline is valid? [True, True] Translation: X:158.58, Y:-31.44, Z:-4.01 [[ 9.53452215e-01 3.00913801e-01 1.94873917e-02 1.58575777e+02] [-3.00850301e-01 9.53651343e-01 -6.18167696e-03 -3.14396116e+01] [-2.04443292e-02 3.11459280e-05 9.99790992e-01 -4.00697543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84862385300002 meters 0.01518858742509647 Centerline is valid? [True, True] Translation: X:158.61, Y:-31.45, Z:-4.01 [[ 9.53117453e-01 3.01963176e-01 1.96306403e-02 1.58607217e+02] [-3.01898915e-01 9.53319590e-01 -6.22932446e-03 -3.14493545e+01] [-2.05953006e-02 1.08088462e-05 9.99787894e-01 -4.00649809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.87862385300002 meters 0.015185122646588035 Centerline is valid? [True, True] Translation: X:158.64, Y:-31.46, Z:-4.01 [[ 9.52797669e-01 3.02957053e-01 1.98400026e-02 1.58638565e+02] [-3.02891544e-01 9.53004210e-01 -6.29992067e-03 -3.14592905e+01] [-2.08162114e-02 -6.81927060e-06 9.99783319e-01 -4.00667697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90862385300002 meters 0.015203433611027564 Centerline is valid? [True, True] Translation: X:158.67, Y:-31.47, Z:-4.01 [[ 9.52338801e-01 3.04391997e-01 1.99077981e-02 1.58670254e+02] [-3.04326264e-01 9.52546855e-01 -6.32564119e-03 -3.14689765e+01] [-2.08885850e-02 -3.43122877e-05 9.99781809e-01 -4.00783384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.93862385300002 meters 0.015403182967236535 Centerline is valid? [True, True] Translation: X:158.70, Y:-31.48, Z:-4.01 [[ 9.52078110e-01 3.05236535e-01 1.94404445e-02 1.58700921e+02] [-3.05173946e-01 9.52276565e-01 -6.18123181e-03 -3.14785620e+01] [-2.03994175e-02 -4.77016672e-05 9.99791909e-01 -4.00953189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96862385300003 meters 0.015461509128230516 Centerline is valid? [True, True] Translation: X:158.73, Y:-31.49, Z:-4.01 [[ 9.51879036e-01 3.05862176e-01 1.93553809e-02 1.58732803e+02] [-3.05800185e-01 9.52075798e-01 -6.15799085e-03 -3.14884360e+01] [-2.03112862e-02 -5.72166560e-05 9.99793703e-01 -4.01132091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.998623853 meters 0.015827309448617856 Centerline is valid? [True, True] Translation: X:158.76, Y:-31.50, Z:-4.01 [[ 9.51605643e-01 3.06736268e-01 1.89621224e-02 1.58763337e+02] [-3.06676867e-01 9.51794546e-01 -6.03675330e-03 -3.14972997e+01] [-1.98997358e-02 -7.06357777e-05 9.99801978e-01 -4.01289488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.028623853 meters 0.01654346807092043 Centerline is valid? [True, True] Translation: X:158.79, Y:-31.50, Z:-4.01 [[ 9.50941192e-01 3.08810490e-01 1.86260750e-02 1.58794113e+02] [-3.08753502e-01 9.51123583e-01 -5.93343811e-03 -3.15036438e+01] [-1.95480071e-02 -1.08515180e-04 9.99808914e-01 -4.01439246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.058623853 meters 0.01673235792946103 Centerline is valid? [True, True] Translation: X:158.83, Y:-31.51, Z:-4.01 [[ 9.50600419e-01 3.09853345e-01 1.87015638e-02 1.58826189e+02] [-3.09796041e-01 9.50784354e-01 -5.96030255e-03 -3.15126833e+01] [-1.96279739e-02 -1.27804318e-04 9.99807345e-01 -4.01447929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.088623853 meters 0.017152092975153504 Centerline is valid? [True, True] Translation: X:158.86, Y:-31.52, Z:-4.01 [[ 9.50248897e-01 3.10904918e-01 1.91092929e-02 1.58857920e+02] [-3.10845218e-01 9.50441008e-01 -6.09428636e-03 -3.15211116e+01] [-2.00569992e-02 -1.48943432e-04 9.99798827e-01 -4.01457147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.118623853 meters 0.017882311417528475 Centerline is valid? [True, True] Translation: X:158.89, Y:-31.53, Z:-4.01 [[ 9.49910337e-01 3.11916559e-01 1.94528274e-02 1.58888941e+02] [-3.11854821e-01 9.50109484e-01 -6.20798636e-03 -3.15285234e+01] [-2.04186895e-02 -1.69427594e-04 9.99791502e-01 -4.01452026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.148623853 meters 0.02166038007512906 Centerline is valid? [True, True] Translation: X:158.92, Y:-31.54, Z:-4.01 [[ 9.49456554e-01 3.13267369e-01 1.98949406e-02 1.58920103e+02] [-3.13203006e-01 9.49664949e-01 -6.35300355e-03 -3.15360382e+01] [-2.08837165e-02 -1.99254359e-04 9.99781892e-01 -4.00832170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.178623853 meters 0.018957211403766064 Centerline is valid? [True, True] Translation: X:158.95, Y:-31.54, Z:-4.01 [[ 9.49257511e-01 3.13832503e-01 2.04777175e-02 1.58951237e+02] [-3.13764363e-01 9.49478338e-01 -6.54296665e-03 -3.15436282e+01] [-2.14965448e-02 -2.14217767e-04 9.99768900e-01 -4.01433083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.208623853 meters 0.01852895876227391 Centerline is valid? [True, True] Translation: X:158.98, Y:-31.55, Z:-4.01 [[ 9.49122598e-01 3.14235875e-01 2.05453119e-02 1.58982782e+02] [-3.14167291e-01 9.49344914e-01 -6.56860742e-03 -3.15544877e+01] [-2.15686794e-02 -2.20251234e-04 9.99767345e-01 -4.01429875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.238623853 meters 0.018443909708687235 Centerline is valid? [True, True] Translation: X:159.01, Y:-31.56, Z:-4.02 [[ 9.49117258e-01 3.14256171e-01 2.04814396e-02 1.59014998e+02] [-3.14187927e-01 9.49338197e-01 -6.55241260e-03 -3.15634171e+01] [-2.15029491e-02 -2.16013191e-04 9.99768762e-01 -4.01555185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.268623853 meters 0.017931890437073557 Centerline is valid? [True, True] Translation: X:159.05, Y:-31.57, Z:-4.02 [[ 9.49172948e-01 3.14118269e-01 2.00106940e-02 1.59046553e+02] [-3.14053011e-01 9.49383838e-01 -6.40581725e-03 -3.15744474e+01] [-2.10100137e-02 -2.04190258e-04 9.99779244e-01 -4.01667520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.298623853 meters 0.017803077055803414 Centerline is valid? [True, True] Translation: X:159.08, Y:-31.58, Z:-4.02 [[ 9.49300669e-01 3.13744673e-01 1.98121194e-02 1.59076747e+02] [-3.13680536e-01 9.49507369e-01 -6.34647520e-03 -3.15840961e+01] [-2.08029262e-02 -1.89963086e-04 9.99783578e-01 -4.01784983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.328623853 meters 0.01747348438175657 Centerline is valid? [True, True] Translation: X:159.11, Y:-31.59, Z:-4.02 [[ 9.49548401e-01 3.12990645e-01 1.98668001e-02 1.59106762e+02] [-3.12925902e-01 9.49756194e-01 -6.36806166e-03 -3.15930718e+01] [-2.08617602e-02 -1.70053579e-04 9.99782355e-01 -4.01897321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.358623853 meters 0.01694863252228924 Centerline is valid? [True, True] Translation: X:159.14, Y:-31.60, Z:-4.02 [[ 9.49775338e-01 3.12303622e-01 1.98306466e-02 1.59137314e+02] [-3.12238897e-01 9.49982329e-01 -6.35975481e-03 -3.16036667e+01] [-2.08249383e-02 -1.51560941e-04 9.99783126e-01 -4.01948826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.388623853 meters 0.01591242631880371 Centerline is valid? [True, True] Translation: X:159.17, Y:-31.62, Z:-4.02 [[ 9.50513775e-01 3.10027717e-01 2.01588118e-02 1.59165861e+02] [-3.09960240e-01 9.50727513e-01 -6.46876556e-03 -3.16156026e+01] [-2.11710336e-02 -9.97793620e-05 9.99775864e-01 -4.01936399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.418623853 meters 0.015435162680784953 Centerline is valid? [True, True] Translation: X:159.19, Y:-31.63, Z:-4.02 [[ 9.50903544e-01 3.08800519e-01 2.06079845e-02 1.59194825e+02] [-3.08729636e-01 9.51126823e-01 -6.61645385e-03 -3.16265326e+01] [-2.16439713e-02 -7.06861497e-05 9.99765739e-01 -4.01950745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44862385300002 meters 0.015164289250736106 Centerline is valid? [True, True] Translation: X:159.22, Y:-31.64, Z:-4.02 [[ 9.51639928e-01 3.06534576e-01 2.04450834e-02 1.59224941e+02] [-3.06464216e-01 9.51859524e-01 -6.56739912e-03 -3.16381140e+01] [-2.14739822e-02 -1.58872257e-05 9.99769407e-01 -4.02108509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47862385300002 meters 0.015092351064227797 Centerline is valid? [True, True] Translation: X:159.26, Y:-31.65, Z:-4.02 [[ 9.52003322e-01 3.05405207e-01 2.04287420e-02 1.59256273e+02] [-3.05334618e-01 9.52222484e-01 -6.56593858e-03 -3.16497588e+01] [-2.14579793e-02 1.31931998e-05 9.99769751e-01 -4.02162172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50862385300002 meters 0.015352499103260184 Centerline is valid? [True, True] Translation: X:159.29, Y:-31.66, Z:-4.02 [[ 9.52299732e-01 3.04469210e-01 2.05844717e-02 1.59286289e+02] [-3.04397227e-01 9.52522177e-01 -6.62039257e-03 -3.16610323e+01] [-2.16228715e-02 3.87419445e-05 9.99766198e-01 -4.02255893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53862385300002 meters 0.015622200161241126 Centerline is valid? [True, True] Translation: X:159.32, Y:-31.67, Z:-4.02 [[ 9.52607222e-01 3.03490824e-01 2.08038524e-02 1.59316211e+02] [-3.03416974e-01 9.52834359e-01 -6.69510194e-03 -3.16722174e+01] [-2.18545274e-02 6.55605272e-05 9.99761159e-01 -4.02318400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56862385300002 meters 0.01605632226006257 Centerline is valid? [True, True] Translation: X:159.35, Y:-31.68, Z:-4.02 [[ 9.53020234e-01 3.02193248e-01 2.07767931e-02 1.59347000e+02] [-3.02119197e-01 9.53246679e-01 -6.69024953e-03 -3.16840580e+01] [-2.18271573e-02 9.88751151e-05 9.99761754e-01 -4.02353202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.59862385300002 meters 0.016689116234353502 Centerline is valid? [True, True] Translation: X:159.38, Y:-31.70, Z:-4.02 [[ 9.53225490e-01 3.01517710e-01 2.11715635e-02 1.59377307e+02] [-3.01440553e-01 9.53460569e-01 -6.82177564e-03 -3.16956438e+01] [-2.22431371e-02 1.20722629e-04 9.99752584e-01 -4.02390459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62862385300002 meters 0.016725493375488516 Centerline is valid? [True, True] Translation: X:159.41, Y:-31.71, Z:-4.02 [[ 9.53294167e-01 3.01307079e-01 2.10778227e-02 1.59408212e+02] [-3.01230466e-01 9.53527151e-01 -6.79549172e-03 -3.17062455e+01] [-2.21458060e-02 1.28820251e-04 9.99754743e-01 -4.02451529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.65862385300002 meters 0.016705828774878067 Centerline is valid? [True, True] Translation: X:159.44, Y:-31.72, Z:-4.03 [[ 9.53372065e-01 3.01064009e-01 2.10278038e-02 1.59439460e+02] [-3.00987608e-01 9.53603924e-01 -6.78355577e-03 -3.17158403e+01] [-2.20944807e-02 1.38144203e-04 9.99755878e-01 -4.02501940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68862385300002 meters 0.0169982227724811 Centerline is valid? [True, True] Translation: X:159.47, Y:-31.73, Z:-4.03 [[ 9.53445889e-01 3.00809170e-01 2.13255662e-02 1.59470355e+02] [-3.00730423e-01 9.53684340e-01 -6.88417099e-03 -3.17255393e+01] [-2.24086803e-02 1.50437974e-04 9.99748883e-01 -4.02568573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.71862385300003 meters 0.017096226192261928 Centerline is valid? [True, True] Translation: X:159.50, Y:-31.74, Z:-4.03 [[ 9.53457812e-01 3.00782512e-01 2.11679183e-02 1.59500656e+02] [-3.00704828e-01 9.53692748e-01 -6.83735272e-03 -3.17356931e+01] [-2.22442463e-02 1.53832118e-04 9.99752554e-01 -4.02668525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.748623853 meters 0.01792336227062482 Centerline is valid? [True, True] Translation: X:159.53, Y:-31.75, Z:-4.03 [[ 9.53475862e-01 3.00754126e-01 2.07541713e-02 1.59530676e+02] [-3.00679358e-01 9.53701699e-01 -6.70763585e-03 -3.17468849e+01] [-2.18106376e-02 1.55217966e-04 9.99762108e-01 -4.02885693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.778623853 meters 0.017317061745822628 Centerline is valid? [True, True] Translation: X:159.56, Y:-31.76, Z:-4.03 [[ 9.53450706e-01 3.00884799e-01 2.00022038e-02 1.59562118e+02] [-3.00815304e-01 9.53660482e-01 -6.46823541e-03 -3.17551313e+01] [-2.10215050e-02 1.50174616e-04 9.99779012e-01 -4.03024930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.808623853 meters 0.017358002808308966 Centerline is valid? [True, True] Translation: X:159.59, Y:-31.77, Z:-4.03 [[ 9.53291210e-01 3.01367346e-01 2.03369551e-02 1.59592389e+02] [-3.01295527e-01 9.53508102e-01 -6.58056876e-03 -3.17655975e+01] [-2.13746200e-02 1.45764739e-04 9.99771526e-01 -4.03076344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.838623853 meters 0.016768162783620512 Centerline is valid? [True, True] Translation: X:159.62, Y:-31.77, Z:-4.03 [[ 9.53188516e-01 3.01672797e-01 2.06197865e-02 1.59624183e+02] [-3.01598950e-01 9.53411507e-01 -6.67611387e-03 -3.17745788e+01] [-2.16731437e-02 1.44689095e-04 9.99765099e-01 -4.03003170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.868623853 meters 0.01672185311783465 Centerline is valid? [True, True] Translation: X:159.65, Y:-31.78, Z:-4.03 [[ 9.53071428e-01 3.02032539e-01 2.07653359e-02 1.59654777e+02] [-3.01957628e-01 9.53297606e-01 -6.72799592e-03 -3.17843956e+01] [-2.18276187e-02 1.42009099e-04 9.99761739e-01 -4.03041674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.898623853 meters 0.016014381477317385 Centerline is valid? [True, True] Translation: X:159.69, Y:-31.79, Z:-4.03 [[ 9.52540240e-01 3.03647682e-01 2.15679421e-02 1.59685611e+02] [-3.03567216e-01 9.52784379e-01 -6.99092584e-03 -3.17919856e+01] [-2.26723768e-02 1.11818040e-04 9.99742942e-01 -4.02966015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.928623853 meters 0.015585764522908711 Centerline is valid? [True, True] Translation: X:159.72, Y:-31.80, Z:-4.03 [[ 9.52161496e-01 3.04828251e-01 2.16384526e-02 1.59716692e+02] [-3.04747471e-01 9.52407334e-01 -7.01777718e-03 -3.18003047e+01] [-2.27478377e-02 8.77935202e-05 9.99741231e-01 -4.03048793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.958623853 meters 0.01516900106152841 Centerline is valid? [True, True] Translation: X:159.75, Y:-31.81, Z:-4.03 [[ 9.51691047e-01 3.06289159e-01 2.17048694e-02 1.59748525e+02] [-3.06208165e-01 9.51938521e-01 -7.04355399e-03 -3.18080062e+01] [-2.28190655e-02 5.70790401e-05 9.99739610e-01 -4.03142612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.988623853 meters 0.019039163617276828 Centerline is valid? [True, True] Translation: X:159.78, Y:-31.81, Z:-4.03 [[ 9.51134570e-01 3.08045293e-01 2.12397744e-02 1.59780375e+02] [-3.07968071e-01 9.51371693e-01 -6.89708879e-03 -3.18145304e+01] [-2.23315358e-02 1.88872311e-05 9.99750620e-01 -4.02758451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.018623853 meters 0.014991943159166193 Centerline is valid? [True, True] Translation: X:159.81, Y:-31.82, Z:-4.03 [[ 9.49868896e-01 3.11882324e-01 2.18745792e-02 1.59811767e+02] [-3.11801328e-01 9.50120735e-01 -7.10777460e-03 -3.18187607e+01] [-2.30002805e-02 -6.90688346e-05 9.99735456e-01 -4.03269418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.048623853 meters 0.015560400456994923 Centerline is valid? [True, True] Translation: X:159.84, Y:-31.83, Z:-4.03 [[ 9.49167863e-01 3.13998839e-01 2.20249320e-02 1.59842889e+02] [-3.13917208e-01 9.49423359e-01 -7.16038277e-03 -3.18256112e+01] [-2.31593368e-02 -1.17599953e-04 9.99731780e-01 -4.03302385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.078623853 meters 0.016903898706137212 Centerline is valid? [True, True] Translation: X:159.87, Y:-31.83, Z:-4.03 [[ 9.48523168e-01 3.15949464e-01 2.19028706e-02 1.59872868e+02] [-3.15869154e-01 9.48776007e-01 -7.12507480e-03 -3.18300404e+01] [-2.30320817e-02 -1.60142699e-04 9.99734714e-01 -4.03402457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.108623853 meters 0.01746534981421028 Centerline is valid? [True, True] Translation: X:159.90, Y:-31.84, Z:-4.04 [[ 9.47997227e-01 3.17536857e-01 2.17164140e-02 1.59902289e+02] [-3.17458331e-01 9.48245910e-01 -7.06416834e-03 -3.18363689e+01] [-2.28356345e-02 -1.97244532e-04 9.99739213e-01 -4.03507307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.138623853 meters 0.019145987470699503 Centerline is valid? [True, True] Translation: X:159.93, Y:-31.84, Z:-4.04 [[ 9.47062967e-01 3.20356357e-01 2.10603880e-02 1.59932577e+02] [-3.20283213e-01 9.47297070e-01 -6.85024869e-03 -3.18396696e+01] [-2.21449646e-02 -2.57671872e-04 9.99754737e-01 -4.03734462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.168623853 meters 0.022176523620660492 Centerline is valid? [True, True] Translation: X:159.96, Y:-31.84, Z:-4.04 [[ 9.46718200e-01 3.21392200e-01 2.07774836e-02 1.59960606e+02] [-3.21321267e-01 9.46946131e-01 -6.75775614e-03 -3.18418097e+01] [-2.18470478e-02 -2.78556617e-04 9.99761286e-01 -4.03887951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.19862385300002 meters 0.020663613587031594 Centerline is valid? [True, True] Translation: X:159.99, Y:-31.85, Z:-4.04 [[ 9.46458249e-01 3.22147800e-01 2.09183738e-02 1.59988042e+02] [-3.22076107e-01 9.46689340e-01 -6.80261374e-03 -3.18516759e+01] [-2.19946485e-02 -2.98918510e-04 9.99758044e-01 -4.03829538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22862385300002 meters 0.023813221690682687 Centerline is valid? [True, True] Translation: X:160.02, Y:-31.85, Z:-4.04 [[ 9.46265890e-01 3.22709663e-01 2.09604318e-02 1.60016685e+02] [-3.22637842e-01 9.46497953e-01 -6.81523550e-03 -3.18536655e+01] [-2.20383482e-02 -3.13603609e-04 9.99757077e-01 -4.03963833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25862385300002 meters 0.021746737109520735 Centerline is valid? [True, True] Translation: X:160.04, Y:-31.86, Z:-4.04 [[ 9.46148797e-01 3.23016953e-01 2.15058489e-02 1.60044368e+02] [-3.22941459e-01 9.46393121e-01 -6.99108030e-03 -3.18619227e+01] [-2.26112249e-02 -3.30528004e-04 9.99744279e-01 -4.03887705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28862385300002 meters 0.022414127020755622 Centerline is valid? [True, True] Translation: X:160.07, Y:-31.87, Z:-4.04 [[ 9.46100204e-01 3.23137707e-01 2.18272123e-02 1.60072215e+02] [-3.23059990e-01 9.46351894e-01 -7.09475121e-03 -3.18678212e+01] [-2.29488054e-02 -3.39153423e-04 9.99736584e-01 -4.03945247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.31862385300002 meters 0.022051387859587275 Centerline is valid? [True, True] Translation: X:160.10, Y:-31.87, Z:-4.04 [[ 9.46108090e-01 3.23108338e-01 2.19199258e-02 1.60100661e+02] [-3.23029985e-01 9.46361921e-01 -7.12345294e-03 -3.18749813e+01] [-2.30458302e-02 -3.41236852e-04 9.99734351e-01 -4.03964053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34862385300002 meters 0.022581968367591163 Centerline is valid? [True, True] Translation: X:160.13, Y:-31.88, Z:-4.04 [[ 9.46165255e-01 3.22949326e-01 2.17954762e-02 1.60128781e+02] [-3.22871842e-01 9.46416198e-01 -7.08193276e-03 -3.18782950e+01] [-2.29146972e-02 -3.36466840e-04 9.99737367e-01 -4.04084577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.37862385300002 meters 0.022436723719843125 Centerline is valid? [True, True] Translation: X:160.16, Y:-31.89, Z:-4.04 [[ 9.46226740e-01 3.22771792e-01 2.17560629e-02 1.60156152e+02] [-3.22694572e-01 9.46476761e-01 -7.06777665e-03 -3.18851433e+01] [-2.28728869e-02 -3.32844149e-04 9.99738326e-01 -4.04176557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40862385300002 meters 0.022310699160389896 Centerline is valid? [True, True] Translation: X:160.18, Y:-31.89, Z:-4.04 [[ 9.46220043e-01 3.22807828e-01 2.15113025e-02 1.60184119e+02] [-3.22732383e-01 9.46464472e-01 -6.98661599e-03 -3.18925483e+01] [-2.26150179e-02 -3.31517836e-04 9.99744193e-01 -4.04293052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.43862385300002 meters 0.022414483887414523 Centerline is valid? [True, True] Translation: X:160.21, Y:-31.90, Z:-4.04 [[ 9.46316328e-01 3.22560497e-01 2.09793513e-02 1.60211648e+02] [-3.22488698e-01 9.46548797e-01 -6.81289482e-03 -3.18986983e+01] [-2.20555504e-02 -3.18450055e-04 9.99756696e-01 -4.04431942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46862385300003 meters 0.02686346053172984 Centerline is valid? [True, True] Translation: X:160.24, Y:-31.90, Z:-4.04 [[ 9.46488891e-01 3.22096551e-01 2.03123643e-02 1.60240778e+02] [-3.22029171e-01 9.46706777e-01 -6.59474093e-03 -3.19015433e+01] [-2.13539963e-02 -2.99324824e-04 9.99771933e-01 -4.04074419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.49862385300003 meters 0.021634192586271268 Centerline is valid? [True, True] Translation: X:160.27, Y:-31.91, Z:-4.05 [[ 9.46687092e-01 3.21503318e-01 2.04735379e-02 1.60267467e+02] [-3.21434748e-01 9.46908408e-01 -6.64607719e-03 -3.19086539e+01] [-2.15233010e-02 -2.89150991e-04 9.99768305e-01 -4.04671472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.528623853 meters 0.021634192586271268 Centerline is valid? [True, True] Translation: X:160.29, Y:-31.92, Z:-4.05 [[ 9.46708807e-01 3.21439346e-01 2.04738997e-02 1.60293661e+02] [-3.21370785e-01 9.46930126e-01 -6.64496249e-03 -3.19170142e+01] [-2.15233048e-02 -2.88868693e-04 9.99768305e-01 -4.04740626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.558623853 meters 0.023631276421072805 Centerline is valid? [True, True] Translation: X:160.32, Y:-31.92, Z:-4.05 [[ 9.46943113e-01 3.20737279e-01 2.06479546e-02 1.60322302e+02] [-3.20667415e-01 9.47168159e-01 -6.69985449e-03 -3.19200779e+01] [-2.17059782e-02 -2.76745147e-04 9.99764359e-01 -4.04913397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.588623853 meters 0.028183635168721 Centerline is valid? [True, True] Translation: X:160.35, Y:-31.93, Z:-4.04 [[ 9.47284685e-01 3.19734067e-01 2.05390301e-02 1.60349800e+02] [-3.19664727e-01 9.47507289e-01 -6.66335612e-03 -3.19309613e+01] [-2.15913826e-02 -2.53508222e-04 9.99766847e-01 -4.04189965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.618623853 meters 0.018480185733368657 Centerline is valid? [True, True] Translation: X:160.38, Y:-31.94, Z:-4.05 [[ 9.48167670e-01 3.17090423e-01 2.07781866e-02 1.60376138e+02] [-3.17018870e-01 9.48395289e-01 -6.73881560e-03 -3.19407107e+01] [-2.18427482e-02 -1.97550164e-04 9.99761399e-01 -4.04982314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.648623853 meters 0.01731978749013652 Centerline is valid? [True, True] Translation: X:160.40, Y:-31.95, Z:-4.05 [[ 9.48753461e-01 3.15338710e-01 2.06970519e-02 1.60403343e+02] [-3.15267319e-01 9.48979174e-01 -6.71148927e-03 -3.19501941e+01] [-2.17574636e-02 -1.57555405e-04 9.99763266e-01 -4.05060379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.678623853 meters 0.01626535597849973 Centerline is valid? [True, True] Translation: X:160.43, Y:-31.96, Z:-4.05 [[ 9.49343227e-01 3.13564633e-01 2.06072460e-02 1.60430833e+02] [-3.13493464e-01 9.49566853e-01 -6.68136859e-03 -3.19597910e+01] [-2.16629986e-02 -1.17324917e-04 9.99765323e-01 -4.05147703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.708623853 meters 0.01493723430927284 Centerline is valid? [True, True] Translation: X:160.46, Y:-31.97, Z:-4.05 [[ 9.50510590e-01 3.10017299e-01 2.04668661e-02 1.60456611e+02] [-3.09946294e-01 9.50730915e-01 -6.63490617e-03 -3.19700525e+01] [-2.15154180e-02 -3.70807349e-05 9.99768516e-01 -4.05272176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.738623853 meters 0.014980574888030692 Centerline is valid? [True, True] Translation: X:160.48, Y:-31.98, Z:-4.05 [[ 9.51127161e-01 3.08142519e-01 2.01323739e-02 1.60482473e+02] [-3.08073420e-01 9.51340206e-01 -6.52531539e-03 -3.19798960e+01] [-2.11634639e-02 4.15540977e-06 9.99776029e-01 -4.05410580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.768623853 meters 0.015258804060255622 Centerline is valid? [True, True] Translation: X:160.51, Y:-31.99, Z:-4.06 [[ 9.51737520e-01 3.06278875e-01 1.97216380e-02 1.60508115e+02] [-3.06212195e-01 9.51941830e-01 -6.39085842e-03 -3.19898856e+01] [-2.07312371e-02 4.34136810e-05 9.99785084e-01 -4.05566144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.798623853 meters 0.015913135259836262 Centerline is valid? [True, True] Translation: X:160.54, Y:-32.00, Z:-4.06 [[ 9.52272809e-01 3.04633425e-01 1.93642516e-02 1.60535575e+02] [-3.04568838e-01 9.52469669e-01 -6.27315831e-03 -3.20001213e+01] [-2.03548760e-02 7.60104921e-05 9.99792815e-01 -4.05707887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.828623853 meters 0.016897345157672695 Centerline is valid? [True, True] Translation: X:160.56, Y:-32.01, Z:-4.06 [[ 9.52776845e-01 3.03084184e-01 1.88748924e-02 1.60561227e+02] [-3.03022529e-01 9.52963780e-01 -6.11394369e-03 -3.20098595e+01] [-1.98401285e-02 1.05706338e-04 9.99803160e-01 -4.05909615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.858623853 meters 0.01871653880203787 Centerline is valid? [True, True] Translation: X:160.59, Y:-32.02, Z:-4.06 [[ 9.53606595e-01 3.00451759e-01 1.90578625e-02 1.60588217e+02] [-3.00388415e-01 9.53796999e-01 -6.17131973e-03 -3.20211776e+01] [-2.00315160e-02 1.60250082e-04 9.99799336e-01 -4.05955491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.888623853 meters 0.01970173237644025 Centerline is valid? [True, True] Translation: X:160.61, Y:-32.03, Z:-4.06 [[ 9.53950085e-01 2.99333843e-01 1.94547023e-02 1.60614788e+02] [-2.99267619e-01 9.54148424e-01 -6.29891918e-03 -3.20310298e+01] [-2.04481532e-02 1.86692042e-04 9.99790897e-01 -4.05925992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.918623853 meters 0.020832251498137857 Centerline is valid? [True, True] Translation: X:160.64, Y:-32.04, Z:-4.06 [[ 9.54306731e-01 2.98169850e-01 1.98343983e-02 1.60640928e+02] [-2.98100790e-01 9.54512805e-01 -6.42064342e-03 -3.20405587e+01] [-2.08466295e-02 2.14613440e-04 9.99782662e-01 -4.05946969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94862385300002 meters 0.02282057732334215 Centerline is valid? [True, True] Translation: X:160.67, Y:-32.05, Z:-4.06 [[ 9.54903864e-01 2.96213747e-01 2.03967241e-02 1.60667092e+02] [-2.96140296e-01 9.55121640e-01 -6.60142413e-03 -3.20507561e+01] [-2.14367851e-02 2.63433519e-04 9.99770171e-01 -4.05908089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97862385300002 meters 0.02373999534031545 Centerline is valid? [True, True] Translation: X:160.69, Y:-32.06, Z:-4.06 [[ 9.55138573e-01 2.95456205e-01 2.03945138e-02 1.60693914e+02] [-2.95382624e-01 9.55356244e-01 -6.59946327e-03 -3.20602411e+01] [-2.14338784e-02 2.79216954e-04 9.99770229e-01 -4.05937300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00862385300002 meters 0.024336712037079853 Centerline is valid? [True, True] Translation: X:160.72, Y:-32.07, Z:-4.06 [[ 9.55324353e-01 2.94851103e-01 2.04501001e-02 1.60721159e+02] [-2.94777002e-01 9.55543166e-01 -6.61649036e-03 -3.20697651e+01] [-2.14918329e-02 2.92675166e-04 9.99768981e-01 -4.06018868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03862385300002 meters 0.02500948888700316 Centerline is valid? [True, True] Translation: X:160.75, Y:-32.08, Z:-4.06 [[ 9.55459392e-01 2.94487636e-01 1.93489819e-02 1.60747148e+02] [-2.94421242e-01 9.55655247e-01 -6.25943701e-03 -3.20787465e+01] [-2.03342829e-02 2.83886590e-04 9.99793197e-01 -4.06373282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06862385300002 meters 0.03532188522745259 Centerline is valid? [True, True] Translation: X:160.78, Y:-32.09, Z:-4.06 [[ 9.55378403e-01 2.94833790e-01 1.80317417e-02 1.60775317e+02] [-2.94776210e-01 9.55548518e-01 -5.83228175e-03 -3.20859759e+01] [-1.89497578e-02 2.56707554e-04 9.99820404e-01 -4.05813532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09862385300002 meters 0.021342337522239588 Centerline is valid? [True, True] Translation: X:160.80, Y:-32.09, Z:-4.07 [[ 9.55319956e-01 2.95022051e-01 1.80491153e-02 1.60803971e+02] [-2.94964409e-01 9.55490411e-01 -5.83710713e-03 -3.20899756e+01] [-1.89678319e-02 2.52458297e-04 9.99820063e-01 -4.06550178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12862385300002 meters 0.024644713971056425 Centerline is valid? [True, True] Translation: X:160.83, Y:-32.10, Z:-4.07 [[ 9.55264093e-01 2.95211251e-01 1.79116992e-02 1.60829504e+02] [-2.95154533e-01 9.55431974e-01 -5.79180554e-03 -3.21027648e+01] [-1.88232163e-02 2.45984644e-04 9.99822797e-01 -4.06920625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.15862385300002 meters 0.024031437883614924 Centerline is valid? [True, True] Translation: X:160.86, Y:-32.11, Z:-4.07 [[ 9.55127803e-01 2.95651465e-01 1.79190031e-02 1.60857613e+02] [-2.95594802e-01 9.55295847e-01 -5.79287467e-03 -3.21104834e+01] [-1.88306212e-02 2.36171464e-04 9.99822660e-01 -4.06993386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18862385300002 meters 0.029882271951868593 Centerline is valid? [True, True] Translation: X:160.89, Y:-32.11, Z:-4.06 [[ 9.54738299e-01 2.96899526e-01 1.80403150e-02 1.60887419e+02] [-2.96842331e-01 9.54908701e-01 -5.83127677e-03 -3.21128737e+01] [-1.89581571e-02 2.12214098e-04 9.99820255e-01 -4.06071123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.21862385300003 meters 0.019430197083387446 Centerline is valid? [True, True] Translation: X:160.91, Y:-32.12, Z:-4.07 [[ 9.54557314e-01 2.97434478e-01 1.87900487e-02 1.60914714e+02] [-2.97372553e-01 9.54742210e-01 -6.07264322e-03 -3.21201852e+01] [-1.97458661e-02 2.09041248e-04 9.99805010e-01 -4.06683861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24862385300003 meters 0.01789615330173049 Centerline is valid? [True, True] Translation: X:160.94, Y:-32.13, Z:-4.07 [[ 9.53909511e-01 2.99439754e-01 1.98110520e-02 1.60941757e+02] [-2.99371370e-01 9.54115194e-01 -6.40156925e-03 -3.21257528e+01] [-2.08189101e-02 1.75656008e-04 9.99783248e-01 -4.06593766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.278623853 meters 0.01836010470465615 Centerline is valid? [True, True] Translation: X:160.97, Y:-32.13, Z:-4.07 [[ 9.53509493e-01 3.00675462e-01 2.03448652e-02 1.60967814e+02] [-3.00603653e-01 9.53726503e-01 -6.57270116e-03 -3.21347703e+01] [-2.13796871e-02 1.51392145e-04 9.99771417e-01 -4.06648400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.308623853 meters 0.01606833747263171 Centerline is valid? [True, True] Translation: X:161.00, Y:-32.14, Z:-4.06 [[ 9.53060030e-01 3.02065789e-01 2.08047573e-02 1.60996761e+02] [-3.01991058e-01 9.53287073e-01 -6.71987064e-03 -3.21384986e+01] [-2.18627493e-02 1.21589435e-04 9.99760974e-01 -4.06476221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.338623853 meters 0.015729043417664446 Centerline is valid? [True, True] Translation: X:161.02, Y:-32.15, Z:-4.07 [[ 9.52498529e-01 3.03814210e-01 2.10589223e-02 1.61023533e+02] [-3.03738092e-01 9.52731294e-01 -6.80090895e-03 -3.21456044e+01] [-2.21297071e-02 8.14588903e-05 9.99755105e-01 -4.06592263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.368623853 meters 0.014628217944072671 Centerline is valid? [True, True] Translation: X:161.05, Y:-32.15, Z:-4.07 [[ 9.51433709e-01 3.07152503e-01 2.07662560e-02 1.61053251e+02] [-3.07079310e-01 9.51660307e-01 -6.70505236e-03 -3.21464297e+01] [-2.18218951e-02 2.52528095e-06 9.99761874e-01 -4.06630848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.398623853 meters 0.014649140297797047 Centerline is valid? [True, True] Translation: X:161.08, Y:-32.15, Z:-4.07 [[ 9.50947449e-01 3.08661025e-01 2.06717269e-02 1.61080701e+02] [-3.08588873e-01 9.51172104e-01 -6.67358566e-03 -3.21517598e+01] [-2.17222458e-02 -3.28356504e-05 9.99764044e-01 -4.06778545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.428623853 meters 0.015007381056205344 Centerline is valid? [True, True] Translation: X:161.11, Y:-32.16, Z:-4.07 [[ 9.50566228e-01 3.09845231e-01 2.04885208e-02 1.61108639e+02] [-3.09774662e-01 9.50787005e-01 -6.61283148e-03 -3.21582279e+01] [-2.15291736e-02 -6.08903270e-05 9.99768219e-01 -4.06887795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.458623853 meters 0.015502609997717185 Centerline is valid? [True, True] Translation: X:161.14, Y:-32.17, Z:-4.07 [[ 9.50185811e-01 3.11021070e-01 2.03179441e-02 1.61135820e+02] [-3.10951961e-01 9.50403012e-01 -6.55682076e-03 -3.21651826e+01] [-2.13495447e-02 -8.77065083e-05 9.99772069e-01 -4.07081532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.488623853 meters 0.015526983261299502 Centerline is valid? [True, True] Translation: X:161.16, Y:-32.17, Z:-4.07 [[ 9.50229075e-01 3.10894807e-01 2.02268251e-02 1.61161383e+02] [-3.10826312e-01 9.50444323e-01 -6.52625899e-03 -3.21735430e+01] [-2.12534511e-02 -8.55884006e-05 9.99774116e-01 -4.07174811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.518623853 meters 0.015362176243594731 Centerline is valid? [True, True] Translation: X:161.19, Y:-32.18, Z:-4.07 [[ 9.50338780e-01 3.10550365e-01 2.03635712e-02 1.61187895e+02] [-3.10480900e-01 9.50556923e-01 -6.56857011e-03 -3.21826542e+01] [-2.13966054e-02 -8.01329975e-05 9.99771063e-01 -4.07209596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.548623853 meters 0.015297895298763188 Centerline is valid? [True, True] Translation: X:161.21, Y:-32.19, Z:-4.07 [[ 9.50372467e-01 3.10436417e-01 2.05281333e-02 1.61214098e+02] [-3.10365832e-01 9.50594143e-01 -6.62012640e-03 -3.21920028e+01] [-2.15690516e-02 -7.96453140e-05 9.99767358e-01 -4.07210874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.578623853 meters 0.015067921757784646 Centerline is valid? [True, True] Translation: X:161.24, Y:-32.20, Z:-4.07 [[ 9.50390733e-01 3.10342101e-01 2.11005859e-02 1.61239979e+02] [-3.10267535e-01 9.50624939e-01 -6.80315023e-03 -3.22021202e+01] [-2.21700471e-02 -8.11758260e-05 9.99754211e-01 -4.07122188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.608623853 meters 0.01514583860000683 Centerline is valid? [True, True] Translation: X:161.27, Y:-32.21, Z:-4.07 [[ 9.50247400e-01 3.10773481e-01 2.12066797e-02 1.61267341e+02] [-3.10698308e-01 9.50484000e-01 -6.83567795e-03 -3.22098075e+01] [-2.22809572e-02 -9.32942976e-05 9.99751744e-01 -4.07165375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.638623853 meters 0.015537185862180823 Centerline is valid? [True, True] Translation: X:161.29, Y:-32.22, Z:-4.07 [[ 9.49992019e-01 3.11554807e-01 2.11841051e-02 1.61294870e+02] [-3.11480026e-01 9.50228178e-01 -6.82670194e-03 -3.22166427e+01] [-2.22566254e-02 -1.13113264e-04 9.99752284e-01 -4.07208187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.668623853 meters 0.01598420184069774 Centerline is valid? [True, True] Translation: X:161.32, Y:-32.22, Z:-4.07 [[ 9.49704637e-01 3.12419202e-01 2.13387954e-02 1.61321489e+02] [-3.12343573e-01 9.49944327e-01 -6.87518763e-03 -3.22231273e+01] [-2.24186082e-02 -1.35638018e-04 9.99748662e-01 -4.07257682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.69862385300002 meters 0.017586100198588694 Centerline is valid? [True, True] Translation: X:161.35, Y:-32.23, Z:-4.07 [[ 9.48824570e-01 3.15073044e-01 2.14688546e-02 1.61350041e+02] [-3.14997209e-01 9.49067404e-01 -6.91535270e-03 -3.22271690e+01] [-2.25542313e-02 -2.01172725e-04 9.99745601e-01 -4.07305356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72862385300002 meters 0.018868669325121382 Centerline is valid? [True, True] Translation: X:161.38, Y:-32.23, Z:-4.07 [[ 9.48287905e-01 3.16707692e-01 2.11255230e-02 1.61378171e+02] [-3.16634691e-01 9.48523158e-01 -6.80373786e-03 -3.22321681e+01] [-2.21928439e-02 -2.37171129e-04 9.99753680e-01 -4.07403460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.75862385300002 meters 0.02020130819243128 Centerline is valid? [True, True] Translation: X:161.41, Y:-32.24, Z:-4.08 [[ 9.47780941e-01 3.18248065e-01 2.07233208e-02 1.61406477e+02] [-3.18178215e-01 9.48007435e-01 -6.67286842e-03 -3.22370807e+01] [-2.17694896e-02 -2.69291694e-04 9.99762980e-01 -4.07574902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78862385300002 meters 0.02195521465713313 Centerline is valid? [True, True] Translation: X:161.43, Y:-32.24, Z:-4.08 [[ 9.47201464e-01 3.19988350e-01 2.04167185e-02 1.61434764e+02] [-3.19920976e-01 9.47421428e-01 -6.57316840e-03 -3.22415000e+01] [-2.14465739e-02 -3.05621770e-04 9.99769949e-01 -4.07733433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81862385300002 meters 0.025877704735513533 Centerline is valid? [True, True] Translation: X:161.47, Y:-32.24, Z:-4.08 [[ 9.45913785e-01 3.23756748e-01 2.07045756e-02 1.61465286e+02] [-3.23688393e-01 9.46140270e-01 -6.66443554e-03 -3.22411211e+01] [-2.17470887e-02 -3.97849350e-04 9.99763425e-01 -4.07730806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84862385300002 meters 0.028095000701428396 Centerline is valid? [True, True] Translation: X:161.49, Y:-32.24, Z:-4.08 [[ 9.45268079e-01 3.25610845e-01 2.11148410e-02 1.61493093e+02] [-3.25540232e-01 9.45503768e-01 -6.79574816e-03 -3.22445244e+01] [-2.21769310e-02 -4.49926420e-04 9.99753960e-01 -4.07709911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.87862385300002 meters 0.029941715676909588 Centerline is valid? [True, True] Translation: X:161.52, Y:-32.25, Z:-4.08 [[ 9.44752534e-01 3.27091497e-01 2.13026219e-02 1.61521839e+02] [-3.27020022e-01 9.44992546e-01 -6.85514287e-03 -3.22487750e+01] [-2.23730779e-02 -4.89970296e-04 9.99749571e-01 -4.07738929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90862385300002 meters 0.03162942717629425 Centerline is valid? [True, True] Translation: X:161.55, Y:-32.25, Z:-4.08 [[ 9.44361185e-01 3.28216675e-01 2.13486728e-02 1.61550785e+02] [-3.28145260e-01 9.44602320e-01 -6.86626189e-03 -3.22534397e+01] [-2.24196275e-02 -5.21234574e-04 9.99748513e-01 -4.07816630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.93862385300002 meters 0.033109122063191866 Centerline is valid? [True, True] Translation: X:161.58, Y:-32.26, Z:-4.08 [[ 9.44140533e-01 3.28884862e-01 2.08182738e-02 1.61578540e+02] [-3.28817195e-01 9.44369880e-01 -6.69199765e-03 -3.22561589e+01] [-2.18610474e-02 -5.27220158e-04 9.99760880e-01 -4.08018157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96862385300003 meters 0.032904305892399385 Centerline is valid? [True, True] Translation: X:161.61, Y:-32.26, Z:-4.08 [[ 9.44280430e-01 3.28509636e-01 2.03933366e-02 1.61606033e+02] [-3.28444655e-01 9.44500481e-01 -6.55358254e-03 -3.22632963e+01] [-2.14144313e-02 -5.09662661e-04 9.99770555e-01 -4.08151410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.99862385300003 meters 0.032436404998100354 Centerline is valid? [True, True] Translation: X:161.63, Y:-32.27, Z:-4.08 [[ 9.44608612e-01 3.27573354e-01 2.02550821e-02 1.61632685e+02] [-3.27509127e-01 9.44825623e-01 -6.50484606e-03 -3.22700435e+01] [-2.12683348e-02 -4.89190669e-04 9.99773684e-01 -4.08318907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.028623853 meters 0.031126010476167185 Centerline is valid? [True, True] Translation: X:161.66, Y:-32.28, Z:-4.08 [[ 9.45047358e-01 3.26315044e-01 2.00993343e-02 1.61660122e+02] [-3.26251548e-01 9.45260960e-01 -6.45335328e-03 -3.22784210e+01] [-2.11049423e-02 -4.58714465e-04 9.99777161e-01 -4.08427908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.058623853 meters 0.029231900792764633 Centerline is valid? [True, True] Translation: X:161.69, Y:-32.29, Z:-4.09 [[ 9.45664726e-01 3.24530963e-01 1.99469033e-02 1.61687637e+02] [-3.24468100e-01 9.45874980e-01 -6.40105800e-03 -3.22879909e+01] [-2.09446183e-02 -4.18879047e-04 9.99780550e-01 -4.08525140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.088623853 meters 0.024783129994570604 Centerline is valid? [True, True] Translation: X:161.71, Y:-32.30, Z:-4.09 [[ 9.47190579e-01 3.20042804e-01 2.00651460e-02 1.61713799e+02] [-3.19978268e-01 9.47403028e-01 -6.43507869e-03 -3.23001730e+01] [-2.10692807e-02 -3.25164742e-04 9.99777965e-01 -4.08640817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.118623853 meters 0.022363821913209646 Centerline is valid? [True, True] Translation: X:161.74, Y:-32.31, Z:-4.09 [[ 9.47997632e-01 3.17643372e-01 2.00792756e-02 1.61740371e+02] [-3.17578211e-01 9.48210216e-01 -6.43939752e-03 -3.23111791e+01] [-2.10848062e-02 -2.72206813e-04 9.99777654e-01 -4.08727853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.148623853 meters 0.016831090287814793 Centerline is valid? [True, True] Translation: X:161.76, Y:-32.33, Z:-4.09 [[ 9.49689715e-01 3.12580443e-01 1.95681280e-02 1.61764962e+02] [-3.12517557e-01 9.49891279e-01 -6.27180345e-03 -3.23278050e+01] [-2.05480373e-02 -1.59116326e-04 9.99788854e-01 -4.08750237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.178623853 meters 0.015642236633765298 Centerline is valid? [True, True] Translation: X:161.79, Y:-32.34, Z:-4.09 [[ 9.50501607e-01 3.10091458e-01 1.97479866e-02 1.61791132e+02] [-3.10026893e-01 9.50706725e-01 -6.32846088e-03 -3.23385617e+01] [-2.07369453e-02 -1.07194684e-04 9.99784961e-01 -4.08831320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.208623853 meters 0.014882155442602222 Centerline is valid? [True, True] Translation: X:161.82, Y:-32.35, Z:-4.09 [[ 9.51220215e-01 3.07860387e-01 2.00520332e-02 1.61818174e+02] [-3.07793352e-01 9.51431542e-01 -6.42451196e-03 -3.23497249e+01] [-2.10559896e-02 -6.07568374e-05 9.99778296e-01 -4.08859061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.238623853 meters 0.014584691845495193 Centerline is valid? [True, True] Translation: X:161.85, Y:-32.36, Z:-4.09 [[ 9.51849858e-01 3.05910999e-01 2.00076952e-02 1.61845039e+02] [-3.05843851e-01 9.52060114e-01 -6.40926831e-03 -3.23602420e+01] [-2.10091942e-02 -1.85694155e-05 9.99779282e-01 -4.08890900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.268623853 meters 0.01478705350810469 Centerline is valid? [True, True] Translation: X:161.87, Y:-32.37, Z:-4.09 [[ 9.52480791e-01 3.03929923e-01 2.01728792e-02 1.61869823e+02] [-3.03861236e-01 9.52694390e-01 -6.46125777e-03 -3.23697723e+01] [-2.11823584e-02 2.44679056e-05 9.99775628e-01 -4.09007000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.298623853 meters 0.02688730583395991 Centerline is valid? [True, True] Translation: X:161.90, Y:-32.38, Z:-4.08 [[ 9.53193673e-01 3.01696523e-01 2.00257203e-02 1.61897995e+02] [-3.01628383e-01 9.53404008e-01 -6.41215030e-03 -3.23780992e+01] [-2.10271255e-02 7.16954494e-05 9.99778903e-01 -4.08230273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.328623853 meters 0.015561464617378068 Centerline is valid? [True, True] Translation: X:161.92, Y:-32.39, Z:-4.09 [[ 9.53521549e-01 3.00627650e-01 2.04858744e-02 1.61924099e+02] [-3.00556118e-01 9.53741583e-01 -6.55843246e-03 -3.23878254e+01] [-2.15098764e-02 9.64518055e-05 9.99768631e-01 -4.08964886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.358623853 meters 0.015781052160173406 Centerline is valid? [True, True] Translation: X:161.95, Y:-32.40, Z:-4.09 [[ 9.53796409e-01 2.99746852e-01 2.05969676e-02 1.61951527e+02] [-2.99674367e-01 9.54018769e-01 -6.59260772e-03 -3.23961678e+01] [-2.16260071e-02 1.15622319e-04 9.99766124e-01 -4.08991502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.388623853 meters 0.016033237940161142 Centerline is valid? [True, True] Translation: X:161.98, Y:-32.40, Z:-4.09 [[ 9.53974458e-01 2.99177754e-01 2.06253689e-02 1.61979722e+02] [-2.99104960e-01 9.54197388e-01 -6.60060234e-03 -3.24042474e+01] [-2.16554265e-02 1.27655908e-04 9.99765486e-01 -4.09028857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.418623853 meters 0.016488689908585485 Centerline is valid? [True, True] Translation: X:162.01, Y:-32.41, Z:-4.09 [[ 9.54120145e-01 2.98723039e-01 2.04767051e-02 1.62006664e+02] [-2.98651208e-01 9.54339838e-01 -6.55199698e-03 -3.24120408e+01] [-2.14989679e-02 1.35999598e-04 9.99768861e-01 -4.09181752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44862385300002 meters 0.016488689908585485 Centerline is valid? [True, True] Translation: X:162.03, Y:-32.42, Z:-4.09 [[ 9.54140892e-01 2.98656740e-01 2.04770847e-02 1.62032889e+02] [-2.98584919e-01 9.54360589e-01 -6.55081033e-03 -3.24202883e+01] [-2.14989663e-02 1.36247340e-04 9.99768861e-01 -4.09250900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47862385300002 meters 0.017084099086124755 Centerline is valid? [True, True] Translation: X:162.06, Y:-32.43, Z:-4.10 [[ 9.54437157e-01 2.97761178e-01 1.96975989e-02 1.62060599e+02] [-2.97694562e-01 9.54640382e-01 -6.29989925e-03 -3.24274386e+01] [-2.06799888e-02 1.48989850e-04 9.99786135e-01 -4.09510724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50862385300002 meters 0.017581562108613554 Centerline is valid? [True, True] Translation: X:162.09, Y:-32.44, Z:-4.10 [[ 9.54570579e-01 2.97334681e-01 1.96747738e-02 1.62086355e+02] [-2.97268142e-01 9.54773304e-01 -6.29197086e-03 -3.24356629e+01] [-2.06557700e-02 1.57446803e-04 9.99786634e-01 -4.09636704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53862385300002 meters 0.017044868517116642 Centerline is valid? [True, True] Translation: X:162.11, Y:-32.44, Z:-4.10 [[ 9.54644245e-01 2.97102774e-01 1.96037503e-02 1.62114523e+02] [-2.97036730e-01 9.54845493e-01 -6.26614775e-03 -3.24424191e+01] [-2.05802425e-02 1.58908009e-04 9.99788192e-01 -4.09633833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56862385300002 meters 0.016963290340367865 Centerline is valid? [True, True] Translation: X:162.14, Y:-32.45, Z:-4.10 [[ 9.54706539e-01 2.96919111e-01 1.93511299e-02 1.62142165e+02] [-2.96854741e-01 9.54902621e-01 -6.18439118e-03 -3.24491599e+01] [-2.03147086e-02 1.59804054e-04 9.99793622e-01 -4.09675544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.59862385300002 meters 0.016938746505105743 Centerline is valid? [True, True] Translation: X:162.17, Y:-32.45, Z:-4.10 [[ 9.54644080e-01 2.97118003e-01 1.93796747e-02 1.62168747e+02] [-2.97053502e-01 9.54840755e-01 -6.19263820e-03 -3.24549505e+01] [-2.03444475e-02 1.54965157e-04 9.99793018e-01 -4.09772306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62862385300002 meters 0.01714096527504148 Centerline is valid? [True, True] Translation: X:162.19, Y:-32.46, Z:-4.10 [[ 9.54691064e-01 2.96976554e-01 1.92327550e-02 1.62194639e+02] [-2.96913035e-01 9.54884759e-01 -6.14387788e-03 -3.24620886e+01] [-2.01896523e-02 1.55049656e-04 9.99796156e-01 -4.09868094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.65862385300002 meters 0.01726200660443353 Centerline is valid? [True, True] Translation: X:162.22, Y:-32.47, Z:-4.10 [[ 9.54751270e-01 2.96796176e-01 1.90274176e-02 1.62222695e+02] [-2.96734009e-01 9.54940839e-01 -6.07633925e-03 -3.24696180e+01] [-1.99734924e-02 1.55310698e-04 9.99800498e-01 -4.09985951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68862385300002 meters 0.01783662554627131 Centerline is valid? [True, True] Translation: X:162.25, Y:-32.48, Z:-4.10 [[ 9.54885251e-01 2.96401028e-01 1.84550247e-02 1.62249706e+02] [-2.96342485e-01 9.55063561e-01 -5.89286223e-03 -3.24772930e+01] [-1.93723720e-02 1.57999367e-04 9.99812326e-01 -4.10228635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.71862385300003 meters 0.017998236310508026 Centerline is valid? [True, True] Translation: X:162.28, Y:-32.49, Z:-4.10 [[ 9.55077959e-01 2.95772166e-01 1.85719605e-02 1.62277200e+02] [-2.95712802e-01 9.55258497e-01 -5.92808274e-03 -3.24858851e+01] [-1.94943850e-02 1.69814692e-04 9.99809952e-01 -4.10294394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74862385300003 meters 0.01836864605330105 Centerline is valid? [True, True] Translation: X:162.30, Y:-32.50, Z:-4.10 [[ 9.55352146e-01 2.94886698e-01 1.85502685e-02 1.62304864e+02] [-2.94827324e-01 9.55532208e-01 -5.92019041e-03 -3.24952563e+01] [-1.94711644e-02 1.86740591e-04 9.99810401e-01 -4.10393842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.778623853 meters 0.01922452894381447 Centerline is valid? [True, True] Translation: X:162.33, Y:-32.50, Z:-4.10 [[ 9.55586040e-01 2.94133078e-01 1.84676100e-02 1.62330948e+02] [-2.94074108e-01 9.55764454e-01 -5.89290692e-03 -3.25047388e+01] [-1.93839840e-02 2.00333652e-04 9.99812093e-01 -4.10489490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.808623853 meters 0.01958408270916593 Centerline is valid? [True, True] Translation: X:162.36, Y:-32.51, Z:-4.10 [[ 9.55891953e-01 2.93113846e-01 1.88373772e-02 1.62358032e+02] [-2.93052320e-01 9.56077519e-01 -6.00956090e-03 -3.25134642e+01] [-1.97714784e-02 2.24153824e-04 9.99804500e-01 -4.10448100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.838623853 meters 0.021185365371553647 Centerline is valid? [True, True] Translation: X:162.38, Y:-32.52, Z:-4.10 [[ 9.56485171e-01 2.91134001e-01 1.94193340e-02 1.62383538e+02] [-2.91068226e-01 9.56682246e-01 -6.19422068e-03 -3.25242203e+01] [-2.03814803e-02 2.72329133e-04 9.99792239e-01 -4.10440743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.868623853 meters 0.02232181603676477 Centerline is valid? [True, True] Translation: X:162.41, Y:-32.53, Z:-4.11 [[ 9.56816045e-01 2.90044658e-01 1.94204286e-02 1.62409440e+02] [-2.89978677e-01 9.57013067e-01 -6.19330269e-03 -3.25347966e+01] [-2.03819383e-02 2.94341190e-04 9.99792223e-01 -4.10530688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.898623853 meters 0.023307305475616956 Centerline is valid? [True, True] Translation: X:162.44, Y:-32.55, Z:-4.11 [[ 9.57184137e-01 2.88813480e-01 1.96291017e-02 1.62436394e+02] [-2.88745843e-01 9.57385330e-01 -6.25850988e-03 -3.25452216e+01] [-2.06001560e-02 3.22724876e-04 9.99787742e-01 -4.10564654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.928623853 meters 0.02545767187546386 Centerline is valid? [True, True] Translation: X:162.46, Y:-32.56, Z:-4.11 [[ 9.57479652e-01 2.87836305e-01 1.95698035e-02 1.62461255e+02] [-2.87768889e-01 9.57679562e-01 -6.23878508e-03 -3.25574063e+01] [-2.05373497e-02 3.41929183e-04 9.99789028e-01 -4.10723230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.958623853 meters 0.024088168525543796 Centerline is valid? [True, True] Translation: X:162.49, Y:-32.56, Z:-4.11 [[ 9.57870136e-01 2.86522638e-01 1.97377723e-02 1.62489064e+02] [-2.86453822e-01 9.58073400e-01 -6.29029041e-03 -3.25649336e+01] [-2.07125452e-02 3.71321023e-04 9.99785403e-01 -4.10693666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.988623853 meters 0.026741637554175707 Centerline is valid? [True, True] Translation: X:162.51, Y:-32.58, Z:-4.11 [[ 9.58514486e-01 2.84405148e-01 1.90706977e-02 1.62514008e+02] [-2.84340505e-01 9.58704099e-01 -6.07678368e-03 -3.25794888e+01] [-2.00114246e-02 4.02113389e-04 9.99799671e-01 -4.10907543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.018623853 meters 0.0296728539685836 Centerline is valid? [True, True] Translation: X:162.54, Y:-32.59, Z:-4.11 [[ 9.58792255e-01 2.83505885e-01 1.84885318e-02 1.62538338e+02] [-2.83444983e-01 9.58970410e-01 -5.89016834e-03 -3.25929834e+01] [-1.93998523e-02 4.06966218e-04 9.99811722e-01 -4.11122532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.048623853 meters 0.028894370999923966 Centerline is valid? [True, True] Translation: X:162.57, Y:-32.60, Z:-4.11 [[ 9.59118820e-01 2.82399293e-01 1.84858880e-02 1.62565341e+02] [-2.82338233e-01 9.59296855e-01 -5.88781230e-03 -3.26016223e+01] [-1.93961682e-02 4.27838653e-04 9.99811785e-01 -4.11164436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.078623853 meters 0.030018085994720976 Centerline is valid? [True, True] Translation: X:162.59, Y:-32.61, Z:-4.11 [[ 9.59406561e-01 2.81411616e-01 1.86159337e-02 1.62590219e+02] [-2.81349530e-01 9.59587047e-01 -5.92807740e-03 -3.26136316e+01] [-1.95318386e-02 4.49852172e-04 9.99809134e-01 -4.11196179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.108623853 meters 0.029664654434879343 Centerline is valid? [True, True] Translation: X:162.62, Y:-32.62, Z:-4.11 [[ 9.59457480e-01 2.81222879e-01 1.88424114e-02 1.62616348e+02] [-2.81159266e-01 9.59642372e-01 -5.99871549e-03 -3.26231320e+01] [-1.97689524e-02 4.57793904e-04 9.99804470e-01 -4.11176489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.138623853 meters 0.028687602007445797 Centerline is valid? [True, True] Translation: X:162.64, Y:-32.63, Z:-4.11 [[ 9.59385206e-01 2.81449994e-01 1.91292170e-02 1.62643352e+02] [-2.81384507e-01 9.59575787e-01 -6.08838521e-03 -3.26320777e+01] [-2.00695095e-02 4.58441393e-04 9.99798482e-01 -4.11203955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.168623853 meters 0.028898564574407457 Centerline is valid? [True, True] Translation: X:162.67, Y:-32.64, Z:-4.11 [[ 9.59165297e-01 2.82194095e-01 1.91943985e-02 1.62668872e+02] [-2.82128329e-01 9.59357231e-01 -6.10821399e-03 -3.26423206e+01] [-2.01379870e-02 4.43503311e-04 9.99797112e-01 -4.11233097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.19862385300002 meters 0.02649866854624203 Centerline is valid? [True, True] Translation: X:162.70, Y:-32.65, Z:-4.11 [[ 9.58452139e-01 2.84603139e-01 1.92496702e-02 1.62696729e+02] [-2.84537509e-01 9.58645346e-01 -6.12426660e-03 -3.26496409e+01] [-2.01965923e-02 3.92563202e-04 9.99795951e-01 -4.11261738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22862385300002 meters 0.02448271162460426 Centerline is valid? [True, True] Translation: X:162.72, Y:-32.66, Z:-4.11 [[ 9.58032423e-01 2.86014743e-01 1.92209355e-02 1.62724717e+02] [-2.85949613e-01 9.58225149e-01 -6.11413695e-03 -3.26561541e+01] [-2.01667171e-02 3.61322368e-04 9.99796566e-01 -4.11323931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25862385300002 meters 0.023565205066103066 Centerline is valid? [True, True] Translation: X:162.75, Y:-32.66, Z:-4.11 [[ 9.57582666e-01 2.87514311e-01 1.92602610e-02 1.62751302e+02] [-2.87449238e-01 9.57776285e-01 -6.12562721e-03 -3.26642729e+01] [-2.02082267e-02 3.29447095e-04 9.99795739e-01 -4.11438532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28862385300002 meters 0.021855577972794863 Centerline is valid? [True, True] Translation: X:162.78, Y:-32.67, Z:-4.11 [[ 9.57063830e-01 2.89243280e-01 1.91611587e-02 1.62778900e+02] [-2.89179241e-01 9.57255577e-01 -6.09311371e-03 -3.26716249e+01] [-2.01045183e-02 2.90489403e-04 9.99797842e-01 -4.11452319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31862385300002 meters 0.020796974388108663 Centerline is valid? [True, True] Translation: X:162.81, Y:-32.68, Z:-4.12 [[ 9.56659376e-01 2.90581618e-01 1.91092137e-02 1.62806562e+02] [-2.90518212e-01 9.56850174e-01 -6.07559577e-03 -3.26794492e+01] [-2.00501109e-02 2.60701046e-04 9.99798942e-01 -4.11560624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34862385300002 meters 0.01984807697937827 Centerline is valid? [True, True] Translation: X:162.83, Y:-32.69, Z:-4.12 [[ 9.56221862e-01 2.92034537e-01 1.88568355e-02 1.62833072e+02] [-2.91973096e-01 9.56407747e-01 -5.99445369e-03 -3.26869779e+01] [-1.97854111e-02 2.26339036e-04 9.99804224e-01 -4.11701789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.37862385300002 meters 0.01758072113641358 Centerline is valid? [True, True] Translation: X:162.86, Y:-32.69, Z:-4.12 [[ 9.55318647e-01 2.94960355e-01 1.90963641e-02 1.62861587e+02] [-2.94897953e-01 9.55509477e-01 -6.06927652e-03 -3.26934304e+01] [-2.00369529e-02 1.66614334e-04 9.99799226e-01 -4.11716341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40862385300002 meters 0.016553607807180248 Centerline is valid? [True, True] Translation: X:162.89, Y:-32.70, Z:-4.12 [[ 9.54866867e-01 2.96414436e-01 1.91767883e-02 1.62889657e+02] [-2.96351820e-01 9.55059403e-01 -6.09383158e-03 -3.27006949e+01] [-2.01212717e-02 1.35721742e-04 9.99797538e-01 -4.11727759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.43862385300002 meters 0.01573234825146186 Centerline is valid? [True, True] Translation: X:162.92, Y:-32.71, Z:-4.12 [[ 9.54426464e-01 2.97829478e-01 1.91762264e-02 1.62917829e+02] [-2.97767171e-01 9.54619082e-01 -6.09265062e-03 -3.27073905e+01] [-2.01205626e-02 1.04936287e-04 9.99797555e-01 -4.11762801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46862385300003 meters 0.0149150394458767 Centerline is valid? [True, True] Translation: X:162.95, Y:-32.71, Z:-4.12 [[ 9.53387414e-01 3.01150361e-01 1.89973404e-02 1.62945209e+02] [-3.01089889e-01 9.53576666e-01 -6.03487298e-03 -3.27118660e+01] [-1.99328247e-02 3.36648202e-05 9.99801321e-01 -4.11916603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.49862385300003 meters 0.014826234437055575 Centerline is valid? [True, True] Translation: X:162.97, Y:-32.72, Z:-4.12 [[ 9.52817859e-01 3.02964735e-01 1.87215648e-02 1.62971697e+02] [-3.02906378e-01 9.53001768e-01 -5.94618174e-03 -3.27178520e+01] [-1.96431677e-02 -5.25321326e-06 9.99807054e-01 -4.12003818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.528623853 meters 0.01490024966341678 Centerline is valid? [True, True] Translation: X:163.00, Y:-32.72, Z:-4.12 [[ 9.52271090e-01 3.04686674e-01 1.85957569e-02 1.62999517e+02] [-3.04629463e-01 9.52452639e-01 -5.90430589e-03 -3.27242324e+01] [-1.95105411e-02 -4.23156494e-05 9.99809650e-01 -4.12084148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.558623853 meters 0.015398958797095005 Centerline is valid? [True, True] Translation: X:163.03, Y:-32.73, Z:-4.12 [[ 9.51796516e-01 3.06145181e-01 1.89346327e-02 1.63027063e+02] [-3.06086174e-01 9.51984833e-01 -6.01095235e-03 -3.27303296e+01] [-1.98657072e-02 -7.44257756e-05 9.99802655e-01 -4.12176025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.588623853 meters 0.016435249505092196 Centerline is valid? [True, True] Translation: X:163.05, Y:-32.74, Z:-4.12 [[ 9.51084486e-01 3.08286345e-01 1.99456933e-02 1.63054289e+02] [-3.08221364e-01 9.51293600e-01 -6.33068317e-03 -3.27350654e+01] [-2.09258736e-02 -1.26674243e-04 9.99781022e-01 -4.12039248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.618623853 meters 0.016547479005712677 Centerline is valid? [True, True] Translation: X:163.08, Y:-32.74, Z:-4.12 [[ 9.50865842e-01 3.08956738e-01 1.99971094e-02 1.63081472e+02] [-3.08891615e-01 9.51076082e-01 -6.34480125e-03 -3.27431633e+01] [-2.09790415e-02 -1.43884634e-04 9.99779905e-01 -4.12032677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.648623853 meters 0.022147713438513097 Centerline is valid? [True, True] Translation: X:163.11, Y:-32.75, Z:-4.11 [[ 9.50737339e-01 3.09356128e-01 1.99323732e-02 1.63109604e+02] [-3.09291535e-01 9.50946246e-01 -6.32324132e-03 -3.27509536e+01] [-2.09107489e-02 -1.53172691e-04 9.99781335e-01 -4.11474362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.678623853 meters 0.016658139065557492 Centerline is valid? [True, True] Translation: X:163.14, Y:-32.76, Z:-4.12 [[ 9.50807942e-01 3.09091402e-01 2.06582161e-02 1.63135973e+02] [-3.09021975e-01 9.51032324e-01 -6.55265970e-03 -3.27582552e+01] [-2.16720020e-02 -1.53521862e-04 9.99765123e-01 -4.12039225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.708623853 meters 0.016295561114803514 Centerline is valid? [True, True] Translation: X:163.16, Y:-32.77, Z:-4.12 [[ 9.50899407e-01 3.08770209e-01 2.12432651e-02 1.63163395e+02] [-3.08696790e-01 9.51136654e-01 -6.73476603e-03 -3.27678424e+01] [-2.22847432e-02 -1.53642721e-04 9.99751652e-01 -4.12059910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.738623853 meters 0.0158465732162714 Centerline is valid? [True, True] Translation: X:163.19, Y:-32.78, Z:-4.12 [[ 9.51135656e-01 3.08034276e-01 2.13506181e-02 1.63190266e+02] [-3.07959954e-01 9.51375250e-01 -6.76767047e-03 -3.27777376e+01] [-2.23971241e-02 -1.38162668e-04 9.99749143e-01 -4.12126059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.768623853 meters 0.015279549773818782 Centerline is valid? [True, True] Translation: X:163.22, Y:-32.79, Z:-4.12 [[ 9.51754017e-01 3.06140676e-01 2.10280220e-02 1.63216175e+02] [-3.06068144e-01 9.51986280e-01 -6.66436351e-03 -3.27887963e+01] [-2.20586212e-02 -9.31729058e-05 9.99756675e-01 -4.12275241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.798623853 meters 0.014981875787680756 Centerline is valid? [True, True] Translation: X:163.24, Y:-32.80, Z:-4.12 [[ 9.52047329e-01 3.05243438e-01 2.07924552e-02 1.63243057e+02] [-3.05172338e-01 9.52274350e-01 -6.58831249e-03 -3.27984934e+01] [-2.18111609e-02 -7.28968590e-05 9.99762106e-01 -4.12358714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.828623853 meters 0.014851113197075815 Centerline is valid? [True, True] Translation: X:163.27, Y:-32.81, Z:-4.13 [[ 9.52278092e-01 3.04537443e-01 2.05762472e-02 1.63269612e+02] [-3.04467670e-01 9.52500364e-01 -6.51883262e-03 -3.28073180e+01] [-2.15841115e-02 -5.70605380e-05 9.99767034e-01 -4.12507661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.858623853 meters 0.014764887726968037 Centerline is valid? [True, True] Translation: X:163.30, Y:-32.82, Z:-4.13 [[ 9.52572421e-01 3.03644827e-01 2.01395507e-02 1.63295258e+02] [-3.03577817e-01 9.52785295e-01 -6.37899091e-03 -3.28158439e+01] [-2.11256153e-02 -3.74700042e-05 9.99776829e-01 -4.12613201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.888623853 meters 0.014656127578515874 Centerline is valid? [True, True] Translation: X:163.32, Y:-32.82, Z:-4.13 [[ 9.52603988e-01 3.03551903e-01 2.00470566e-02 1.63322644e+02] [-3.03485525e-01 9.52814904e-01 -6.34783942e-03 -3.28234997e+01] [-2.10280330e-02 -3.70143530e-05 9.99778886e-01 -4.12641748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.918623853 meters 0.014785028355811136 Centerline is valid? [True, True] Translation: X:163.35, Y:-32.83, Z:-4.13 [[ 9.52594622e-01 3.03591887e-01 1.98859821e-02 1.63348924e+02] [-3.03526612e-01 9.52802164e-01 -6.29531811e-03 -3.28299142e+01] [-2.08586143e-02 -3.90386154e-05 9.99782435e-01 -4.12794833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94862385300002 meters 0.014870857313638856 Centerline is valid? [True, True] Translation: X:163.38, Y:-32.84, Z:-4.13 [[ 9.52633514e-01 3.03476131e-01 1.97895641e-02 1.63375586e+02] [-3.03411501e-01 9.52839040e-01 -6.26295754e-03 -3.28366866e+01] [-2.07569273e-02 -3.80780852e-05 9.99784551e-01 -4.12935634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97862385300002 meters 0.014693916270269721 Centerline is valid? [True, True] Translation: X:163.40, Y:-32.84, Z:-4.13 [[ 9.52772241e-01 3.03012590e-01 2.02095653e-02 1.63403709e+02] [-3.02945125e-01 9.52986553e-01 -6.39390140e-03 -3.28442833e+01] [-2.11968766e-02 -3.04575165e-05 9.99775321e-01 -4.12925106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00862385300002 meters 0.0145775625339571 Centerline is valid? [True, True] Translation: X:163.43, Y:-32.85, Z:-4.13 [[ 9.52975277e-01 3.02360602e-01 2.04006806e-02 1.63430809e+02] [-3.02291726e-01 9.53193614e-01 -6.45340821e-03 -3.28526576e+01] [-2.13970549e-02 -1.70184732e-05 9.99771057e-01 -4.12976255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03862385300002 meters 0.014606788234568215 Centerline is valid? [True, True] Translation: X:163.46, Y:-32.86, Z:-4.13 [[ 9.53319605e-01 3.01280375e-01 2.02944870e-02 1.63457852e+02] [-3.01212002e-01 9.53535598e-01 -6.41823617e-03 -3.28615977e+01] [-2.12852044e-02 5.68730497e-06 9.99773444e-01 -4.13012528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06862385300002 meters 0.014744429099403437 Centerline is valid? [True, True] Translation: X:163.48, Y:-32.87, Z:-4.13 [[ 9.53610309e-01 3.00366110e-01 2.01885746e-02 1.63483590e+02] [-3.00298277e-01 9.53823988e-01 -6.38319254e-03 -3.28703523e+01] [-2.11736415e-02 2.44840299e-05 9.99775813e-01 -4.13223271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09862385300002 meters 0.01495062220886775 Centerline is valid? [True, True] Translation: X:163.51, Y:-32.88, Z:-4.13 [[ 9.53968826e-01 2.99231974e-01 2.00924195e-02 1.63511199e+02] [-2.99164577e-01 9.54180393e-01 -6.35078458e-03 -3.28802554e+01] [-2.10721506e-02 4.75103063e-05 9.99777956e-01 -4.13312549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12862385300002 meters 0.015585204237465415 Centerline is valid? [True, True] Translation: X:163.54, Y:-32.89, Z:-4.13 [[ 9.54634651e-01 2.97102536e-01 2.00690231e-02 1.63538299e+02] [-2.97034846e-01 9.54845576e-01 -6.34236421e-03 -3.28905549e+01] [-2.10471505e-02 9.34414474e-05 9.99778480e-01 -4.13293545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.15862385300002 meters 0.015958846225586156 Centerline is valid? [True, True] Translation: X:163.57, Y:-32.90, Z:-4.13 [[ 9.54880514e-01 2.96306890e-01 2.01353152e-02 1.63565454e+02] [-2.96238598e-01 9.55092778e-01 -6.36226675e-03 -3.28993871e+01] [-2.11162776e-02 1.10346997e-04 9.99777020e-01 -4.13312640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18862385300002 meters 0.016196615332328988 Centerline is valid? [True, True] Translation: X:163.59, Y:-32.91, Z:-4.13 [[ 9.55134700e-01 2.95479325e-01 2.02403800e-02 1.63592618e+02] [-2.95410155e-01 9.55349126e-01 -6.39441654e-03 -3.29076087e+01] [-2.12260472e-02 1.28315349e-04 9.99774694e-01 -4.13368964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.21862385300003 meters 0.016576937356844727 Centerline is valid? [True, True] Translation: X:163.62, Y:-32.92, Z:-4.13 [[ 9.55386111e-01 2.94672704e-01 2.01339754e-02 1.63620179e+02] [-2.94604102e-01 9.55598230e-01 -6.35976116e-03 -3.29163506e+01] [-2.11140393e-02 1.44475732e-04 9.99777063e-01 -4.13469379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24862385300003 meters 0.017559682759938685 Centerline is valid? [True, True] Translation: X:163.65, Y:-32.93, Z:-4.14 [[ 9.55818106e-01 2.93281814e-01 1.99380456e-02 1.63646566e+02] [-2.93214259e-01 9.56026018e-01 -6.29689452e-03 -3.29257915e+01] [-2.09080550e-02 1.72566541e-04 9.99781388e-01 -4.13622093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.278623853 meters 0.01816647960434799 Centerline is valid? [True, True] Translation: X:163.67, Y:-32.94, Z:-4.14 [[ 9.56130478e-01 2.92265427e-01 1.98853933e-02 1.63673942e+02] [-2.92198036e-01 9.56337222e-01 -6.27892168e-03 -3.29350606e+01] [-2.08522535e-02 1.92995532e-04 9.99782549e-01 -4.13635230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.308623853 meters 0.019129673871408532 Centerline is valid? [True, True] Translation: X:163.70, Y:-32.94, Z:-4.14 [[ 9.56440233e-01 2.91243799e-01 1.99782340e-02 1.63700426e+02] [-2.91175573e-01 9.56648840e-01 -6.30736491e-03 -3.29449460e+01] [-2.09491353e-02 2.15443832e-04 9.99780520e-01 -4.13739519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.338623853 meters 0.019129673871408532 Centerline is valid? [True, True] Translation: X:163.73, Y:-32.95, Z:-4.14 [[ 9.56460349e-01 2.91177692e-01 1.99787996e-02 1.63726684e+02] [-2.91109488e-01 9.56668963e-01 -6.30557269e-03 -3.29530919e+01] [-2.09491396e-02 2.15012119e-04 9.99780520e-01 -4.13808664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.368623853 meters 0.02692466391993647 Centerline is valid? [True, True] Translation: X:163.75, Y:-32.96, Z:-4.13 [[ 9.56800777e-01 2.90100621e-01 1.93365612e-02 1.63754324e+02] [-2.90036543e-01 9.56996122e-01 -6.10135024e-03 -3.29615555e+01] [-2.02750196e-02 2.29467281e-04 9.99794414e-01 -4.13250796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.398623853 meters 0.021266608015183514 Centerline is valid? [True, True] Translation: X:163.78, Y:-32.97, Z:-4.14 [[ 9.57647561e-01 2.87278555e-01 1.95494429e-02 1.63780770e+02] [-2.87212491e-01 9.57847037e-01 -6.16750494e-03 -3.29735981e+01] [-2.04971678e-02 2.91451876e-04 9.99789869e-01 -4.14002901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.428623853 meters 0.023573109516552525 Centerline is valid? [True, True] Translation: X:163.81, Y:-32.99, Z:-4.14 [[ 9.58090848e-01 2.85808684e-01 1.93732752e-02 1.63806199e+02] [-2.85743524e-01 9.58286645e-01 -6.11096983e-03 -3.29856234e+01] [-2.03117191e-02 3.19076347e-04 9.99793645e-01 -4.14091628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.458623853 meters 0.025261955104458347 Centerline is valid? [True, True] Translation: X:163.83, Y:-33.00, Z:-4.14 [[ 9.58535988e-01 2.84321975e-01 1.92295031e-02 1.63831584e+02] [-2.84257505e-01 9.58728791e-01 -6.06435659e-03 -3.29963953e+01] [-2.01601081e-02 3.46773470e-04 9.99796704e-01 -4.14208844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.488623853 meters 0.027576553721808145 Centerline is valid? [True, True] Translation: X:163.86, Y:-33.01, Z:-4.14 [[ 9.59184292e-01 2.82148151e-01 1.89186505e-02 1.63857221e+02] [-2.82085349e-01 9.59370769e-01 -5.96514899e-03 -3.30089635e+01] [-1.98330560e-02 3.85003086e-04 9.99803231e-01 -4.14334085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.518623853 meters 0.02694038645285133 Centerline is valid? [True, True] Translation: X:163.88, Y:-33.02, Z:-4.14 [[ 9.59462703e-01 2.81202106e-01 1.88864137e-02 1.63884550e+02] [-2.81139359e-01 9.59648484e-01 -5.95375250e-03 -3.30173827e+01] [-1.97985260e-02 4.02689223e-04 9.99803909e-01 -4.14328719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.548623853 meters 0.027615091827276936 Centerline is valid? [True, True] Translation: X:163.91, Y:-33.03, Z:-4.14 [[ 9.59696980e-01 2.80391528e-01 1.90341290e-02 1.63911910e+02] [-2.80327657e-01 9.59885625e-01 -5.99931483e-03 -3.30277766e+01] [-1.99527439e-02 4.21731520e-04 9.99800835e-01 -4.14379304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.578623853 meters 0.028061091164847174 Centerline is valid? [True, True] Translation: X:163.94, Y:-33.04, Z:-4.14 [[ 9.59797526e-01 2.80044843e-01 1.90681890e-02 1.63937728e+02] [-2.79980693e-01 9.59986824e-01 -6.00911044e-03 -3.30372716e+01] [-1.99880305e-02 4.28804573e-04 9.99800127e-01 -4.14428371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.608623853 meters 0.028368511901724534 Centerline is valid? [True, True] Translation: X:163.96, Y:-33.05, Z:-4.14 [[ 9.59899259e-01 2.79679208e-01 1.93119785e-02 1.63964707e+02] [-2.79613360e-01 9.60093405e-01 -6.08459389e-03 -3.30467195e+01] [-2.02430376e-02 4.40709969e-04 9.99794992e-01 -4.14442266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.638623853 meters 0.02901532100847783 Centerline is valid? [True, True] Translation: X:163.99, Y:-33.06, Z:-4.14 [[ 9.59930721e-01 2.79547780e-01 1.96481598e-02 1.63990851e+02] [-2.79479613e-01 9.60131676e-01 -6.18952937e-03 -3.30575423e+01] [-2.05950898e-02 4.50259295e-04 9.99787797e-01 -4.14428115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.668623853 meters 0.028852632507032804 Centerline is valid? [True, True] Translation: X:164.02, Y:-33.07, Z:-4.15 [[ 9.59877619e-01 2.79732682e-01 1.96107698e-02 1.64017903e+02] [-2.79664840e-01 9.60077825e-01 -6.17643767e-03 -3.30672231e+01] [-2.05556167e-02 4.44181487e-04 9.99788612e-01 -4.14504171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.69862385300002 meters 0.02889603566064571 Centerline is valid? [True, True] Translation: X:164.04, Y:-33.08, Z:-4.15 [[ 9.59863342e-01 2.79794061e-01 1.94331857e-02 1.64044505e+02] [-2.79727472e-01 9.60059942e-01 -6.11963671e-03 -3.30768062e+01] [-2.03692611e-02 4.38019037e-04 9.99792429e-01 -4.14587449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72862385300002 meters 0.032721013187116045 Centerline is valid? [True, True] Translation: X:164.07, Y:-33.09, Z:-4.14 [[ 9.59754421e-01 2.80200449e-01 1.89514915e-02 1.64071257e+02] [-2.80137229e-01 9.59941422e-01 -5.96647550e-03 -3.30854338e+01] [-1.98641308e-02 4.17332933e-04 9.99802602e-01 -4.14081415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75862385300002 meters 0.027616847131723403 Centerline is valid? [True, True] Translation: X:164.10, Y:-33.09, Z:-4.15 [[ 9.59395269e-01 2.81426065e-01 1.89760016e-02 1.64097289e+02] [-2.81362945e-01 9.59582835e-01 -5.97298387e-03 -3.30945856e+01] [-1.98899988e-02 3.91308774e-04 9.99802098e-01 -4.14753888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78862385300002 meters 0.027139895468731343 Centerline is valid? [True, True] Translation: X:164.12, Y:-33.10, Z:-4.15 [[ 9.59167557e-01 2.82238167e-01 1.84178007e-02 1.64124469e+02] [-2.82178878e-01 9.59344300e-01 -5.79609207e-03 -3.31029960e+01] [-1.93048905e-02 3.62309127e-04 9.99813578e-01 -4.14955944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.81862385300002 meters 0.02596504480579907 Centerline is valid? [True, True] Translation: X:164.15, Y:-33.11, Z:-4.15 [[ 9.58804251e-01 2.83501773e-01 1.79207385e-02 1.64152348e+02] [-2.83445879e-01 9.58971656e-01 -5.63880562e-03 -3.31107999e+01] [-1.87840917e-02 3.26951308e-04 9.99823510e-01 -4.15119483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84862385300002 meters 0.02476038963813813 Centerline is valid? [True, True] Translation: X:164.18, Y:-33.12, Z:-4.15 [[ 9.58389107e-01 2.84919553e-01 1.76399407e-02 1.64179342e+02] [-2.84865651e-01 9.58551387e-01 -5.54966836e-03 -3.31179918e+01] [-1.84899987e-02 2.93728500e-04 9.99829002e-01 -4.15245785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.87862385300002 meters 0.021253384339774913 Centerline is valid? [True, True] Translation: X:164.21, Y:-33.12, Z:-4.15 [[ 9.57287757e-01 2.88566987e-01 1.81451133e-02 1.64207139e+02] [-2.88510627e-01 9.57459682e-01 -5.70755939e-03 -3.31231494e+01] [-1.90202276e-02 2.28718694e-04 9.99819073e-01 -4.15226222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90862385300002 meters 0.01952518210330276 Centerline is valid? [True, True] Translation: X:164.24, Y:-33.13, Z:-4.15 [[ 9.56662538e-01 2.90627069e-01 1.82399243e-02 1.64235308e+02] [-2.90570527e-01 9.56836387e-01 -5.73563170e-03 -3.31294935e+01] [-1.91195531e-02 1.87079576e-04 9.99817187e-01 -4.15175963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.93862385300002 meters 0.01714468577724784 Centerline is valid? [True, True] Translation: X:164.26, Y:-33.13, Z:-4.15 [[ 9.55913132e-01 2.93046163e-01 1.88156764e-02 1.64263817e+02] [-2.92986481e-01 9.56098283e-01 -5.91572878e-03 -3.31343437e+01] [-1.97232175e-02 1.42184026e-04 9.99805468e-01 -4.15087192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96862385300003 meters 0.016063102337513208 Centerline is valid? [True, True] Translation: X:164.29, Y:-33.14, Z:-4.15 [[ 9.55151939e-01 2.95503267e-01 1.90418678e-02 1.64291762e+02] [-2.95442649e-01 9.55341725e-01 -5.98585612e-03 -3.31399991e+01] [-1.99603308e-02 9.16222305e-05 9.99800769e-01 -4.15115883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.99862385300003 meters 0.015112575372466018 Centerline is valid? [True, True] Translation: X:164.32, Y:-33.14, Z:-4.15 [[ 9.54376936e-01 2.97997524e-01 1.90299568e-02 1.64319370e+02] [-2.97937496e-01 9.54566642e-01 -5.98119628e-03 -3.31441599e+01] [-1.99477437e-02 3.85781057e-05 9.99801023e-01 -4.15177733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.028623853 meters 0.014800384283403979 Centerline is valid? [True, True] Translation: X:164.35, Y:-33.15, Z:-4.15 [[ 9.53581769e-01 3.00534915e-01 1.89888196e-02 1.64347211e+02] [-3.00475670e-01 9.53770813e-01 -5.96720239e-03 -3.31479738e+01] [-1.99043345e-02 -1.54628667e-05 9.99801889e-01 -4.15146289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.058623853 meters 0.01636290490301641 Centerline is valid? [True, True] Translation: X:164.38, Y:-33.15, Z:-4.15 [[ 9.51967101e-01 3.05628833e-01 1.86990638e-02 1.64376065e+02] [-3.05572393e-01 9.52150724e-01 -5.87462772e-03 -3.31475602e+01] [-1.95997827e-02 -1.21465348e-04 9.99807898e-01 -4.15317259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.088623853 meters 0.017895796604172086 Centerline is valid? [True, True] Translation: X:164.40, Y:-33.15, Z:-4.15 [[ 9.51196074e-01 3.08032765e-01 1.84890203e-02 1.64404325e+02] [-3.07978063e-01 9.51375734e-01 -5.80744178e-03 -3.31522265e+01] [-1.93788876e-02 -1.70196828e-04 9.99812197e-01 -4.15375336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.118623853 meters 0.019523992258363626 Centerline is valid? [True, True] Translation: X:164.43, Y:-33.16, Z:-4.16 [[ 9.50575293e-01 3.09956162e-01 1.82699124e-02 1.64433217e+02] [-3.09903113e-01 9.50750827e-01 -5.73812044e-03 -3.31573947e+01] [-1.91487001e-02 -2.07387202e-04 9.99816625e-01 -4.15500103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.148623853 meters 0.023384832485328737 Centerline is valid? [True, True] Translation: X:164.46, Y:-33.16, Z:-4.16 [[ 9.49424660e-01 3.13474207e-01 1.80758490e-02 1.64462309e+02] [-3.13422986e-01 9.49596674e-01 -5.67348642e-03 -3.31581030e+01] [-1.89432578e-02 -2.78838658e-04 9.99820522e-01 -4.15682625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.178623853 meters 0.022818595236996465 Centerline is valid? [True, True] Translation: X:164.49, Y:-33.17, Z:-4.16 [[ 9.48957041e-01 3.14891547e-01 1.79957950e-02 1.64489578e+02] [-3.14841069e-01 9.49127609e-01 -5.64645550e-03 -3.31659535e+01] [-1.88583270e-02 -3.07571627e-04 9.99822119e-01 -4.15586168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.208623853 meters 0.02664657359741311 Centerline is valid? [True, True] Translation: X:164.52, Y:-33.17, Z:-4.16 [[ 9.48564583e-01 3.16072199e-01 1.79887846e-02 1.64518182e+02] [-3.16021994e-01 9.48735082e-01 -5.64306189e-03 -3.31672077e+01] [-1.88502060e-02 -3.32042938e-04 9.99822264e-01 -4.15825407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.238623853 meters 0.02963818223547454 Centerline is valid? [True, True] Translation: X:164.55, Y:-33.17, Z:-4.16 [[ 9.48169345e-01 3.17254362e-01 1.80156437e-02 1.64546287e+02] [-3.17204243e-01 9.48340415e-01 -5.65026494e-03 -3.31697278e+01] [-1.88775342e-02 -3.57230625e-04 9.99821740e-01 -4.15953962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.268623853 meters 0.026023941202022335 Centerline is valid? [True, True] Translation: X:164.57, Y:-33.18, Z:-4.16 [[ 9.47962590e-01 3.17861082e-01 1.82005641e-02 1.64572512e+02] [-3.17810049e-01 9.48137223e-01 -5.70785888e-03 -3.31816847e+01] [-1.90709385e-02 -3.73485481e-04 9.99818063e-01 -4.15793062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.298623853 meters 0.030210248003340493 Centerline is valid? [True, True] Translation: X:164.60, Y:-33.18, Z:-4.16 [[ 9.47652433e-01 3.18764777e-01 1.85440970e-02 1.64601959e+02] [-3.18712052e-01 9.47833770e-01 -5.81145725e-03 -3.31813052e+01] [-1.94292092e-02 -4.02985604e-04 9.99811154e-01 -4.15901990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.328623853 meters 0.02739742318020544 Centerline is valid? [True, True] Translation: X:164.63, Y:-33.19, Z:-4.16 [[ 9.47724089e-01 3.18546239e-01 1.86371763e-02 1.64627627e+02] [-3.18492951e-01 9.47907238e-01 -5.84015491e-03 -3.31916900e+01] [-1.95266737e-02 -4.00953793e-04 9.99809256e-01 -4.15823441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.358623853 meters 0.029256828440305357 Centerline is valid? [True, True] Translation: X:164.66, Y:-33.20, Z:-4.16 [[ 9.47833490e-01 3.18213042e-01 1.87652600e-02 1.64655515e+02] [-3.18159045e-01 9.48019145e-01 -5.87564205e-03 -3.31953867e+01] [-1.96595317e-02 -4.01206885e-04 9.99806652e-01 -4.15941828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.388623853 meters 0.027380568984799656 Centerline is valid? [True, True] Translation: X:164.68, Y:-33.20, Z:-4.16 [[ 9.48036843e-01 3.17614935e-01 1.86251488e-02 1.64682505e+02] [-3.17561638e-01 9.48219702e-01 -5.83119621e-03 -3.32046373e+01] [-1.95128081e-02 -3.86443904e-04 9.99809532e-01 -4.15960081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.418623853 meters 0.02891475507745546 Centerline is valid? [True, True] Translation: X:164.71, Y:-33.21, Z:-4.16 [[ 9.48496552e-01 3.16246531e-01 1.85046699e-02 1.64710934e+02] [-3.16193735e-01 9.48676975e-01 -5.78958644e-03 -3.32068513e+01] [-1.93858909e-02 -3.59657929e-04 9.99812011e-01 -4.16265341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44862385300002 meters 0.02421437400721901 Centerline is valid? [True, True] Translation: X:164.74, Y:-33.22, Z:-4.16 [[ 9.48855947e-01 3.15173599e-01 1.83846374e-02 1.64736543e+02] [-3.15121294e-01 9.49033977e-01 -5.75156493e-03 -3.32202056e+01] [-1.92603870e-02 -3.35984147e-04 9.99814445e-01 -4.16173097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47862385300002 meters 0.02432055252559198 Centerline is valid? [True, True] Translation: X:164.76, Y:-33.23, Z:-4.16 [[ 9.49189447e-01 3.14186333e-01 1.80649525e-02 1.64763848e+02] [-3.14135727e-01 9.49361285e-01 -5.64759792e-03 -3.32266170e+01] [-1.89245646e-02 -3.14206657e-04 9.99820865e-01 -4.16318535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50862385300002 meters 0.02601697911685985 Centerline is valid? [True, True] Translation: X:164.79, Y:-33.23, Z:-4.17 [[ 9.49509771e-01 3.13215425e-01 1.80912336e-02 1.64791707e+02] [-3.13164515e-01 9.49682057e-01 -5.65480018e-03 -3.32309359e+01] [-1.89520906e-02 -2.96244362e-04 9.99820349e-01 -4.16615064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53862385300002 meters 0.023841868249405936 Centerline is valid? [True, True] Translation: X:164.82, Y:-33.24, Z:-4.17 [[ 9.50222080e-01 3.11047906e-01 1.80886593e-02 1.64817931e+02] [-3.10996654e-01 9.50394200e-01 -5.65207512e-03 -3.32389500e+01] [-1.89494230e-02 -2.54785943e-04 9.99820411e-01 -4.16651090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56862385300002 meters 0.02535995265294604 Centerline is valid? [True, True] Translation: X:164.85, Y:-33.25, Z:-4.16 [[ 9.50648845e-01 3.09753048e-01 1.78835641e-02 1.64845296e+02] [-3.09702730e-01 9.50817016e-01 -5.58761675e-03 -3.32503177e+01] [-1.87347784e-02 -2.26727213e-04 9.99824463e-01 -4.15941833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59862385300002 meters 0.019387887757967907 Centerline is valid? [True, True] Translation: X:164.87, Y:-33.26, Z:-4.17 [[ 9.51072923e-01 3.08406102e-01 1.86003211e-02 1.64872375e+02] [-3.08351472e-01 9.51254767e-01 -5.80840262e-03 -3.32600332e+01] [-1.94849909e-02 -2.11221938e-04 9.99810127e-01 -4.16513999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62862385300002 meters 0.020392324699506564 Centerline is valid? [True, True] Translation: X:164.90, Y:-33.26, Z:-4.17 [[ 9.51489073e-01 3.07123646e-01 1.85367323e-02 1.64899737e+02] [-3.07069224e-01 9.51669602e-01 -5.78455540e-03 -3.32648910e+01] [-1.94174183e-02 -1.88118729e-04 9.99811446e-01 -4.16739388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.65862385300002 meters 0.017347822664727407 Centerline is valid? [True, True] Translation: X:164.93, Y:-33.28, Z:-4.17 [[ 9.52480207e-01 3.04048060e-01 1.83366644e-02 1.64926212e+02] [-3.03994246e-01 9.52656686e-01 -5.72156379e-03 -3.32768250e+01] [-1.92081763e-02 -1.24564208e-04 9.99815498e-01 -4.16746051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68862385300002 meters 0.016497745298259217 Centerline is valid? [True, True] Translation: X:164.95, Y:-33.29, Z:-4.17 [[ 9.52951434e-01 3.02559847e-01 1.84689625e-02 1.64952826e+02] [-3.02505048e-01 9.53130384e-01 -5.75904950e-03 -3.32864931e+01] [-1.93457865e-02 -9.88599203e-05 9.99812848e-01 -4.16802236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.71862385300003 meters 0.02120626292120097 Centerline is valid? [True, True] Translation: X:164.98, Y:-33.30, Z:-4.16 [[ 9.53654036e-01 3.00346885e-01 1.83228726e-02 1.64979905e+02] [-3.00292549e-01 9.53830040e-01 -5.71305382e-03 -3.32963823e+01] [-1.91928043e-02 -5.39453038e-05 9.99815800e-01 -4.16260499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74862385300003 meters 0.015215254760494573 Centerline is valid? [True, True] Translation: X:165.01, Y:-33.31, Z:-4.17 [[ 9.54162198e-01 2.98712038e-01 1.85908157e-02 1.65006560e+02] [-2.98655855e-01 9.54343291e-01 -5.79332885e-03 -3.33062092e+01] [-1.94725573e-02 -2.44805785e-05 9.99810391e-01 -4.16787808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.778623853 meters 0.015458556713394123 Centerline is valid? [True, True] Translation: X:165.03, Y:-33.32, Z:-4.17 [[ 9.55423483e-01 2.94647099e-01 1.86830156e-02 1.65032854e+02] [-2.94589665e-01 9.55606134e-01 -5.81764410e-03 -3.33179116e+01] [-1.95677563e-02 5.44904753e-05 9.99808532e-01 -4.16793023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.808623853 meters 0.01644903936964286 Centerline is valid? [True, True] Translation: X:165.06, Y:-33.33, Z:-4.17 [[ 9.56078591e-01 2.92530879e-01 1.84231547e-02 1.65058346e+02] [-2.92474653e-01 9.56256072e-01 -5.73601087e-03 -3.33294030e+01] [-1.92952139e-02 9.57713986e-05 9.99813825e-01 -4.17044098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.838623853 meters 0.017006061006408568 Centerline is valid? [True, True] Translation: X:165.09, Y:-33.34, Z:-4.17 [[ 9.56674519e-01 2.90579306e-01 1.83720531e-02 1.65085739e+02] [-2.90523071e-01 9.56850902e-01 -5.71800524e-03 -3.33395103e+01] [-1.92408496e-02 1.32764622e-04 9.99814869e-01 -4.16957047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.868623853 meters 0.020067946412332213 Centerline is valid? [True, True] Translation: X:165.11, Y:-33.35, Z:-4.17 [[ 9.57660205e-01 2.87304555e-01 1.85208970e-02 1.65110555e+02] [-2.87246811e-01 9.57839263e-01 -5.76341291e-03 -3.33534976e+01] [-1.93958971e-02 1.99322581e-04 9.99811862e-01 -4.17133819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.898623853 meters 0.029286418425050538 Centerline is valid? [True, True] Translation: X:165.14, Y:-33.36, Z:-4.17 [[ 9.58175381e-01 2.85605115e-01 1.81564539e-02 1.65138338e+02] [-2.85549326e-01 9.58347362e-01 -5.64946264e-03 -3.33631166e+01] [-1.90137051e-02 2.28612835e-04 9.99819197e-01 -4.16529318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.928623853 meters 0.02217011756029229 Centerline is valid? [True, True] Translation: X:165.17, Y:-33.37, Z:-4.17 [[ 9.58352067e-01 2.84979487e-01 1.86549700e-02 1.65165209e+02] [-2.84920550e-01 9.58533585e-01 -5.80063948e-03 -3.33733833e+01] [-1.95344786e-02 2.43870507e-04 9.99809154e-01 -4.17194691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.958623853 meters 0.02294125080210284 Centerline is valid? [True, True] Translation: X:165.19, Y:-33.38, Z:-4.17 [[ 9.58648070e-01 2.83969793e-01 1.88423605e-02 1.65192448e+02] [-2.83909477e-01 9.58833190e-01 -5.85861037e-03 -3.33819559e+01] [-1.97303490e-02 2.66820804e-04 9.99805302e-01 -4.17239811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.988623853 meters 0.024302446788446792 Centerline is valid? [True, True] Translation: X:165.22, Y:-33.39, Z:-4.17 [[ 9.58986033e-01 2.82812772e-01 1.90453409e-02 1.65218025e+02] [-2.82750998e-01 9.59175089e-01 -5.91789652e-03 -3.33925058e+01] [-1.99414732e-02 2.90090971e-04 9.99801107e-01 -4.17263944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.018623853 meters 0.025051211765249964 Centerline is valid? [True, True] Translation: X:165.25, Y:-33.40, Z:-4.17 [[ 9.59223784e-01 2.82000493e-01 1.91168665e-02 1.65245384e+02] [-2.81938105e-01 9.59414211e-01 -5.93949180e-03 -3.34027849e+01] [-2.00159330e-02 3.07528686e-04 9.99799614e-01 -4.17348170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.048623853 meters 0.023073753565661114 Centerline is valid? [True, True] Translation: X:165.27, Y:-33.41, Z:-4.17 [[ 9.59369291e-01 2.81506801e-01 1.90914751e-02 1.65273634e+02] [-2.81444556e-01 9.59559181e-01 -5.92784681e-03 -3.34093256e+01] [-1.99881294e-02 3.13802456e-04 9.99800168e-01 -4.17252734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.078623853 meters 0.026475347025881436 Centerline is valid? [True, True] Translation: X:165.30, Y:-33.42, Z:-4.17 [[ 9.59631434e-01 2.80627669e-01 1.88579566e-02 1.65298959e+02] [-2.80566786e-01 9.59816651e-01 -5.85443958e-03 -3.34229730e+01] [-1.97430985e-02 3.27187977e-04 9.99805032e-01 -4.17490033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.108623853 meters 0.02315177123340029 Centerline is valid? [True, True] Translation: X:165.33, Y:-33.43, Z:-4.17 [[ 9.59818881e-01 2.80008274e-01 1.85224714e-02 1.65327655e+02] [-2.79949446e-01 9.59997529e-01 -5.74905685e-03 -3.34269736e+01] [-1.93913103e-02 3.32697697e-04 9.99811916e-01 -4.17402900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.138623853 meters 0.028955855094894806 Centerline is valid? [True, True] Translation: X:165.35, Y:-33.44, Z:-4.18 [[ 9.60093598e-01 2.79074328e-01 1.83794257e-02 1.65351712e+02] [-2.79016249e-01 9.60269440e-01 -5.70390677e-03 -3.34444352e+01] [-1.92410147e-02 3.48125960e-04 9.99814814e-01 -4.17773016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.168623853 meters 0.02934739020093762 Centerline is valid? [True, True] Translation: X:165.38, Y:-33.45, Z:-4.18 [[ 9.60176680e-01 2.78795683e-01 1.82677503e-02 1.65379103e+02] [-2.78738296e-01 9.60350376e-01 -5.66722699e-03 -3.34541436e+01] [-1.91234393e-02 3.49617600e-04 9.99817069e-01 -4.17887912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.19862385300002 meters 0.029504815680356164 Centerline is valid? [True, True] Translation: X:165.41, Y:-33.46, Z:-4.18 [[ 9.60202361e-01 2.78706208e-01 1.82832176e-02 1.65405393e+02] [-2.78648721e-01 9.60376346e-01 -5.67130554e-03 -3.34633070e+01] [-1.91393978e-02 3.51005755e-04 9.99816763e-01 -4.17943030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22862385300002 meters 0.025999714606645456 Centerline is valid? [True, True] Translation: X:165.43, Y:-33.47, Z:-4.18 [[ 9.60206158e-01 2.78692818e-01 1.82879072e-02 1.65433153e+02] [-2.78635322e-01 9.60380232e-01 -5.67152839e-03 -3.34675454e+01] [-1.91439588e-02 3.50179576e-04 9.99816676e-01 -4.17833881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25862385300002 meters 0.025999714606645456 Centerline is valid? [True, True] Translation: X:165.46, Y:-33.48, Z:-4.18 [[ 9.60225474e-01 2.78626233e-01 1.82883005e-02 1.65459454e+02] [-2.78568750e-01 9.60399552e-01 -5.67025988e-03 -3.34755605e+01] [-1.91439587e-02 3.50178986e-04 9.99816676e-01 -4.17903038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28862385300002 meters 0.029102073805116514 Centerline is valid? [True, True] Translation: X:165.48, Y:-33.49, Z:-4.18 [[ 9.60088383e-01 2.79073168e-01 1.86671739e-02 1.65484234e+02] [-2.79013389e-01 9.60269778e-01 -5.78635973e-03 -3.34905972e+01] [-1.95403406e-02 3.47025314e-04 9.99809009e-01 -4.18073023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31862385300002 meters 0.025314300052905293 Centerline is valid? [True, True] Translation: X:165.51, Y:-33.49, Z:-4.18 [[ 9.60008916e-01 2.79343279e-01 1.87139980e-02 1.65513683e+02] [-2.79283291e-01 9.60191240e-01 -5.79885332e-03 -3.34947953e+01] [-1.95888877e-02 3.40443925e-04 9.99808061e-01 -4.17973873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34862385300002 meters 0.02846878784246858 Centerline is valid? [True, True] Translation: X:165.54, Y:-33.51, Z:-4.18 [[ 9.59935447e-01 2.79599693e-01 1.86533812e-02 1.65538872e+02] [-2.79540153e-01 9.60116608e-01 -5.77949907e-03 -3.35084952e+01] [-1.95253673e-02 3.33576981e-04 9.99809306e-01 -4.18227790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.37862385300002 meters 0.023954217491474472 Centerline is valid? [True, True] Translation: X:165.57, Y:-33.51, Z:-4.18 [[ 9.59875046e-01 2.79817835e-01 1.84898602e-02 1.65568284e+02] [-2.79759398e-01 9.60053058e-01 -5.72763313e-03 -3.35112216e+01] [-1.93539407e-02 3.25099961e-04 9.99812642e-01 -4.18117430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40862385300002 meters 0.02353675051898419 Centerline is valid? [True, True] Translation: X:165.60, Y:-33.52, Z:-4.18 [[ 9.59764338e-01 2.80243471e-01 1.77767363e-02 1.65595457e+02] [-2.80189544e-01 9.59928906e-01 -5.50585395e-03 -3.35212118e+01] [-1.86073827e-02 3.03466633e-04 9.99826822e-01 -4.18287984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.43862385300002 meters 0.0239721063113548 Centerline is valid? [True, True] Translation: X:165.62, Y:-33.53, Z:-4.18 [[ 9.59771050e-01 2.80226332e-01 1.76842710e-02 1.65621185e+02] [-2.80172975e-01 9.59933910e-01 -5.47654561e-03 -3.35308258e+01] [-1.85104037e-02 3.01575109e-04 9.99828622e-01 -4.18440155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46862385300003 meters 0.023356043070804473 Centerline is valid? [True, True] Translation: X:165.65, Y:-33.54, Z:-4.19 [[ 9.59793574e-01 2.80164263e-01 1.74436661e-02 1.65647808e+02] [-2.80112368e-01 9.59952029e-01 -5.40038913e-03 -3.35391578e+01] [-1.82580787e-02 2.97072169e-04 9.99833263e-01 -4.18507577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.49862385300003 meters 0.024028323917859876 Centerline is valid? [True, True] Translation: X:165.67, Y:-33.55, Z:-4.19 [[ 9.59723939e-01 2.80407415e-01 1.73678668e-02 1.65673830e+02] [-2.80356035e-01 9.59881033e-01 -5.37547500e-03 -3.35491906e+01] [-1.81784090e-02 2.89785764e-04 9.99834717e-01 -4.18623794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.528623853 meters 0.02256157511950543 Centerline is valid? [True, True] Translation: X:165.70, Y:-33.56, Z:-4.19 [[ 9.59394721e-01 2.81525250e-01 1.74728950e-02 1.65702083e+02] [-2.81473455e-01 9.59553782e-01 -5.40673753e-03 -3.35565195e+01] [-1.82883156e-02 2.69039318e-04 9.99832719e-01 -4.18603539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.558623853 meters 0.021853978633335776 Centerline is valid? [True, True] Translation: X:165.73, Y:-33.56, Z:-4.19 [[ 9.59088378e-01 2.82552749e-01 1.77038935e-02 1.65728628e+02] [-2.82499766e-01 9.59251730e-01 -5.47736427e-03 -3.35642339e+01] [-1.85301348e-02 2.51930643e-04 9.99828271e-01 -4.18645171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.588623853 meters 0.021415528445603738 Centerline is valid? [True, True] Translation: X:165.76, Y:-33.57, Z:-4.19 [[ 9.58842534e-01 2.83386361e-01 1.76964857e-02 1.65755603e+02] [-2.83333585e-01 9.59005795e-01 -5.47393798e-03 -3.35719494e+01] [-1.85222717e-02 2.34635833e-04 9.99828420e-01 -4.18730806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.618623853 meters 0.020204877491502134 Centerline is valid? [True, True] Translation: X:165.78, Y:-33.58, Z:-4.19 [[ 9.58484247e-01 2.84591629e-01 1.77638356e-02 1.65783224e+02] [-2.84538681e-01 9.58648820e-01 -5.49355266e-03 -3.35787740e+01] [-1.85926991e-02 2.10985351e-04 9.99827119e-01 -4.18773582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.648623853 meters 0.01873504499317953 Centerline is valid? [True, True] Translation: X:165.81, Y:-33.58, Z:-4.19 [[ 9.57947649e-01 2.86410572e-01 1.74724460e-02 1.65811239e+02] [-2.86359664e-01 9.58106964e-01 -5.40257191e-03 -3.35847824e+01] [-1.82878259e-02 1.71977283e-04 9.99832749e-01 -4.18861847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.678623853 meters 0.017983269205095152 Centerline is valid? [True, True] Translation: X:165.84, Y:-33.59, Z:-4.19 [[ 9.57701690e-01 2.87224132e-01 1.76002858e-02 1.65839516e+02] [-2.87172626e-01 9.57863390e-01 -5.44149360e-03 -3.35925739e+01] [-1.84215977e-02 1.57007336e-04 9.99830296e-01 -4.18905774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.708623853 meters 0.01772879726275886 Centerline is valid? [True, True] Translation: X:165.87, Y:-33.60, Z:-4.19 [[ 9.57579670e-01 2.87635263e-01 1.75251644e-02 1.65867512e+02] [-2.87584302e-01 9.57740014e-01 -5.41619957e-03 -3.36005578e+01] [-1.83424412e-02 1.46480415e-04 9.99831753e-01 -4.19015757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.738623853 meters 0.018138200236984568 Centerline is valid? [True, True] Translation: X:165.89, Y:-33.61, Z:-4.19 [[ 9.57499392e-01 2.87913635e-01 1.73393324e-02 1.65893410e+02] [-2.87863806e-01 9.57656368e-01 -5.35812315e-03 -3.36095422e+01] [-1.81477988e-02 1.39033424e-04 9.99835305e-01 -4.19182014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.768623853 meters 0.01765220339456117 Centerline is valid? [True, True] Translation: X:165.92, Y:-33.62, Z:-4.19 [[ 9.57444814e-01 2.88097129e-01 1.73052423e-02 1.65920370e+02] [-2.88047557e-01 9.57601183e-01 -5.34590835e-03 -3.36169182e+01] [-1.81116614e-02 1.33679462e-04 9.99835961e-01 -4.19245792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.798623853 meters 0.017090271052340983 Centerline is valid? [True, True] Translation: X:165.95, Y:-33.62, Z:-4.19 [[ 9.57280168e-01 2.88664546e-01 1.69546660e-02 1.65947820e+02] [-2.88617073e-01 9.57430293e-01 -5.23634897e-03 -3.36243143e+01] [-1.77444591e-02 1.19246952e-04 9.99842548e-01 -4.19238451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.828623853 meters 0.017102069975547064 Centerline is valid? [True, True] Translation: X:165.97, Y:-33.63, Z:-4.19 [[ 9.57152341e-01 2.89075476e-01 1.71687265e-02 1.65974822e+02] [-2.89026892e-01 9.57306302e-01 -5.30088013e-03 -3.36328199e+01] [-1.79680845e-02 1.11526176e-04 9.99838555e-01 -4.19385838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.858623853 meters 0.01722476329765643 Centerline is valid? [True, True] Translation: X:166.00, Y:-33.64, Z:-4.20 [[ 9.57035842e-01 2.89479222e-01 1.68575758e-02 1.66000913e+02] [-2.89432455e-01 9.57184293e-01 -5.20421390e-03 -3.36412858e+01] [-1.76423186e-02 1.01489669e-04 9.99844357e-01 -4.19555655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.888623853 meters 0.01637596590370386 Centerline is valid? [True, True] Translation: X:166.03, Y:-33.65, Z:-4.20 [[ 9.56558959e-01 2.91077133e-01 1.64030580e-02 1.66028829e+02] [-2.91033119e-01 9.56699586e-01 -5.06218106e-03 -3.36474116e+01] [-1.71662840e-02 6.84415035e-05 9.99852646e-01 -4.19612636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.918623853 meters 0.01633785595437891 Centerline is valid? [True, True] Translation: X:166.06, Y:-33.65, Z:-4.20 [[ 9.56289168e-01 2.91976464e-01 1.61484550e-02 1.66055124e+02] [-2.91933935e-01 9.56425503e-01 -4.98349835e-03 -3.36543172e+01] [-1.68998585e-02 5.13834541e-05 9.99857186e-01 -4.19838901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94862385300002 meters 0.01608895959276135 Centerline is valid? [True, True] Translation: X:166.08, Y:-33.66, Z:-4.20 [[ 9.56070842e-01 2.92680647e-01 1.63274203e-02 1.66082434e+02] [-2.92637306e-01 9.56210247e-01 -5.03684555e-03 -3.36607804e+01] [-1.70866338e-02 3.75688594e-05 9.99854012e-01 -4.19874300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97862385300002 meters 0.019188753514367798 Centerline is valid? [True, True] Translation: X:166.11, Y:-33.67, Z:-4.19 [[ 9.55615595e-01 2.94141086e-01 1.67288954e-02 1.66111691e+02] [-2.94095887e-01 9.55762011e-01 -5.15631042e-03 -3.36652161e+01] [-1.75055254e-02 7.55132771e-06 9.99846767e-01 -4.19153635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00862385300002 meters 0.015578051926533406 Centerline is valid? [True, True] Translation: X:166.14, Y:-33.67, Z:-4.20 [[ 9.55462659e-01 2.94609432e-01 1.72159422e-02 1.66138411e+02] [-2.94561655e-01 9.55617749e-01 -5.30557829e-03 -3.36730494e+01] [-1.80149333e-02 -1.87447349e-06 9.99837718e-01 -4.19842771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03862385300002 meters 0.015542646138233548 Centerline is valid? [True, True] Translation: X:166.17, Y:-33.68, Z:-4.20 [[ 9.55469102e-01 2.94615716e-01 1.67443773e-02 1.66166262e+02] [-2.94570541e-01 9.55615812e-01 -5.15910241e-03 -3.36809154e+01] [-1.75211444e-02 -3.03733725e-06 9.99846493e-01 -4.19867469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06862385300002 meters 0.015720742777230214 Centerline is valid? [True, True] Translation: X:166.19, Y:-33.69, Z:-4.20 [[ 9.55536578e-01 2.94412475e-01 1.64664267e-02 1.66192335e+02] [-2.94368760e-01 9.55678447e-01 -5.07330929e-03 -3.36880846e+01] [-1.72302546e-02 5.30992478e-07 9.99851548e-01 -4.20067561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.09862385300002 meters 0.015640009149164105 Centerline is valid? [True, True] Translation: X:166.22, Y:-33.70, Z:-4.20 [[ 9.55618407e-01 2.94165969e-01 1.61196683e-02 1.66220342e+02] [-2.94124089e-01 9.55754353e-01 -4.96359698e-03 -3.36964486e+01] [-1.68665644e-02 2.12188475e-06 9.99857749e-01 -4.20141151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12862385300002 meters 0.01575497672961044 Centerline is valid? [True, True] Translation: X:166.25, Y:-33.70, Z:-4.20 [[ 9.55893378e-01 2.93286752e-01 1.58344696e-02 1.66248262e+02] [-2.93246233e-01 9.56024519e-01 -4.87500374e-03 -3.37047174e+01] [-1.65679152e-02 1.65852306e-05 9.99862743e-01 -4.20258405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.15862385300002 meters 0.01597006252755431 Centerline is valid? [True, True] Translation: X:166.27, Y:-33.71, Z:-4.20 [[ 9.56079490e-01 2.92692573e-01 1.55905784e-02 1.66274927e+02] [-2.92653226e-01 9.56206597e-01 -4.79922534e-03 -3.37130260e+01] [-1.63125116e-02 2.58078390e-05 9.99866942e-01 -4.20459795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18862385300002 meters 0.01602104293209384 Centerline is valid? [True, True] Translation: X:166.30, Y:-33.72, Z:-4.20 [[ 9.56277175e-01 2.92059012e-01 1.53459419e-02 1.66302309e+02] [-2.92020825e-01 9.56400299e-01 -4.72283079e-03 -3.37215221e+01] [-1.60562087e-02 3.50006660e-05 9.99871090e-01 -4.20485372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.21862385300003 meters 0.0165374926791269 Centerline is valid? [True, True] Translation: X:166.33, Y:-33.73, Z:-4.21 [[ 9.56849803e-01 2.90178481e-01 1.53265367e-02 1.66328199e+02] [-2.90140161e-01 9.56972541e-01 -4.71615833e-03 -3.37308757e+01] [-1.60356025e-02 6.58113343e-05 9.99871419e-01 -4.20604905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24862385300003 meters 0.017323023423111577 Centerline is valid? [True, True] Translation: X:166.35, Y:-33.74, Z:-4.21 [[ 9.57217442e-01 2.88944781e-01 1.56742645e-02 1.66354745e+02] [-2.88904555e-01 9.57345761e-01 -4.82209121e-03 -3.37403415e+01] [-1.63990088e-02 8.74234118e-05 9.99865523e-01 -4.20748858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.278623853 meters 0.017299876908389366 Centerline is valid? [True, True] Translation: X:166.38, Y:-33.75, Z:-4.21 [[ 9.57616433e-01 2.87612470e-01 1.58061263e-02 1.66382828e+02] [-2.87571401e-01 9.57746864e-01 -4.86152383e-03 -3.37484247e+01] [-1.65365028e-02 1.10085224e-04 9.99863257e-01 -4.20623651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.308623853 meters 0.01888743698553359 Centerline is valid? [True, True] Translation: X:166.41, Y:-33.76, Z:-4.21 [[ 9.58046540e-01 2.86166086e-01 1.59936902e-02 1.66408413e+02] [-2.86123847e-01 9.58180021e-01 -4.91845510e-03 -3.37589000e+01] [-1.67323295e-02 1.35932717e-04 9.99859996e-01 -4.20824101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.338623853 meters 0.020643655868353226 Centerline is valid? [True, True] Translation: X:166.44, Y:-33.77, Z:-4.21 [[ 9.59141300e-01 2.82399838e-01 1.72713056e-02 1.66435411e+02] [-2.82349995e-01 9.59296766e-01 -5.30999062e-03 -3.37708103e+01] [-1.80678481e-02 2.16478262e-04 9.99836740e-01 -4.20520895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.368623853 meters 0.021997410823815216 Centerline is valid? [True, True] Translation: X:166.46, Y:-33.78, Z:-4.20 [[ 9.59713086e-01 2.80394610e-01 1.81564312e-02 1.66462562e+02] [-2.80339186e-01 9.59884781e-01 -5.58112012e-03 -3.37819834e+01] [-1.89929979e-02 2.66314882e-04 9.99819581e-01 -4.20432934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.398623853 meters 0.02368923184004755 Centerline is valid? [True, True] Translation: X:166.49, Y:-33.79, Z:-4.20 [[ 9.60292055e-01 2.78379569e-01 1.85468032e-02 1.66489206e+02] [-2.78321379e-01 9.60471092e-01 -5.70013112e-03 -3.37935377e+01] [-1.94004684e-02 3.11818792e-04 9.99811745e-01 -4.20434121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.428623853 meters 0.025504273467459444 Centerline is valid? [True, True] Translation: X:166.52, Y:-33.80, Z:-4.21 [[ 9.60935287e-01 2.76148218e-01 1.85886138e-02 1.66515498e+02] [-2.76089367e-01 9.61114995e-01 -5.71202310e-03 -3.38049293e+01] [-1.94431605e-02 3.56765934e-04 9.99810900e-01 -4.20503775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.458623853 meters 0.027015612964056655 Centerline is valid? [True, True] Translation: X:166.54, Y:-33.82, Z:-4.21 [[ 9.61468903e-01 2.74306110e-01 1.82676393e-02 1.66542496e+02] [-2.74248958e-01 9.61642350e-01 -5.61246539e-03 -3.38160831e+01] [-1.91064691e-02 3.86329898e-04 9.99817380e-01 -4.20606038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.488623853 meters 0.031730358455839484 Centerline is valid? [True, True] Translation: X:166.57, Y:-33.83, Z:-4.21 [[ 9.62342863e-01 2.71250684e-01 1.78684219e-02 1.66567573e+02] [-2.71195495e-01 9.62508637e-01 -5.48882767e-03 -3.38316797e+01] [-1.86873587e-02 4.36298606e-04 9.99825281e-01 -4.20849268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.518623853 meters 0.030175386316176302 Centerline is valid? [True, True] Translation: X:166.60, Y:-33.84, Z:-4.21 [[ 9.62664025e-01 2.70111996e-01 1.78181261e-02 1.66596082e+02] [-2.70056934e-01 9.62828802e-01 -5.47277820e-03 -3.38385695e+01] [-1.86340681e-02 4.56538181e-04 9.99826266e-01 -4.20836076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.548623853 meters 0.03327893569961503 Centerline is valid? [True, True] Translation: X:166.62, Y:-33.85, Z:-4.21 [[ 9.62883610e-01 2.69345591e-01 1.75529395e-02 1.66620788e+02] [-2.69292045e-01 9.63043477e-01 -5.39041237e-03 -3.38511896e+01] [-1.83561277e-02 4.63472753e-04 9.99831405e-01 -4.21035603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.578623853 meters 0.0323344195251072 Centerline is valid? [True, True] Translation: X:166.65, Y:-33.86, Z:-4.21 [[ 9.63003063e-01 2.68931052e-01 1.73548203e-02 1.66648383e+02] [-2.68878657e-01 9.63159318e-01 -5.32870582e-03 -3.38589741e+01] [-1.81485113e-02 4.65219254e-04 9.99835194e-01 -4.21071158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.608623853 meters 0.031986943702361534 Centerline is valid? [True, True] Translation: X:166.68, Y:-33.87, Z:-4.21 [[ 9.62955862e-01 2.69098292e-01 1.73814869e-02 1.66675771e+02] [-2.69045779e-01 9.63112608e-01 -5.33599691e-03 -3.38684352e+01] [-1.81762369e-02 4.61913800e-04 9.99834692e-01 -4.21090779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.638623853 meters 0.03334370749706864 Centerline is valid? [True, True] Translation: X:166.70, Y:-33.88, Z:-4.21 [[ 9.62793645e-01 2.69685814e-01 1.72614976e-02 1.66701551e+02] [-2.69634132e-01 9.62948265e-01 -5.29836407e-03 -3.38790426e+01] [-1.80508228e-02 4.46942330e-04 9.99836971e-01 -4.21260906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.668623853 meters 0.03105860228651812 Centerline is valid? [True, True] Translation: X:166.73, Y:-33.89, Z:-4.21 [[ 9.62604003e-01 2.70357552e-01 1.73299589e-02 1.66730284e+02] [-2.70305586e-01 9.62759889e-01 -5.31843346e-03 -3.38852605e+01] [-1.81224680e-02 4.35160636e-04 9.99835680e-01 -4.21272929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.69862385300002 meters 0.029466324664478127 Centerline is valid? [True, True] Translation: X:166.76, Y:-33.89, Z:-4.21 [[ 9.62080205e-01 2.72226954e-01 1.71512452e-02 1.66758414e+02] [-2.72176383e-01 9.62232992e-01 -5.26179192e-03 -3.38926131e+01] [-1.79358956e-02 3.94101956e-04 9.99839061e-01 -4.21452185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72862385300002 meters 0.026848473059336204 Centerline is valid? [True, True] Translation: X:166.79, Y:-33.90, Z:-4.21 [[ 9.61734191e-01 2.73457192e-01 1.69855872e-02 1.66786979e+02] [-2.73407799e-01 9.61884104e-01 -5.21013513e-03 -3.38979298e+01] [-1.77629153e-02 3.66773060e-04 9.99842160e-01 -4.21483793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75862385300002 meters 0.026934837621839267 Centerline is valid? [True, True] Translation: X:166.81, Y:-33.91, Z:-4.22 [[ 9.61326086e-01 2.74911573e-01 1.66067382e-02 1.66813259e+02] [-2.74864590e-01 9.61469457e-01 -5.09317713e-03 -3.39065336e+01] [-1.73670449e-02 3.31599766e-04 9.99849127e-01 -4.21642058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78862385300002 meters 0.02424647823290016 Centerline is valid? [True, True] Translation: X:166.84, Y:-33.91, Z:-4.22 [[ 9.60498233e-01 2.77768915e-01 1.69580373e-02 1.66842158e+02] [-2.77720385e-01 9.60647880e-01 -5.19990762e-03 -3.39121564e+01] [-1.77350753e-02 2.84909422e-04 9.99842681e-01 -4.21672763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81862385300002 meters 0.022364612168664064 Centerline is valid? [True, True] Translation: X:166.87, Y:-33.92, Z:-4.22 [[ 9.60038293e-01 2.79364095e-01 1.67981876e-02 1.66870802e+02] [-2.79316749e-01 9.60185211e-01 -5.14924337e-03 -3.39181982e+01] [-1.75678850e-02 2.51455670e-04 9.99845641e-01 -4.21732123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84862385300002 meters 0.021113642191413536 Centerline is valid? [True, True] Translation: X:166.90, Y:-33.92, Z:-4.22 [[ 9.59551621e-01 2.81026258e-01 1.68798710e-02 1.66897735e+02] [-2.80978721e-01 9.59700054e-01 -5.17349068e-03 -3.39246864e+01] [-1.76534999e-02 2.21346799e-04 9.99844140e-01 -4.21816439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.87862385300002 meters 0.01988616385195434 Centerline is valid? [True, True] Translation: X:166.93, Y:-33.93, Z:-4.22 [[ 9.59060872e-01 2.82698694e-01 1.68431556e-02 1.66926300e+02] [-2.82651643e-01 9.59208743e-01 -5.16105836e-03 -3.39312429e+01] [-1.76151266e-02 1.89023518e-04 9.99844824e-01 -4.21905103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90862385300002 meters 0.018920058429350583 Centerline is valid? [True, True] Translation: X:166.95, Y:-33.94, Z:-4.22 [[ 9.58611033e-01 2.84224341e-01 1.67753258e-02 1.66953580e+02] [-2.84177914e-01 9.58757789e-01 -5.13950828e-03 -3.39379580e+01] [-1.75442476e-02 1.59612246e-04 9.99846075e-01 -4.21956312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.93862385300002 meters 0.017326019098648133 Centerline is valid? [True, True] Translation: X:166.98, Y:-33.94, Z:-4.22 [[ 9.57788375e-01 2.86994590e-01 1.65992257e-02 1.66981215e+02] [-2.86949567e-01 9.57932197e-01 -5.08449984e-03 -3.39426716e+01] [-1.73601567e-02 1.06734211e-04 9.99849295e-01 -4.22156605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96862385300003 meters 0.016729450506750267 Centerline is valid? [True, True] Translation: X:167.01, Y:-33.95, Z:-4.22 [[ 9.57500681e-01 2.87963922e-01 1.64081005e-02 1.67009339e+02] [-2.87920091e-01 9.57641254e-01 -5.02484014e-03 -3.39497365e+01] [-1.71600466e-02 8.70660581e-05 9.99852752e-01 -4.22222930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.99862385300003 meters 0.016393873585741042 Centerline is valid? [True, True] Translation: X:167.04, Y:-33.96, Z:-4.22 [[ 9.57248154e-01 2.88812398e-01 1.62286933e-02 1.67036892e+02] [-2.88769656e-01 9.57385708e-01 -4.96908272e-03 -3.39575377e+01] [-1.69722517e-02 7.02910970e-05 9.99855958e-01 -4.22345879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.028623853 meters 0.016236787447481943 Centerline is valid? [True, True] Translation: X:167.06, Y:-33.96, Z:-4.22 [[ 9.57091176e-01 2.89345315e-01 1.59927762e-02 1.67063813e+02] [-2.89303891e-01 9.57224783e-01 -4.89627085e-03 -3.39649948e+01] [-1.67253948e-02 5.94052456e-05 9.99860119e-01 -4.22454105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.058623853 meters 0.022738568795827602 Centerline is valid? [True, True] Translation: X:167.09, Y:-33.97, Z:-4.22 [[ 9.56854414e-01 2.90166034e-01 1.52742709e-02 1.67090373e+02] [-2.90128362e-01 9.56976317e-01 -4.67575028e-03 -3.39718459e+01] [-1.59738594e-02 4.25131056e-05 9.99872409e-01 -4.22012337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.088623853 meters 0.015863966761847866 Centerline is valid? [True, True] Translation: X:167.12, Y:-33.98, Z:-4.23 [[ 9.56744262e-01 2.90489392e-01 1.60103073e-02 1.67117019e+02] [-2.90448101e-01 9.56878212e-01 -4.89787605e-03 -3.39812211e+01] [-1.67426952e-02 3.58514610e-05 9.99859831e-01 -4.22598794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.118623853 meters 0.01592622766096138 Centerline is valid? [True, True] Translation: X:167.14, Y:-33.99, Z:-4.23 [[ 9.56731525e-01 2.90521942e-01 1.61799141e-02 1.67142366e+02] [-2.90479785e-01 9.56868329e-01 -4.94921634e-03 -3.39890259e+01] [-1.69199033e-02 3.51333381e-05 9.99856848e-01 -4.22688225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.148623853 meters 0.01592622766096138 Centerline is valid? [True, True] Translation: X:167.17, Y:-34.00, Z:-4.23 [[ 9.56751331e-01 2.90456687e-01 1.61803519e-02 1.67168696e+02] [-2.90414544e-01 9.56888140e-01 -4.94778430e-03 -3.39969320e+01] [-1.69199039e-02 3.47896845e-05 9.99856848e-01 -4.22757369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.178623853 meters 0.015917023765263827 Centerline is valid? [True, True] Translation: X:167.19, Y:-34.01, Z:-4.23 [[ 9.56800337e-01 2.90286666e-01 1.63329763e-02 1.67194935e+02] [-2.90243721e-01 9.56939732e-01 -4.99321961e-03 -3.40054208e+01] [-1.70791391e-02 3.69703856e-05 9.99854140e-01 -4.22833683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.208623853 meters 0.01569185066990545 Centerline is valid? [True, True] Translation: X:167.22, Y:-34.01, Z:-4.23 [[ 9.56787827e-01 2.90332795e-01 1.62456854e-02 1.67221224e+02] [-2.90290334e-01 9.56925737e-01 -4.96536897e-03 -3.40137869e+01] [-1.69875239e-02 3.48391392e-05 9.99855701e-01 -4.22788656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.238623853 meters 0.015506428511488002 Centerline is valid? [True, True] Translation: X:167.25, Y:-34.02, Z:-4.23 [[ 9.56818897e-01 2.90219992e-01 1.64302765e-02 1.67247330e+02] [-2.90176567e-01 9.56959955e-01 -5.02047267e-03 -3.40230190e+01] [-1.71801582e-02 3.60018974e-05 9.99852410e-01 -4.22780803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.268623853 meters 0.029368491417375624 Centerline is valid? [True, True] Translation: X:167.27, Y:-34.03, Z:-4.22 [[ 9.56828055e-01 2.90212534e-01 1.60237022e-02 1.67274292e+02] [-2.90171253e-01 9.56962217e-01 -4.89490514e-03 -3.40296542e+01] [-1.67546404e-02 3.39648043e-05 9.99859631e-01 -4.22128509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.298623853 meters 0.015461183124058121 Centerline is valid? [True, True] Translation: X:167.30, Y:-34.04, Z:-4.23 [[ 9.56649804e-01 2.90745724e-01 1.69727908e-02 1.67300887e+02] [-2.90699513e-01 9.56800357e-01 -5.18361972e-03 -3.40386431e+01] [-1.77466876e-02 2.49267688e-05 9.99842515e-01 -4.22899878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.328623853 meters 0.015468700891149614 Centerline is valid? [True, True] Translation: X:167.33, Y:-34.05, Z:-4.23 [[ 9.56556127e-01 2.91028422e-01 1.74021413e-02 1.67327875e+02] [-2.90979911e-01 9.56714407e-01 -5.31355826e-03 -3.40461583e+01] [-1.81952757e-02 1.90431844e-05 9.99834452e-01 -4.22871916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.358623853 meters 0.015329557833426733 Centerline is valid? [True, True] Translation: X:167.35, Y:-34.05, Z:-4.23 [[ 9.56578197e-01 2.90937609e-01 1.77048007e-02 1.67354303e+02] [-2.90887400e-01 9.56742028e-01 -5.40493193e-03 -3.40538730e+01] [-1.85114249e-02 2.01365976e-05 9.99828649e-01 -4.22812141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.388623853 meters 0.015212842097301974 Centerline is valid? [True, True] Translation: X:167.38, Y:-34.06, Z:-4.23 [[ 9.56572243e-01 2.90948766e-01 1.78426127e-02 1.67381480e+02] [-2.90897800e-01 9.56738635e-01 -5.44562857e-03 -3.40620061e+01] [-1.86551158e-02 1.87603586e-05 9.99825978e-01 -4.22818438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.418623853 meters 0.015134946217667129 Centerline is valid? [True, True] Translation: X:167.41, Y:-34.07, Z:-4.23 [[ 9.56623854e-01 2.90786742e-01 1.77164464e-02 1.67407950e+02] [-2.90736491e-01 9.56787892e-01 -5.40578450e-03 -3.40702438e+01] [-1.85228119e-02 2.04849354e-05 9.99828438e-01 -4.22858595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44862385300002 meters 0.01526181641154949 Centerline is valid? [True, True] Translation: X:167.43, Y:-34.08, Z:-4.23 [[ 9.56622434e-01 2.90813865e-01 1.73439972e-02 1.67434357e+02] [-2.90765735e-01 9.56779648e-01 -5.29071550e-03 -3.40786233e+01] [-1.81329970e-02 1.81770256e-05 9.99835584e-01 -4.23046464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47862385300002 meters 0.015254474673599408 Centerline is valid? [True, True] Translation: X:167.46, Y:-34.09, Z:-4.23 [[ 9.56689909e-01 2.90602717e-01 1.71603893e-02 1.67461094e+02] [-2.90555585e-01 9.56843802e-01 -5.23368093e-03 -3.40870511e+01] [-1.79407340e-02 2.09627837e-05 9.99839052e-01 -4.23121178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50862385300002 meters 0.015318645959198567 Centerline is valid? [True, True] Translation: X:167.49, Y:-34.10, Z:-4.23 [[ 9.56720451e-01 2.90489876e-01 1.73669317e-02 1.67488030e+02] [-2.90441609e-01 9.56878065e-01 -5.29531048e-03 -3.40954054e+01] [-1.81562701e-02 2.20522479e-05 9.99835161e-01 -4.23170312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53862385300002 meters 0.015222407061826208 Centerline is valid? [True, True] Translation: X:167.51, Y:-34.10, Z:-4.23 [[ 9.56709105e-01 2.90519247e-01 1.75001710e-02 1.67514287e+02] [-2.90470266e-01 9.56869148e-01 -5.33463506e-03 -3.41027485e+01] [-1.82951878e-02 2.04146183e-05 9.99832629e-01 -4.23251037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56862385300002 meters 0.015285596529935854 Centerline is valid? [True, True] Translation: X:167.54, Y:-34.11, Z:-4.23 [[ 9.56764039e-01 2.90370477e-01 1.69575729e-02 1.67541596e+02] [-2.90324493e-01 9.56914304e-01 -5.16748875e-03 -3.41111713e+01] [-1.77274303e-02 2.08686455e-05 9.99842857e-01 -4.23384451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59862385300002 meters 0.015434777216815864 Centerline is valid? [True, True] Translation: X:167.57, Y:-34.12, Z:-4.24 [[ 9.56820089e-01 2.90190270e-01 1.68796998e-02 1.67566988e+02] [-2.90144691e-01 9.56968968e-01 -5.14315353e-03 -3.41198980e+01] [-1.76458420e-02 2.35173384e-05 9.99844300e-01 -4.23514026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62862385300002 meters 0.015446334891115552 Centerline is valid? [True, True] Translation: X:167.59, Y:-34.13, Z:-4.24 [[ 9.56859134e-01 2.90056950e-01 1.69576677e-02 1.67593742e+02] [-2.90010957e-01 9.57009386e-01 -5.16523882e-03 -3.41280912e+01] [-1.77268605e-02 2.44965140e-05 9.99842867e-01 -4.23600696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.65862385300002 meters 0.015455714419825652 Centerline is valid? [True, True] Translation: X:167.62, Y:-34.14, Z:-4.24 [[ 9.56887620e-01 2.89966008e-01 1.69055188e-02 1.67619337e+02] [-2.89920305e-01 9.57036945e-01 -5.14813550e-03 -3.41353419e+01] [-1.76719904e-02 2.49339482e-05 9.99843838e-01 -4.23612704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68862385300002 meters 0.01527719445585431 Centerline is valid? [True, True] Translation: X:167.65, Y:-34.14, Z:-4.24 [[ 9.56842672e-01 2.90070581e-01 1.76397063e-02 1.67647329e+02] [-2.90020874e-01 9.57005255e-01 -5.36978360e-03 -3.41432557e+01] [-1.84389079e-02 2.21550324e-05 9.99829989e-01 -4.23644510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.71862385300003 meters 0.01528533844259282 Centerline is valid? [True, True] Translation: X:167.67, Y:-34.15, Z:-4.24 [[ 9.56917625e-01 2.89823766e-01 1.76307567e-02 1.67672850e+02] [-2.89774081e-01 9.57080030e-01 -5.36639233e-03 -3.41517695e+01] [-1.84293532e-02 2.62590939e-05 9.99830165e-01 -4.23717649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74862385300003 meters 0.015252482026677616 Centerline is valid? [True, True] Translation: X:167.70, Y:-34.16, Z:-4.24 [[ 9.56963297e-01 2.89658559e-01 1.78652517e-02 1.67699274e+02] [-2.89607546e-01 9.57130043e-01 -5.43604133e-03 -3.41605241e+01] [-1.86739650e-02 2.81803146e-05 9.99825626e-01 -4.23730936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.778623853 meters 0.015323367861433373 Centerline is valid? [True, True] Translation: X:167.73, Y:-34.17, Z:-4.24 [[ 9.57011369e-01 2.89511551e-01 1.76720690e-02 1.67726186e+02] [-2.89461636e-01 9.57174520e-01 -5.37591895e-03 -3.41683648e+01] [-1.84716448e-02 2.94295584e-05 9.99829384e-01 -4.23787834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.808623853 meters 0.015281123535671707 Centerline is valid? [True, True] Translation: X:167.75, Y:-34.18, Z:-4.24 [[ 9.57046931e-01 2.89399955e-01 1.75737875e-02 1.67753316e+02] [-2.89350600e-01 9.57208266e-01 -5.34467027e-03 -3.41759273e+01] [-1.83685220e-02 3.01143149e-05 9.99831284e-01 -4.23871255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.838623853 meters 0.015352725655981569 Centerline is valid? [True, True] Translation: X:167.78, Y:-34.18, Z:-4.24 [[ 9.57054422e-01 2.89393298e-01 1.72729040e-02 1.67779397e+02] [-2.89345639e-01 9.57210279e-01 -5.25194909e-03 -3.41840027e+01] [-1.80536801e-02 2.85616556e-05 9.99837019e-01 -4.24012797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.868623853 meters 0.015405112976218804 Centerline is valid? [True, True] Translation: X:167.81, Y:-34.19, Z:-4.24 [[ 9.57120994e-01 2.89167605e-01 1.73637300e-02 1.67806336e+02] [-2.89119436e-01 9.57278484e-01 -5.27791577e-03 -3.41924402e+01] [-1.81481274e-02 3.14121554e-05 9.99835309e-01 -4.24080970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.898623853 meters 0.015309510900686203 Centerline is valid? [True, True] Translation: X:167.83, Y:-34.20, Z:-4.24 [[ 9.57078468e-01 2.89302177e-01 1.74658802e-02 1.67833452e+02] [-2.89253486e-01 9.57237823e-01 -5.30762671e-03 -3.42000629e+01] [-1.82545091e-02 2.77484968e-05 9.99833372e-01 -4.24116355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.928623853 meters 0.015193311151706685 Centerline is valid? [True, True] Translation: X:167.86, Y:-34.21, Z:-4.24 [[ 9.56976475e-01 2.89630409e-01 1.76140178e-02 1.67860946e+02] [-2.89580970e-01 9.57138562e-01 -5.35126572e-03 -3.42065633e+01] [-1.84089449e-02 2.03510492e-05 9.99830541e-01 -4.24115571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.958623853 meters 0.015076092491063408 Centerline is valid? [True, True] Translation: X:167.89, Y:-34.21, Z:-4.24 [[ 9.56941499e-01 2.89729833e-01 1.78771288e-02 1.67888237e+02] [-2.89678950e-01 9.57108470e-01 -5.42980318e-03 -3.42140879e+01] [-1.86835274e-02 1.73761010e-05 9.99825448e-01 -4.24147982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.988623853 meters 0.015111667759547346 Centerline is valid? [True, True] Translation: X:167.91, Y:-34.22, Z:-4.24 [[ 9.56897010e-01 2.89875579e-01 1.78958430e-02 1.67914430e+02] [-2.89824638e-01 9.57064339e-01 -5.43419094e-03 -3.42209385e+01] [-1.87027124e-02 1.33048384e-05 9.99825089e-01 -4.24276007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.018623853 meters 0.015119345943920674 Centerline is valid? [True, True] Translation: X:167.94, Y:-34.23, Z:-4.24 [[ 9.56886713e-01 2.89913863e-01 1.78261014e-02 1.67942320e+02] [-2.89863356e-01 9.57052743e-01 -5.41135491e-03 -3.42268927e+01] [-1.86293460e-02 1.09200442e-05 9.99826459e-01 -4.24411483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.048623853 meters 0.015016386077412031 Centerline is valid? [True, True] Translation: X:167.97, Y:-34.23, Z:-4.24 [[ 9.57028846e-01 2.89437742e-01 1.79326761e-02 1.67969677e+02] [-2.89386571e-01 9.57196841e-01 -5.44235245e-03 -3.42347199e+01] [-1.87403231e-02 1.90126328e-05 9.99824385e-01 -4.24475174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.078623853 meters 0.015195215847416291 Centerline is valid? [True, True] Translation: X:168.00, Y:-34.24, Z:-4.25 [[ 9.57245514e-01 2.88732111e-01 1.77424422e-02 1.67995241e+02] [-2.88681916e-01 9.57409926e-01 -5.38368895e-03 -3.42429358e+01] [-1.85412341e-02 3.15898910e-05 9.99828096e-01 -4.24568721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.108623853 meters 0.01540831583979589 Centerline is valid? [True, True] Translation: X:168.02, Y:-34.25, Z:-4.25 [[ 9.57532404e-01 2.87781452e-01 1.77068021e-02 1.68022660e+02] [-2.87731352e-01 9.57696107e-01 -5.36989304e-03 -3.42524297e+01] [-1.85030911e-02 4.70444836e-05 9.99828802e-01 -4.24621722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.138623853 meters 0.01644216514255302 Centerline is valid? [True, True] Translation: X:168.05, Y:-34.26, Z:-4.25 [[ 9.58272432e-01 2.85320648e-01 1.74949938e-02 1.68048370e+02] [-2.85271343e-01 9.58432115e-01 -5.30487155e-03 -3.42647542e+01] [-1.82813533e-02 9.26917985e-05 9.99832878e-01 -4.24808165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.168623853 meters 0.01729857339467881 Centerline is valid? [True, True] Translation: X:168.08, Y:-34.27, Z:-4.25 [[ 9.58677988e-01 2.83963007e-01 1.73645244e-02 1.68075599e+02] [-2.83914233e-01 9.58835229e-01 -5.26413585e-03 -3.42749985e+01] [-1.81445375e-02 1.16575554e-04 9.99835368e-01 -4.24876912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.19862385300002 meters 0.01807831450933955 Centerline is valid? [True, True] Translation: X:168.10, Y:-34.29, Z:-4.25 [[ 9.59047831e-01 2.82701936e-01 1.75178089e-02 1.68102564e+02] [-2.82652103e-01 9.59207796e-01 -5.30973847e-03 -3.42851438e+01] [-1.83042922e-02 1.40847645e-04 9.99832452e-01 -4.24910503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22862385300002 meters 0.018728801958091634 Centerline is valid? [True, True] Translation: X:168.13, Y:-34.29, Z:-4.25 [[ 9.59465888e-01 2.81265876e-01 1.77402688e-02 1.68129895e+02] [-2.81214540e-01 9.59629865e-01 -5.37629756e-03 -3.42948893e+01] [-1.85362608e-02 1.69552600e-04 9.99828174e-01 -4.24864068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25862385300002 meters 0.022034511238148525 Centerline is valid? [True, True] Translation: X:168.15, Y:-34.31, Z:-4.25 [[ 9.60351947e-01 2.78235011e-01 1.75902593e-02 1.68154093e+02] [-2.78184044e-01 9.60513002e-01 -5.33012407e-03 -3.43093704e+01] [-1.83786999e-02 2.25465568e-04 9.99831072e-01 -4.25077187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28862385300002 meters 0.023654728864824923 Centerline is valid? [True, True] Translation: X:168.18, Y:-34.32, Z:-4.25 [[ 9.60806394e-01 2.76671649e-01 1.74319282e-02 1.68180399e+02] [-2.76621364e-01 9.60964482e-01 -5.28067826e-03 -3.43210435e+01] [-1.82124778e-02 2.51665671e-04 9.99834107e-01 -4.25193822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.31862385300002 meters 0.022562408277585794 Centerline is valid? [True, True] Translation: X:168.21, Y:-34.33, Z:-4.25 [[ 9.61249018e-01 2.75120157e-01 1.75847551e-02 1.68207907e+02] [-2.75068742e-01 9.61409808e-01 -5.32615461e-03 -3.43288059e+01] [-1.83714885e-02 2.82744437e-04 9.99831190e-01 -4.25009673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34862385300002 meters 0.02338741777855593 Centerline is valid? [True, True] Translation: X:168.24, Y:-34.34, Z:-4.25 [[ 9.61705723e-01 2.73517476e-01 1.76151390e-02 1.68235073e+02] [-2.73465631e-01 9.61866983e-01 -5.33443565e-03 -3.43392437e+01] [-1.84024820e-02 3.13022196e-04 9.99830611e-01 -4.25078756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.37862385300002 meters 0.02715995758308232 Centerline is valid? [True, True] Translation: X:168.26, Y:-34.36, Z:-4.25 [[ 9.62388796e-01 2.71084015e-01 1.79237692e-02 1.68258540e+02] [-2.71029931e-01 9.62555621e-01 -5.42708190e-03 -3.43560096e+01] [-1.87238199e-02 3.65084890e-04 9.99824627e-01 -4.25151145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40862385300002 meters 0.026172177937483068 Centerline is valid? [True, True] Translation: X:168.29, Y:-34.36, Z:-4.25 [[ 9.62640398e-01 2.70186132e-01 1.79699408e-02 1.68286559e+02] [-2.70131642e-01 9.62808033e-01 -5.43947328e-03 -3.43645811e+01] [-1.87712736e-02 3.82007117e-04 9.99823731e-01 -4.25109721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.43862385300002 meters 0.027629989928585605 Centerline is valid? [True, True] Translation: X:168.31, Y:-34.38, Z:-4.25 [[ 9.62805268e-01 2.69592027e-01 1.80597596e-02 1.68311732e+02] [-2.69536902e-01 9.62974549e-01 -5.46585099e-03 -3.43757930e+01] [-1.88646387e-02 3.94778471e-04 9.99821969e-01 -4.25222123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.46862385300003 meters 0.02884375749164037 Centerline is valid? [True, True] Translation: X:168.34, Y:-34.39, Z:-4.25 [[ 9.62892776e-01 2.69267826e-01 1.82301937e-02 1.68336939e+02] [-2.69211626e-01 9.63065250e-01 -5.51589516e-03 -3.43869103e+01] [-1.90421191e-02 4.03435519e-04 9.99818601e-01 -4.25287844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.49862385300003 meters 0.027690186318765807 Centerline is valid? [True, True] Translation: X:168.36, Y:-34.40, Z:-4.25 [[ 9.62981788e-01 2.68904707e-01 1.88768213e-02 1.68364872e+02] [-2.68844406e-01 9.63166693e-01 -5.71020993e-03 -3.43952484e+01] [-1.97170279e-02 4.23900355e-04 9.99805511e-01 -4.25198286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.528623853 meters 0.02753446831558551 Centerline is valid? [True, True] Translation: X:168.39, Y:-34.41, Z:-4.25 [[ 9.62941149e-01 2.69036642e-01 1.90690311e-02 1.68391437e+02] [-2.68975153e-01 9.63129848e-01 -5.76733956e-03 -3.44073815e+01] [-1.99175787e-02 4.24513023e-04 9.99801535e-01 -4.25201607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.558623853 meters 0.02801037526400521 Centerline is valid? [True, True] Translation: X:168.42, Y:-34.42, Z:-4.25 [[ 9.62828253e-01 2.69445916e-01 1.89909077e-02 1.68417070e+02] [-2.69385026e-01 9.63015435e-01 -5.74282357e-03 -3.44180337e+01] [-1.98359176e-02 4.13486605e-04 9.99803163e-01 -4.25291334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.588623853 meters 0.02667609371954085 Centerline is valid? [True, True] Translation: X:168.44, Y:-34.43, Z:-4.25 [[ 9.62685966e-01 2.69944930e-01 1.91171560e-02 1.68444317e+02] [-2.69883356e-01 9.62875678e-01 -5.77950652e-03 -3.44267021e+01] [-1.99675930e-02 4.04447600e-04 9.99800546e-01 -4.25317933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.618623853 meters 0.025815398663939174 Centerline is valid? [True, True] Translation: X:168.47, Y:-34.44, Z:-4.25 [[ 9.62134615e-01 2.71911457e-01 1.90037697e-02 1.68471349e+02] [-2.71851017e-01 9.62322207e-01 -5.74410946e-03 -3.44380400e+01] [-1.98496388e-02 3.60412420e-04 9.99802912e-01 -4.25420641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.648623853 meters 0.024270219559752323 Centerline is valid? [True, True] Translation: X:168.50, Y:-34.45, Z:-4.25 [[ 9.61759403e-01 2.73243522e-01 1.88898912e-02 1.68498864e+02] [-2.73184068e-01 9.61944836e-01 -5.70933319e-03 -3.44460257e+01] [-1.97310716e-02 3.30587546e-04 9.99805269e-01 -4.25494073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.678623853 meters 0.023045035142226864 Centerline is valid? [True, True] Translation: X:168.53, Y:-34.45, Z:-4.26 [[ 9.61310795e-01 2.74827352e-01 1.87478747e-02 1.68525921e+02] [-2.74769107e-01 9.61493546e-01 -5.66552050e-03 -3.44540177e+01] [-1.95830006e-02 2.94989208e-04 9.99808191e-01 -4.25623658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.708623853 meters 0.021320569816662926 Centerline is valid? [True, True] Translation: X:168.55, Y:-34.46, Z:-4.26 [[ 9.60765796e-01 2.76749483e-01 1.84067757e-02 1.68554189e+02] [-2.76693715e-01 9.60942070e-01 -5.56121787e-03 -3.44614865e+01] [-1.92269093e-02 2.49988766e-04 9.99815115e-01 -4.25724260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.738623853 meters 0.01815678059807045 Centerline is valid? [True, True] Translation: X:168.58, Y:-34.47, Z:-4.26 [[ 9.59657336e-01 2.80583675e-01 1.81823602e-02 1.68581865e+02] [-2.80529963e-01 9.59829554e-01 -5.49250966e-03 -3.44681303e+01] [-1.89930752e-02 1.70230354e-04 9.99819601e-01 -4.25842764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.768623853 meters 0.01694237899549742 Centerline is valid? [True, True] Translation: X:168.61, Y:-34.48, Z:-4.26 [[ 9.59079103e-01 2.82572847e-01 1.78846114e-02 1.68608291e+02] [-2.82521241e-01 9.59245834e-01 -5.40175007e-03 -3.44754776e+01] [-1.86821269e-02 1.27923013e-04 9.99825466e-01 -4.25927586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.798623853 meters 0.015476572092143514 Centerline is valid? [True, True] Translation: X:168.64, Y:-34.48, Z:-4.26 [[ 9.58395854e-01 2.84850436e-01 1.83743616e-02 1.68637013e+02] [-2.84796403e-01 9.58571970e-01 -5.54855354e-03 -3.44820475e+01] [-1.91936559e-02 8.47585995e-05 9.99815781e-01 -4.25867564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.828623853 meters 0.014723674447910206 Centerline is valid? [True, True] Translation: X:168.66, Y:-34.49, Z:-4.26 [[ 9.57645063e-01 2.87341299e-01 1.87326407e-02 1.68664583e+02] [-2.87285649e-01 9.57828260e-01 -5.65505090e-03 -3.44887575e+01] [-1.95675824e-02 3.39127258e-05 9.99808536e-01 -4.25886010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.858623853 meters 0.014710745960027865 Centerline is valid? [True, True] Translation: X:168.69, Y:-34.49, Z:-4.26 [[ 9.56224941e-01 2.91976312e-01 1.95881314e-02 1.68692535e+02] [-2.91916452e-01 9.56425548e-01 -5.91235338e-03 -3.44925763e+01] [-2.04608565e-02 -6.45580586e-05 9.99790653e-01 -4.25746174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.888623853 meters 0.015628222243772506 Centerline is valid? [True, True] Translation: X:168.72, Y:-34.50, Z:-4.26 [[ 9.55522948e-01 2.94256077e-01 1.97295994e-02 1.68721191e+02] [-2.94195869e-01 9.55726607e-01 -5.95341219e-03 -3.44988645e+01] [-2.06079308e-02 -1.15744680e-04 9.99787627e-01 -4.25778440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.918623853 meters 0.016385938292724948 Centerline is valid? [True, True] Translation: X:168.75, Y:-34.51, Z:-4.26 [[ 9.54923626e-01 2.96196810e-01 1.97057746e-02 1.68749485e+02] [-2.96137180e-01 9.55126916e-01 -5.94523217e-03 -3.45062570e+01] [-2.05824745e-02 -1.58369865e-04 9.99788146e-01 -4.25834116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94862385300002 meters 0.019081561733700778 Centerline is valid? [True, True] Translation: X:168.78, Y:-34.51, Z:-4.26 [[ 9.53863653e-01 2.99655324e-01 1.87301610e-02 1.68776552e+02] [-2.99602134e-01 9.54047503e-01 -5.65010118e-03 -3.45109286e+01] [-1.95625462e-02 -2.22170059e-04 9.99808610e-01 -4.26107711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97862385300002 meters 0.020285825298390646 Centerline is valid? [True, True] Translation: X:168.80, Y:-34.52, Z:-4.26 [[ 9.53351585e-01 3.01303566e-01 1.83552960e-02 1.68804687e+02] [-3.01252819e-01 9.53528236e-01 -5.53546544e-03 -3.45181593e+01] [-1.91701485e-02 -2.52339921e-04 9.99816204e-01 -4.26254499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00862385300002 meters 0.022301496171680864 Centerline is valid? [True, True] Translation: X:168.83, Y:-34.52, Z:-4.26 [[ 9.52871243e-01 3.02841495e-01 1.79839610e-02 1.68831750e+02] [-3.02793069e-01 9.53040897e-01 -5.42272457e-03 -3.45231921e+01] [-1.87816764e-02 -2.78260454e-04 9.99823570e-01 -4.26410423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03862385300002 meters 0.022430198564558582 Centerline is valid? [True, True] Translation: X:168.86, Y:-34.53, Z:-4.26 [[ 9.52359672e-01 3.04437688e-01 1.81314515e-02 1.68859193e+02] [-3.04388784e-01 9.52532202e-01 -5.46561984e-03 -3.45312400e+01] [-1.89347321e-02 -3.13774565e-04 9.99820673e-01 -4.26416177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06862385300002 meters 0.022430198564558582 Centerline is valid? [True, True] Translation: X:168.89, Y:-34.54, Z:-4.26 [[ 9.52381959e-01 3.04367945e-01 1.81316736e-02 1.68885557e+02] [-3.04319041e-01 9.52554490e-01 -5.46488308e-03 -3.45390506e+01] [-1.89347423e-02 -3.13157474e-04 9.99820673e-01 -4.26485338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09862385300002 meters 0.02385912343200899 Centerline is valid? [True, True] Translation: X:168.91, Y:-34.54, Z:-4.27 [[ 9.51989861e-01 3.05590331e-01 1.81618959e-02 1.68912704e+02] [-3.05541516e-01 9.52163029e-01 -5.47245720e-03 -3.45444735e+01] [-1.89654158e-02 -3.39489430e-04 9.99820083e-01 -4.26562735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12862385300002 meters 0.027224963627025405 Centerline is valid? [True, True] Translation: X:168.94, Y:-34.55, Z:-4.27 [[ 9.51326724e-01 3.07651707e-01 1.81077661e-02 1.68940566e+02] [-3.07603577e-01 9.51498966e-01 -5.45502464e-03 -3.45468928e+01] [-1.89077683e-02 -3.80502885e-04 9.99821160e-01 -4.26689107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.15862385300002 meters 0.02503991469388579 Centerline is valid? [True, True] Translation: X:168.97, Y:-34.56, Z:-4.27 [[ 9.51161666e-01 3.08138541e-01 1.84966048e-02 1.68967608e+02] [-3.08088444e-01 9.51341411e-01 -5.57053859e-03 -3.45577041e+01] [-1.93130837e-02 -4.00107420e-04 9.99813405e-01 -4.26621617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18862385300002 meters 0.0275187416872513 Centerline is valid? [True, True] Translation: X:169.00, Y:-34.56, Z:-4.27 [[ 9.50971196e-01 3.08729305e-01 1.84390802e-02 1.68995415e+02] [-3.08679648e-01 9.51149855e-01 -5.55230350e-03 -3.45619459e+01] [-1.92524873e-02 -4.11688098e-04 9.99814569e-01 -4.26788381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.21862385300003 meters 0.028272514685639127 Centerline is valid? [True, True] Translation: X:169.02, Y:-34.57, Z:-4.27 [[ 9.50843614e-01 3.09124461e-01 1.83980817e-02 1.69022514e+02] [-3.09075122e-01 9.51021499e-01 -5.53871197e-03 -3.45684473e+01] [-1.92091226e-02 -4.19940448e-04 9.99815400e-01 -4.26870173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.24862385300003 meters 0.029321415050678833 Centerline is valid? [True, True] Translation: X:169.05, Y:-34.57, Z:-4.27 [[ 9.50742242e-01 3.09448144e-01 1.81943961e-02 1.69050306e+02] [-3.09399974e-01 9.50916225e-01 -5.47617154e-03 -3.45739920e+01] [-1.89959376e-02 -4.22918080e-04 9.99819471e-01 -4.26993234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.278623853 meters 0.029799174373788147 Centerline is valid? [True, True] Translation: X:169.08, Y:-34.58, Z:-4.27 [[ 9.50760808e-01 3.09388590e-01 1.82369572e-02 1.69076921e+02] [-3.09340197e-01 9.50935603e-01 -5.48828088e-03 -3.45808831e+01] [-1.90401833e-02 -4.23381565e-04 9.99818630e-01 -4.27104368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.308623853 meters 0.02847684779012565 Centerline is valid? [True, True] Translation: X:169.10, Y:-34.59, Z:-4.27 [[ 9.50861303e-01 3.09083542e-01 1.81699066e-02 1.69104091e+02] [-3.09035483e-01 9.51034799e-01 -5.46629623e-03 -3.45904015e+01] [-1.89697556e-02 -4.17456298e-04 9.99819971e-01 -4.27135826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.338623853 meters 0.026973716657794033 Centerline is valid? [True, True] Translation: X:169.13, Y:-34.60, Z:-4.27 [[ 9.51068092e-01 3.08455504e-01 1.80190609e-02 1.69131159e+02] [-3.08408143e-01 9.51238687e-01 -5.42002245e-03 -3.45998120e+01] [-1.88122636e-02 -4.02414709e-04 9.99822953e-01 -4.27202131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.368623853 meters 0.026816450882978633 Centerline is valid? [True, True] Translation: X:169.16, Y:-34.61, Z:-4.27 [[ 9.51631634e-01 3.06745465e-01 1.74485554e-02 1.69157894e+02] [-3.06700784e-01 9.51791517e-01 -5.24763974e-03 -3.46066384e+01] [-1.82170767e-02 -3.57665650e-04 9.99833991e-01 -4.27495049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.398623853 meters 0.026325961938767233 Centerline is valid? [True, True] Translation: X:169.18, Y:-34.62, Z:-4.28 [[ 9.51999690e-01 3.05604441e-01 1.73929572e-02 1.69184718e+02] [-3.05559874e-01 9.52158502e-01 -5.22979697e-03 -3.46151087e+01] [-1.81591013e-02 -3.35824713e-04 9.99835054e-01 -4.27603636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.428623853 meters 0.023673217166950603 Centerline is valid? [True, True] Translation: X:169.21, Y:-34.63, Z:-4.28 [[ 9.52452774e-01 3.04186693e-01 1.74404516e-02 1.69211649e+02] [-3.04141666e-01 9.52612387e-01 -5.24291171e-03 -3.46266902e+01] [-1.82088142e-02 -3.10742204e-04 9.99834158e-01 -4.27570517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.458623853 meters 0.023418383450341935 Centerline is valid? [True, True] Translation: X:169.24, Y:-34.63, Z:-4.28 [[ 9.52826494e-01 3.03019378e-01 1.73472955e-02 1.69238113e+02] [-3.02974651e-01 9.52984351e-01 -5.21410402e-03 -3.46338733e+01] [-1.81116757e-02 -2.87654348e-04 9.99835929e-01 -4.27694096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.488623853 meters 0.02121051482990148 Centerline is valid? [True, True] Translation: X:169.26, Y:-34.64, Z:-4.28 [[ 9.53664342e-01 3.00351657e-01 1.76975891e-02 1.69264144e+02] [-3.00304668e-01 9.53828508e-01 -5.31821170e-03 -3.46432561e+01] [-1.84777987e-02 -2.42879761e-04 9.99829241e-01 -4.27758460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.518623853 meters 0.019539096520261274 Centerline is valid? [True, True] Translation: X:169.29, Y:-34.65, Z:-4.28 [[ 9.54077522e-01 2.99023578e-01 1.79159785e-02 1.69291089e+02] [-2.98975211e-01 9.54245697e-01 -5.38263232e-03 -3.46536984e+01] [-1.87057794e-02 -2.20984945e-04 9.99825007e-01 -4.27746462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.548623853 meters 0.01890095697809869 Centerline is valid? [True, True] Translation: X:169.32, Y:-34.66, Z:-4.28 [[ 9.54494848e-01 2.97681262e-01 1.80403007e-02 1.69317683e+02] [-2.97631993e-01 9.54665296e-01 -5.41930012e-03 -3.46626222e+01] [-1.88356731e-02 -1.96676621e-04 9.99822574e-01 -4.27841682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.578623853 meters 0.017113410709645428 Centerline is valid? [True, True] Translation: X:169.34, Y:-34.67, Z:-4.28 [[ 9.55273548e-01 2.95191877e-01 1.77257835e-02 1.69344263e+02] [-2.95143918e-01 9.55437980e-01 -5.32295315e-03 -3.46737132e+01] [-1.85071793e-02 -1.46780836e-04 9.99828717e-01 -4.27959004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.608623853 meters 0.016558445969666886 Centerline is valid? [True, True] Translation: X:169.37, Y:-34.68, Z:-4.28 [[ 9.55614812e-01 2.94070602e-01 1.79669924e-02 1.69370980e+02] [-2.94021142e-01 9.55783691e-01 -5.39471254e-03 -3.46829108e+01] [-1.87589847e-02 -1.27408428e-04 9.99824027e-01 -4.27971580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.638623853 meters 0.015761946382749494 Centerline is valid? [True, True] Translation: X:169.40, Y:-34.69, Z:-4.28 [[ 9.55896282e-01 2.93138939e-01 1.82170196e-02 1.69397841e+02] [-2.93087961e-01 9.56069846e-01 -5.46784898e-03 -3.46927969e+01] [-1.90195826e-02 -1.12492622e-04 9.99819105e-01 -4.27929412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.668623853 meters 0.01581433854609141 Centerline is valid? [True, True] Translation: X:169.42, Y:-34.70, Z:-4.28 [[ 9.56172522e-01 2.92233413e-01 1.82685640e-02 1.69424562e+02] [-2.92181998e-01 9.56347020e-01 -5.48242993e-03 -3.47002566e+01] [-1.90732359e-02 -9.55966690e-05 9.99818085e-01 -4.28090897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.69862385300002 meters 0.015298381640681579 Centerline is valid? [True, True] Translation: X:169.45, Y:-34.71, Z:-4.28 [[ 9.56502967e-01 2.91149845e-01 1.82713653e-02 1.69452345e+02] [-2.91098241e-01 9.56677460e-01 -5.48198128e-03 -3.47091293e+01] [-1.90758814e-02 -7.52309439e-05 9.99818036e-01 -4.28225017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72862385300002 meters 0.015271368041583773 Centerline is valid? [True, True] Translation: X:169.48, Y:-34.72, Z:-4.28 [[ 9.56588768e-01 2.90873725e-01 1.81770519e-02 1.69479546e+02] [-2.90822617e-01 9.56761449e-01 -5.45294731e-03 -3.47170842e+01] [-1.89772216e-02 -7.00696495e-05 9.99819914e-01 -4.28299445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75862385300002 meters 0.015008545714612529 Centerline is valid? [True, True] Translation: X:169.51, Y:-34.73, Z:-4.28 [[ 9.56584066e-01 2.90876628e-01 1.83769312e-02 1.69506454e+02] [-2.90824415e-01 9.56760567e-01 -5.51154433e-03 -3.47250911e+01] [-1.91855026e-02 -7.22048014e-05 9.99815939e-01 -4.28257134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78862385300002 meters 0.015229567572155467 Centerline is valid? [True, True] Translation: X:169.53, Y:-34.73, Z:-4.28 [[ 9.56507824e-01 2.91117701e-01 1.85274724e-02 1.69533031e+02] [-2.91064701e-01 9.56687242e-01 -5.55531140e-03 -3.47318424e+01] [-1.93422460e-02 -7.89944142e-05 9.99812918e-01 -4.28362921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81862385300002 meters 0.02476658588515643 Centerline is valid? [True, True] Translation: X:169.56, Y:-34.74, Z:-4.28 [[ 9.56013590e-01 2.92734747e-01 1.85575688e-02 1.69561953e+02] [-2.92681916e-01 9.56193681e-01 -5.56245425e-03 -3.47351690e+01] [-1.93729536e-02 -1.13682935e-04 9.99812320e-01 -4.27750147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84862385300002 meters 0.016036423880693543 Centerline is valid? [True, True] Translation: X:169.59, Y:-34.74, Z:-4.28 [[ 9.55834822e-01 2.93292728e-01 1.89517501e-02 1.69588628e+02] [-2.93237757e-01 9.56022677e-01 -5.67971394e-03 -3.47414804e+01] [-1.97841216e-02 -1.28500313e-04 9.99804267e-01 -4.28363510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.87862385300002 meters 0.016750269578289765 Centerline is valid? [True, True] Translation: X:169.62, Y:-34.75, Z:-4.29 [[ 9.55587291e-01 2.94116972e-01 1.86583985e-02 1.69616314e+02] [-2.94063873e-01 9.55769421e-01 -5.59046018e-03 -3.47463686e+01] [-1.94773760e-02 -1.44588232e-04 9.99810287e-01 -4.28560063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90862385300002 meters 0.01710326709028169 Centerline is valid? [True, True] Translation: X:169.64, Y:-34.75, Z:-4.29 [[ 9.55315643e-01 2.95003907e-01 1.85665811e-02 1.69644553e+02] [-2.94951535e-01 9.55496032e-01 -5.56093849e-03 -3.47520584e+01] [-1.93807932e-02 -1.63790084e-04 9.99812161e-01 -4.28651752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.93862385300002 meters 0.017809037022093684 Centerline is valid? [True, True] Translation: X:169.67, Y:-34.76, Z:-4.29 [[ 9.54942258e-01 2.96230579e-01 1.82408535e-02 1.69672969e+02] [-2.96180270e-01 9.55116438e-01 -5.46245481e-03 -3.47561495e+01] [-1.90402852e-02 -1.86251994e-04 9.99818700e-01 -4.28787378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.96862385300003 meters 0.01865410048653036 Centerline is valid? [True, True] Translation: X:169.70, Y:-34.76, Z:-4.29 [[ 9.54793206e-01 2.96727802e-01 1.79595451e-02 1.69700580e+02] [-2.96679133e-01 9.54962080e-01 -5.37755401e-03 -3.47617313e+01] [-1.87463543e-02 -1.93770224e-04 9.99824253e-01 -4.28946288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.99862385300003 meters 0.019372680929616935 Centerline is valid? [True, True] Translation: X:169.73, Y:-34.77, Z:-4.29 [[ 9.54691373e-01 2.97071674e-01 1.76862273e-02 1.69728077e+02] [-2.97024566e-01 9.54855162e-01 -5.29401285e-03 -3.47668777e+01] [-1.84604867e-02 -1.99095586e-04 9.99829571e-01 -4.29116293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.028623853 meters 0.019592479246650127 Centerline is valid? [True, True] Translation: X:169.76, Y:-34.77, Z:-4.29 [[ 9.54517379e-01 2.97617190e-01 1.79048015e-02 1.69756108e+02] [-2.97569044e-01 9.54685269e-01 -5.35741856e-03 -3.47728681e+01] [-1.86879101e-02 -2.14165550e-04 9.99825343e-01 -4.29188409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.058623853 meters 0.02044658149527343 Centerline is valid? [True, True] Translation: X:169.78, Y:-34.78, Z:-4.29 [[ 9.54271844e-01 2.98405663e-01 1.78692047e-02 1.69783874e+02] [-2.98357856e-01 9.54439106e-01 -5.34623779e-03 -3.47753997e+01] [-1.86504154e-02 -2.29653426e-04 9.99826039e-01 -4.29247209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.088623853 meters 0.028240487480618467 Centerline is valid? [True, True] Translation: X:169.81, Y:-34.78, Z:-4.29 [[ 9.54133168e-01 2.98850368e-01 1.78424937e-02 1.69812285e+02] [-2.98802826e-01 9.54299953e-01 -5.33589603e-03 -3.47810660e+01] [-1.86217254e-02 -2.40232156e-04 9.99826572e-01 -4.28659646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.118623853 meters 0.020395600346995012 Centerline is valid? [True, True] Translation: X:169.84, Y:-34.79, Z:-4.29 [[ 9.54283092e-01 2.98346810e-01 1.82472153e-02 1.69839073e+02] [-2.98297007e-01 9.54457503e-01 -5.45622742e-03 -3.47886094e+01] [-1.90440396e-02 -2.36304122e-04 9.99818618e-01 -4.29319182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.148623853 meters 0.03238270135951332 Centerline is valid? [True, True] Translation: X:169.87, Y:-34.80, Z:-4.29 [[ 9.54249113e-01 2.98462018e-01 1.81398591e-02 1.69866764e+02] [-2.98412856e-01 9.54421483e-01 -5.42221887e-03 -3.47954859e+01] [-1.89313976e-02 -2.39019623e-04 9.99820756e-01 -4.28681495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.178623853 meters 0.018483270836752132 Centerline is valid? [True, True] Translation: X:169.89, Y:-34.80, Z:-4.29 [[ 9.54953985e-01 2.96168973e-01 1.86232779e-02 1.69893778e+02] [-2.96116745e-01 9.55135540e-01 -5.56539803e-03 -3.48046521e+01] [-1.94360528e-02 -1.99965398e-04 9.99811082e-01 -4.29427754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.208623853 meters 0.017676829961182288 Centerline is valid? [True, True] Translation: X:169.92, Y:-34.81, Z:-4.30 [[ 9.55404560e-01 2.94706466e-01 1.87143171e-02 1.69919891e+02] [-2.94653460e-01 9.55587814e-01 -5.59186771e-03 -3.48130762e+01] [-1.95311329e-02 -1.71742389e-04 9.99809234e-01 -4.29536607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.238623853 meters 0.01707249257876154 Centerline is valid? [True, True] Translation: X:169.95, Y:-34.82, Z:-4.30 [[ 9.55939714e-01 2.92968681e-01 1.86712113e-02 1.69946589e+02] [-2.92915626e-01 9.56122028e-01 -5.57702685e-03 -3.48220181e+01] [-1.94858506e-02 -1.37788082e-04 9.99810123e-01 -4.29710993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.268623853 meters 0.015855930142953344 Centerline is valid? [True, True] Translation: X:169.97, Y:-34.83, Z:-4.30 [[ 9.56593251e-01 2.90818482e-01 1.88139266e-02 1.69972507e+02] [-2.90764220e-01 9.56778241e-01 -5.61843012e-03 -3.48321677e+01] [-1.96346989e-02 -9.58643682e-05 9.99807216e-01 -4.29756522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.298623853 meters 0.014653817675243404 Centerline is valid? [True, True] Translation: X:170.00, Y:-34.85, Z:-4.30 [[ 9.57880343e-01 2.86536098e-01 1.90345097e-02 1.69998475e+02] [-2.86479735e-01 9.58069446e-01 -5.68307038e-03 -3.48465584e+01] [-1.98647870e-02 -9.29988632e-06 9.99802676e-01 -4.29804246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.328623853 meters 0.014842037687510889 Centerline is valid? [True, True] Translation: X:170.02, Y:-34.86, Z:-4.30 [[ 9.58550074e-01 2.84292027e-01 1.89683666e-02 1.70023179e+02] [-2.84235630e-01 9.58737734e-01 -5.66254526e-03 -3.48576578e+01] [-1.97955053e-02 3.63475433e-05 9.99804049e-01 -4.29881247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.358623853 meters 0.015285663746299272 Centerline is valid? [True, True] Translation: X:170.05, Y:-34.87, Z:-4.30 [[ 9.59234834e-01 2.81963432e-01 1.91090739e-02 1.70050284e+02] [-2.81905771e-01 9.59425149e-01 -5.70263279e-03 -3.48692259e+01] [-1.99416600e-02 8.32057938e-05 9.99801142e-01 -4.29939343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.388623853 meters 0.018311626962221435 Centerline is valid? [True, True] Translation: X:170.07, Y:-34.89, Z:-4.30 [[ 9.60339577e-01 2.78201334e-01 1.87593724e-02 1.70074829e+02] [-2.78145064e-01 9.60522771e-01 -5.59737014e-03 -3.48852830e+01] [-1.95760001e-02 1.57549243e-04 9.99808359e-01 -4.30211829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.418623853 meters 0.01802228727381635 Centerline is valid? [True, True] Translation: X:170.10, Y:-34.89, Z:-4.30 [[ 9.60772772e-01 2.76719022e-01 1.85003691e-02 1.70101853e+02] [-2.76664043e-01 9.60950857e-01 -5.51889485e-03 -3.48939418e+01] [-1.93051287e-02 1.84016994e-04 9.99813622e-01 -4.30165960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44862385300002 meters 0.01924325830910861 Centerline is valid? [True, True] Translation: X:170.13, Y:-34.91, Z:-4.30 [[ 9.61096258e-01 2.75603232e-01 1.83532124e-02 1.70127755e+02] [-2.75548943e-01 9.61271458e-01 -5.47386194e-03 -3.49051642e+01] [-1.91510333e-02 2.03699938e-04 9.99816581e-01 -4.30311491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47862385300002 meters 0.019654665139547646 Centerline is valid? [True, True] Translation: X:170.15, Y:-34.92, Z:-4.30 [[ 9.61312832e-01 2.74831321e-01 1.85845256e-02 1.70154478e+02] [-2.74775541e-01 9.61492432e-01 -5.54124487e-03 -3.49150060e+01] [-1.93917884e-02 2.20296709e-04 9.99811937e-01 -4.30348459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50862385300002 meters 0.021761235338413776 Centerline is valid? [True, True] Translation: X:170.18, Y:-34.93, Z:-4.31 [[ 9.61472511e-01 2.74262810e-01 1.87222113e-02 1.70180079e+02] [-2.74206111e-01 9.61654749e-01 -5.58139174e-03 -3.49273603e+01] [-1.95350716e-02 2.32609985e-04 9.99809145e-01 -4.30510207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53862385300002 meters 0.019684491470208964 Centerline is valid? [True, True] Translation: X:170.21, Y:-34.93, Z:-4.30 [[ 9.61390953e-01 2.74508378e-01 1.93025050e-02 1.70208522e+02] [-2.74448185e-01 9.61584680e-01 -5.75303787e-03 -3.49334162e+01] [-2.01402501e-02 2.33381096e-04 9.99797137e-01 -4.30312828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56862385300002 meters 0.01951026975147449 Centerline is valid? [True, True] Translation: X:170.24, Y:-34.94, Z:-4.30 [[ 9.61304269e-01 2.74805862e-01 1.93866308e-02 1.70236313e+02] [-2.74745224e-01 9.61499707e-01 -5.77710081e-03 -3.49415518e+01] [-2.02278210e-02 2.27167441e-04 9.99795371e-01 -4.30339723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59862385300002 meters 0.01874836493472918 Centerline is valid? [True, True] Translation: X:170.26, Y:-34.95, Z:-4.30 [[ 9.60957969e-01 2.76006329e-01 1.95010032e-02 1.70263383e+02] [-2.75945240e-01 9.61155797e-01 -5.81023070e-03 -3.49490678e+01] [-2.03471627e-02 2.02178477e-04 9.99792955e-01 -4.30439251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62862385300002 meters 0.018155037516687293 Centerline is valid? [True, True] Translation: X:170.29, Y:-34.96, Z:-4.31 [[ 9.60750277e-01 2.76746318e-01 1.92452947e-02 1.70289837e+02] [-2.76686994e-01 9.60942996e-01 -5.73283279e-03 -3.49565082e+01] [-2.00801715e-02 1.82897948e-04 9.99798356e-01 -4.30554625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.65862385300002 meters 0.01750799363218413 Centerline is valid? [True, True] Translation: X:170.32, Y:-34.96, Z:-4.31 [[ 9.60488793e-01 2.77648983e-01 1.92956164e-02 1.70317854e+02] [-2.77589556e-01 9.60682578e-01 -5.74652741e-03 -3.49640994e+01] [-2.01324800e-02 1.63213591e-04 9.99797308e-01 -4.30649190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.68862385300002 meters 0.017027466935383172 Centerline is valid? [True, True] Translation: X:170.34, Y:-34.97, Z:-4.31 [[ 9.60198026e-01 2.78651526e-01 1.93152203e-02 1.70344361e+02] [-2.78592200e-01 9.60392267e-01 -5.75143891e-03 -3.49715170e+01] [-2.01528355e-02 1.41450562e-04 9.99796901e-01 -4.30727268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.71862385300003 meters 0.0153778059268855 Centerline is valid? [True, True] Translation: X:170.37, Y:-34.98, Z:-4.31 [[ 9.59445097e-01 2.81206597e-01 1.96965976e-02 1.70373375e+02] [-2.81145471e-01 9.59647249e-01 -5.86361118e-03 -3.49769671e+01] [-2.05506719e-02 8.82037764e-05 9.99788809e-01 -4.30700642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.74862385300003 meters 0.01480880819029609 Centerline is valid? [True, True] Translation: X:170.40, Y:-34.98, Z:-4.31 [[ 9.59014151e-01 2.82662990e-01 1.98366417e-02 1.70401408e+02] [-2.82601318e-01 9.59219282e-01 -5.90459608e-03 -3.49832607e+01] [-2.06967000e-02 5.67301094e-05 9.99785799e-01 -4.30771789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.778623853 meters 0.01456414234132817 Centerline is valid? [True, True] Translation: X:170.43, Y:-34.99, Z:-4.31 [[ 9.58587650e-01 2.84116381e-01 1.96875157e-02 1.70427479e+02] [-2.84055957e-01 9.58789800e-01 -5.85936058e-03 -3.49888583e+01] [-2.05409296e-02 2.43545823e-05 9.99789013e-01 -4.30827791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.808623853 meters 0.014442683373339748 Centerline is valid? [True, True] Translation: X:170.45, Y:-34.99, Z:-4.31 [[ 9.58156880e-01 2.85568696e-01 1.96446921e-02 1.70454244e+02] [-2.85508876e-01 9.58358242e-01 -5.84482995e-03 -3.49942901e+01] [-2.04957530e-02 -8.46992732e-06 9.99789940e-01 -4.30916518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.838623853 meters 0.01741197139048633 Centerline is valid? [True, True] Translation: X:170.48, Y:-35.00, Z:-4.31 [[ 9.57064799e-01 2.89204275e-01 1.96940945e-02 1.70483591e+02] [-2.89144962e-01 9.57267402e-01 -5.85758701e-03 -3.49972758e+01] [-2.05465538e-02 -8.83578681e-05 9.99788893e-01 -4.30653784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.868623853 meters 0.02802207958157384 Centerline is valid? [True, True] Translation: X:170.51, Y:-35.00, Z:-4.30 [[ 9.56415216e-01 2.91357693e-01 1.95097248e-02 1.70511781e+02] [-2.91299952e-01 9.56614173e-01 -5.80182556e-03 -3.50010645e+01] [-2.03536858e-02 -1.34227658e-04 9.99792833e-01 -4.30453454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.898623853 meters 0.01744625738431588 Centerline is valid? [True, True] Translation: X:170.54, Y:-35.01, Z:-4.31 [[ 9.55906803e-01 2.92994041e-01 1.99167426e-02 1.70539821e+02] [-2.92934249e-01 9.56114251e-01 -5.92152212e-03 -3.50072126e+01] [-2.07776521e-02 -1.73872747e-04 9.99784106e-01 -4.31068986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.928623853 meters 0.020212362026719805 Centerline is valid? [True, True] Translation: X:170.57, Y:-35.01, Z:-4.31 [[ 9.54846159e-01 2.96468627e-01 1.93691926e-02 1.70569908e+02] [-2.96412810e-01 9.55042561e-01 -5.75778211e-03 -3.50083955e+01] [-2.02054051e-02 -2.43480682e-04 9.99795820e-01 -4.31232741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.958623853 meters 0.022321361735790923 Centerline is valid? [True, True] Translation: X:170.60, Y:-35.01, Z:-4.31 [[ 9.54442464e-01 2.97762914e-01 1.94120995e-02 1.70598241e+02] [-2.97707135e-01 9.54639813e-01 -5.76961785e-03 -3.50119132e+01] [-2.02495413e-02 -2.72352245e-04 9.99794920e-01 -4.31349123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.988623853 meters 0.022321361735790923 Centerline is valid? [True, True] Translation: X:170.62, Y:-35.02, Z:-4.31 [[ 9.54495418e-01 2.97593112e-01 1.94122620e-02 1.70624648e+02] [-2.97537310e-01 9.54692761e-01 -5.76907122e-03 -3.50195462e+01] [-2.02495819e-02 -2.69320163e-04 9.99794920e-01 -4.31418263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.018623853 meters 0.023203422159728093 Centerline is valid? [True, True] Translation: X:170.65, Y:-35.03, Z:-4.31 [[ 9.54229806e-01 2.98439006e-01 1.94843038e-02 1.70653288e+02] [-2.98383044e-01 9.54428664e-01 -5.78658079e-03 -3.50255660e+01] [-2.03233194e-02 -2.92058001e-04 9.99793417e-01 -4.31479978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.048623853 meters 0.02347658815649927 Centerline is valid? [True, True] Translation: X:170.68, Y:-35.03, Z:-4.32 [[ 9.54072359e-01 2.98928267e-01 1.96932898e-02 1.70681856e+02] [-2.98871272e-01 9.54275534e-01 -5.84526714e-03 -3.50322298e+01] [-2.05401402e-02 -3.08950773e-04 9.99788981e-01 -4.31528366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.078623853 meters 0.02437793623576579 Centerline is valid? [True, True] Translation: X:170.71, Y:-35.04, Z:-4.32 [[ 9.54065788e-01 2.98961694e-01 1.95032778e-02 1.70709545e+02] [-2.98905878e-01 9.54265062e-01 -5.78505332e-03 -3.50376275e+01] [-2.03408060e-02 -3.10322927e-04 9.99793056e-01 -4.31675366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.108623853 meters 0.023909675969652294 Centerline is valid? [True, True] Translation: X:170.74, Y:-35.04, Z:-4.32 [[ 9.54350130e-01 2.98072896e-01 1.91931525e-02 1.70736721e+02] [-2.98018685e-01 9.54543066e-01 -5.69190985e-03 -3.50446476e+01] [-2.00172947e-02 -2.87843157e-04 9.99799592e-01 -4.31870172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.138623853 meters 0.024456351108044876 Centerline is valid? [True, True] Translation: X:170.76, Y:-35.06, Z:-4.31 [[ 9.54536976e-01 2.97505371e-01 1.87006911e-02 1.70763778e+02] [-2.97453819e-01 9.54720106e-01 -5.54474829e-03 -3.50558780e+01] [-1.95035182e-02 -2.69924706e-04 9.99809752e-01 -4.31435337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.168623853 meters 0.022146324365839055 Centerline is valid? [True, True] Translation: X:170.79, Y:-35.06, Z:-4.32 [[ 9.54924377e-01 2.96227970e-01 1.91943569e-02 1.70791404e+02] [-2.96173422e-01 9.55117232e-01 -5.69010519e-03 -3.50619024e+01] [-2.00184293e-02 -2.51238216e-04 9.99799580e-01 -4.32008949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.19862385300002 meters 0.02098216676899197 Centerline is valid? [True, True] Translation: X:170.82, Y:-35.07, Z:-4.32 [[ 9.55298336e-01 2.95002313e-01 1.94608370e-02 1.70819114e+02] [-2.94945996e-01 9.55496511e-01 -5.76862369e-03 -3.50708966e+01] [-2.02965192e-02 -2.29139328e-04 9.99793978e-01 -4.32009883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22862385300002 meters 0.019513199306426372 Centerline is valid? [True, True] Translation: X:170.85, Y:-35.08, Z:-4.32 [[ 9.55854871e-01 2.93164410e-01 1.99021202e-02 1.70845668e+02] [-2.93105190e-01 9.56062022e-01 -5.89564289e-03 -3.50802180e+01] [-2.07560540e-02 -1.98035752e-04 9.99784550e-01 -4.32064570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25862385300002 meters 0.02405235421586761 Centerline is valid? [True, True] Translation: X:170.87, Y:-35.09, Z:-4.32 [[ 9.56090068e-01 2.92406278e-01 1.97572792e-02 1.70872983e+02] [-2.92347766e-01 9.56294168e-01 -5.85215489e-03 -3.50879146e+01] [-2.06049777e-02 -1.80809270e-04 9.99787679e-01 -4.31616647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28862385300002 meters 0.01685135633362212 Centerline is valid? [True, True] Translation: X:170.90, Y:-35.10, Z:-4.32 [[ 9.56444954e-01 2.91198540e-01 2.04073755e-02 1.70900019e+02] [-2.91135925e-01 9.56662628e-01 -6.04069959e-03 -3.50995708e+01] [-2.12820164e-02 -1.63723508e-04 9.99773499e-01 -4.31943737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.31862385300002 meters 0.01634513427486759 Centerline is valid? [True, True] Translation: X:170.93, Y:-35.11, Z:-4.32 [[ 9.56713016e-01 2.90298581e-01 2.06624965e-02 1.70927242e+02] [-2.90234263e-01 9.56936106e-01 -6.11233424e-03 -3.51075891e+01] [-2.15470909e-02 -1.49214735e-04 9.99767823e-01 -4.32023683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34862385300002 meters 0.015608218491845693 Centerline is valid? [True, True] Translation: X:170.95, Y:-35.12, Z:-4.32 [[ 9.57313883e-01 2.88379210e-01 1.96865760e-02 1.70953817e+02] [-2.88320435e-01 9.57516277e-01 -5.82289530e-03 -3.51161066e+01] [-2.05294190e-02 -1.01703653e-04 9.99789244e-01 -4.32325002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.37862385300002 meters 0.015195422502874967 Centerline is valid? [True, True] Translation: X:170.98, Y:-35.13, Z:-4.32 [[ 9.57634543e-01 2.87347570e-01 1.91691335e-02 1.70980033e+02] [-2.87291675e-01 9.57826376e-01 -5.66798865e-03 -3.51252782e+01] [-1.99893845e-02 -7.92707591e-05 9.99800189e-01 -4.32473042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40862385300002 meters 0.014994064526221294 Centerline is valid? [True, True] Translation: X:171.01, Y:-35.13, Z:-4.33 [[ 9.57958876e-01 2.86283496e-01 1.88825720e-02 1.71005755e+02] [-2.86229079e-01 9.58144956e-01 -5.58189427e-03 -3.51337829e+01] [-1.96902453e-02 -5.75160355e-05 9.99806127e-01 -4.32659764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.43862385300002 meters 0.01442112230411386 Centerline is valid? [True, True] Translation: X:171.03, Y:-35.15, Z:-4.33 [[ 9.58709836e-01 2.83745307e-01 1.90801224e-02 1.71032077e+02] [-2.83689281e-01 9.58899682e-01 -5.63838054e-03 -3.51450477e+01] [-1.98957874e-02 -7.25533539e-06 9.99802059e-01 -4.32574373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46862385300003 meters 0.014734727711639235 Centerline is valid? [True, True] Translation: X:171.06, Y:-35.15, Z:-4.33 [[ 9.59128417e-01 2.82318921e-01 1.92017360e-02 1.71057299e+02] [-2.82261909e-01 9.59320607e-01 -5.67348039e-03 -3.51540271e+01] [-2.00223519e-02 2.16776050e-05 9.99799532e-01 -4.32834550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.49862385300003 meters 0.014750982167793783 Centerline is valid? [True, True] Translation: X:171.08, Y:-35.16, Z:-4.33 [[ 9.59464066e-01 2.81166488e-01 1.93419497e-02 1.71084014e+02] [-2.81108445e-01 9.59659004e-01 -5.71300049e-03 -3.51629391e+01] [-2.01679805e-02 4.42332829e-05 9.99796605e-01 -4.32712839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.528623853 meters 0.016229529749620254 Centerline is valid? [True, True] Translation: X:171.11, Y:-35.18, Z:-4.33 [[ 9.60192251e-01 2.78650178e-01 1.96193701e-02 1.71109065e+02] [-2.78589963e-01 9.60392664e-01 -5.79341413e-03 -3.51756793e+01] [-2.04566350e-02 9.70317675e-05 9.99790736e-01 -4.32856743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.558623853 meters 0.01584822551511573 Centerline is valid? [True, True] Translation: X:171.14, Y:-35.18, Z:-4.33 [[ 9.60460455e-01 2.77737957e-01 1.94252966e-02 1.71136448e+02] [-2.77678766e-01 9.60656866e-01 -5.73488796e-03 -3.51837113e+01] [-2.02538406e-02 1.14140724e-04 9.99794863e-01 -4.32761873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.588623853 meters 0.01655799192869615 Centerline is valid? [True, True] Translation: X:171.16, Y:-35.19, Z:-4.33 [[ 9.60686543e-01 2.76952601e-01 1.94582465e-02 1.71162450e+02] [-2.76893066e-01 9.60883573e-01 -5.74367994e-03 -3.51938829e+01] [-2.02878365e-02 1.30022502e-04 9.99794172e-01 -4.32905960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.618623853 meters 0.016200892017010943 Centerline is valid? [True, True] Translation: X:171.19, Y:-35.20, Z:-4.33 [[ 9.60860848e-01 2.76345594e-01 1.94818633e-02 1.71190116e+02] [-2.76285816e-01 9.61058319e-01 -5.74935513e-03 -3.52018501e+01] [-2.03120157e-02 1.41767756e-04 9.99793680e-01 -4.32854791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.648623853 meters 0.018005644419914507 Centerline is valid? [True, True] Translation: X:171.21, Y:-35.21, Z:-4.33 [[ 9.60856719e-01 2.76372400e-01 1.93044722e-02 1.71214572e+02] [-2.76313727e-01 9.61050611e-01 -5.69619577e-03 -3.52132108e+01] [-2.01268461e-02 1.39137314e-04 9.99797425e-01 -4.33207200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.678623853 meters 0.01599545154527654 Centerline is valid? [True, True] Translation: X:171.24, Y:-35.22, Z:-4.33 [[ 9.60702293e-01 2.76939964e-01 1.88510082e-02 1.71242247e+02] [-2.76884159e-01 9.60887216e-01 -5.56066854e-03 -3.52170631e+01] [-1.96536641e-02 1.22601457e-04 9.99806841e-01 -4.33098807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.708623853 meters 0.015923084559152683 Centerline is valid? [True, True] Translation: X:171.27, Y:-35.22, Z:-4.33 [[ 9.60561215e-01 2.77450608e-01 1.85286707e-02 1.71269082e+02] [-2.77396818e-01 9.60739896e-01 -5.46417354e-03 -3.52239612e+01] [-1.93172714e-02 1.08878880e-04 9.99813398e-01 -4.33229940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.738623853 meters 0.015704106172460736 Centerline is valid? [True, True] Translation: X:171.30, Y:-35.23, Z:-4.33 [[ 9.60421692e-01 2.77942179e-01 1.83934715e-02 1.71295152e+02] [-2.77889287e-01 9.60597801e-01 -5.42295209e-03 -3.52309405e+01] [-1.91759954e-02 9.69721287e-05 9.99816119e-01 -4.33359738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.768623853 meters 0.015591461714680508 Centerline is valid? [True, True] Translation: X:171.32, Y:-35.24, Z:-4.34 [[ 9.60144723e-01 2.78909243e-01 1.82138773e-02 1.71322134e+02] [-2.78857587e-01 9.60317462e-01 -5.36821320e-03 -3.52388870e+01] [-1.89883487e-02 7.51837105e-05 9.99819702e-01 -4.33556876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.798623853 meters 0.015398670444468174 Centerline is valid? [True, True] Translation: X:171.35, Y:-35.25, Z:-4.34 [[ 9.60120315e-01 2.79006369e-01 1.80118649e-02 1.71348665e+02] [-2.78955889e-01 9.60289249e-01 -5.30761765e-03 -3.52467793e+01] [-1.87774593e-02 7.14357366e-05 9.99823685e-01 -4.33602398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.828623853 meters 0.015288489520999841 Centerline is valid? [True, True] Translation: X:171.38, Y:-35.26, Z:-4.34 [[ 9.60123073e-01 2.79000232e-01 1.79598382e-02 1.71375794e+02] [-2.78950068e-01 9.60291032e-01 -5.29093517e-03 -3.52552824e+01] [-1.87228437e-02 7.00508506e-05 9.99824710e-01 -4.33635191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.858623853 meters 0.015502292290143625 Centerline is valid? [True, True] Translation: X:171.40, Y:-35.27, Z:-4.34 [[ 9.60272729e-01 2.78490860e-01 1.78641103e-02 1.71402276e+02] [-2.78441170e-01 9.60438876e-01 -5.26119531e-03 -3.52664553e+01] [-1.86225808e-02 7.80786091e-05 9.99826582e-01 -4.33725711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.888623853 meters 0.015792457137397197 Centerline is valid? [True, True] Translation: X:171.43, Y:-35.28, Z:-4.34 [[ 9.60331692e-01 2.78296375e-01 1.77248159e-02 1.71427589e+02] [-2.78247436e-01 9.60495248e-01 -5.21951251e-03 -3.52753735e+01] [-1.84771728e-02 8.05787079e-05 9.99829279e-01 -4.33893475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.918623853 meters 0.015710965731875134 Centerline is valid? [True, True] Translation: X:171.45, Y:-35.28, Z:-4.34 [[ 9.60388409e-01 2.78104238e-01 1.76673909e-02 1.71454189e+02] [-2.78055614e-01 9.60550897e-01 -5.20093964e-03 -3.52839080e+01] [-1.84168316e-02 8.24049194e-05 9.99830392e-01 -4.33961007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94862385300002 meters 0.01570515769334865 Centerline is valid? [True, True] Translation: X:171.48, Y:-35.29, Z:-4.34 [[ 9.60409742e-01 2.78037512e-01 1.75576008e-02 1.71480660e+02] [-2.77989503e-01 9.60570214e-01 -5.16728396e-03 -3.52929454e+01] [-1.83020072e-02 8.18811164e-05 9.99832501e-01 -4.34096520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97862385300002 meters 0.015631827783554604 Centerline is valid? [True, True] Translation: X:171.51, Y:-35.30, Z:-4.34 [[ 9.60291565e-01 2.78435290e-01 1.77172300e-02 1.71506380e+02] [-2.78386499e-01 9.60454988e-01 -5.21280764e-03 -3.53026361e+01] [-1.84680315e-02 7.35775877e-05 9.99829449e-01 -4.34158592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00862385300002 meters 0.0153927950139204 Centerline is valid? [True, True] Translation: X:171.53, Y:-35.31, Z:-4.34 [[ 9.60107626e-01 2.79078131e-01 1.75710665e-02 1.71533092e+02] [-2.79030268e-01 9.60268396e-01 -5.16879007e-03 -3.53100078e+01] [-1.83154361e-02 5.97353834e-05 9.99832257e-01 -4.34208984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03862385300002 meters 0.015175042749129869 Centerline is valid? [True, True] Translation: X:171.56, Y:-35.32, Z:-4.34 [[ 9.59856023e-01 2.79948921e-01 1.74647212e-02 1.71559372e+02] [-2.79901802e-01 9.60014896e-01 -5.13626886e-03 -3.53169909e+01] [-1.82042855e-02 4.16716541e-05 9.99834287e-01 -4.34288722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06862385300002 meters 0.014912854941363513 Centerline is valid? [True, True] Translation: X:171.59, Y:-35.32, Z:-4.34 [[ 9.59547063e-01 2.81006460e-01 1.74586173e-02 1.71586113e+02] [-2.80959579e-01 9.59705876e-01 -5.13287321e-03 -3.53236061e+01] [-1.81975081e-02 2.00676603e-05 9.99834411e-01 -4.34324402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09862385300002 meters 0.023931191460736054 Centerline is valid? [True, True] Translation: X:171.61, Y:-35.33, Z:-4.34 [[ 9.58672948e-01 2.83966871e-01 1.75782465e-02 1.71614133e+02] [-2.83919867e-01 9.58834091e-01 -5.16664953e-03 -3.53285740e+01] [-1.83217794e-02 -3.76862938e-05 9.99832141e-01 -4.33684090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12862385300002 meters 0.015087853236166722 Centerline is valid? [True, True] Translation: X:171.64, Y:-35.34, Z:-4.34 [[ 9.58331404e-01 2.85058083e-01 1.85151372e-02 1.71640149e+02] [-2.85006167e-01 9.58510243e-01 -5.44053120e-03 -3.53351197e+01] [-1.92978160e-02 -6.30963691e-05 9.99813778e-01 -4.34258979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.15862385300002 meters 0.015549462316739905 Centerline is valid? [True, True] Translation: X:171.67, Y:-35.34, Z:-4.34 [[ 9.57907215e-01 2.86444089e-01 1.90670044e-02 1.71667933e+02] [-2.86389346e-01 9.58096955e-01 -5.60069182e-03 -3.53418765e+01] [-1.98723239e-02 -9.56438176e-05 9.99802521e-01 -4.34238242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.18862385300002 meters 0.016209631486342847 Centerline is valid? [True, True] Translation: X:171.69, Y:-35.35, Z:-4.34 [[ 9.57501328e-01 2.87773108e-01 1.94382586e-02 1.71694866e+02] [-2.87716506e-01 9.57698607e-01 -5.70876379e-03 -3.53481948e+01] [-2.02588219e-02 -1.26558946e-04 9.99794761e-01 -4.34263993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.21862385300003 meters 0.016927314722608697 Centerline is valid? [True, True] Translation: X:171.72, Y:-35.36, Z:-4.34 [[ 9.56973375e-01 2.89471387e-01 2.02058242e-02 1.71722318e+02] [-2.89410634e-01 9.57186652e-01 -5.93281134e-03 -3.53553326e+01] [-2.10581243e-02 -1.70237892e-04 9.99778239e-01 -4.34167287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.24862385300003 meters 0.01757653488635247 Centerline is valid? [True, True] Translation: X:171.75, Y:-35.36, Z:-4.34 [[ 9.56767266e-01 2.90167105e-01 1.99862386e-02 1.71749593e+02] [-2.90107840e-01 9.56975975e-01 -5.86719720e-03 -3.53625144e+01] [-2.08288178e-02 -1.84622288e-04 9.99783040e-01 -4.34272058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.278623853 meters 0.018128704676661438 Centerline is valid? [True, True] Translation: X:171.78, Y:-35.37, Z:-4.34 [[ 9.56584363e-01 2.90781299e-01 1.98139613e-02 1.71777523e+02] [-2.90723225e-01 9.56789526e-01 -5.81459475e-03 -3.53703391e+01] [-2.06485661e-02 -1.98228323e-04 9.99786776e-01 -4.34410082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.308623853 meters 0.017964053156138412 Centerline is valid? [True, True] Translation: X:171.80, Y:-35.38, Z:-4.35 [[ 9.56425832e-01 2.91367827e-01 1.88259648e-02 1.71804286e+02] [-2.91315532e-01 9.56611075e-01 -5.52378168e-03 -3.53803662e+01] [-1.96185787e-02 -2.01208455e-04 9.99807517e-01 -4.34611655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.338623853 meters 0.01908606647114867 Centerline is valid? [True, True] Translation: X:171.83, Y:-35.39, Z:-4.35 [[ 9.56386826e-01 2.91537943e-01 1.81622105e-02 1.71831683e+02] [-2.91489314e-01 9.56559245e-01 -5.32834254e-03 -3.53872078e+01] [-1.89266444e-02 -1.98133666e-04 9.99820855e-01 -4.34868479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.368623853 meters 0.01883341559603129 Centerline is valid? [True, True] Translation: X:171.86, Y:-35.40, Z:-4.35 [[ 9.56372021e-01 2.91598436e-01 1.79696777e-02 1.71858792e+02] [-2.91550879e-01 9.56540806e-01 -5.26992981e-03 -3.53961249e+01] [-1.87254333e-02 -1.99061903e-04 9.99824644e-01 -4.34970632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.398623853 meters 0.019788430578923027 Centerline is valid? [True, True] Translation: X:171.89, Y:-35.40, Z:-4.35 [[ 9.56277326e-01 2.91881141e-01 1.84139777e-02 1.71885006e+02] [-2.91831271e-01 9.56454575e-01 -5.39946705e-03 -3.54023755e+01] [-1.91881358e-02 -2.10386593e-04 9.99815869e-01 -4.35056126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.428623853 meters 0.019743811446428294 Centerline is valid? [True, True] Translation: X:171.91, Y:-35.41, Z:-4.35 [[ 9.56209161e-01 2.92095359e-01 1.85564654e-02 1.71912458e+02] [-2.92044791e-01 9.56389175e-01 -5.43933357e-03 -3.54102526e+01] [-1.93360068e-02 -2.18178492e-04 9.99813018e-01 -4.35051216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.458623853 meters 0.020220535120454786 Centerline is valid? [True, True] Translation: X:171.94, Y:-35.42, Z:-4.35 [[ 9.56124946e-01 2.92355114e-01 1.88036077e-02 1.71939545e+02] [-2.92303257e-01 9.56309801e-01 -5.51088635e-03 -3.54175783e+01] [-1.95932101e-02 -2.27259866e-04 9.99808009e-01 -4.35092690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.488623853 meters 0.020001017123138676 Centerline is valid? [True, True] Translation: X:171.97, Y:-35.43, Z:-4.35 [[ 9.55997436e-01 2.92769676e-01 1.88366442e-02 1.71967207e+02] [-2.92717742e-01 9.56182964e-01 -5.51933950e-03 -3.54260722e+01] [-1.96271735e-02 -2.37345552e-04 9.99807340e-01 -4.35129093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.518623853 meters 0.021947608480675115 Centerline is valid? [True, True] Translation: X:171.99, Y:-35.43, Z:-4.35 [[ 9.55564196e-01 2.94184261e-01 1.87800088e-02 1.71994961e+02] [-2.94132929e-01 9.55748685e-01 -5.50185621e-03 -3.54302389e+01] [-1.95675282e-02 -2.66442172e-04 9.99808502e-01 -4.35219858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.548623853 meters 0.02183181362974143 Centerline is valid? [True, True] Translation: X:172.02, Y:-35.44, Z:-4.35 [[ 9.55353284e-01 2.94887900e-01 1.84723841e-02 1.72022606e+02] [-2.94838391e-01 9.55531815e-01 -5.41051397e-03 -3.54376019e+01] [-1.92464458e-02 -2.77415723e-04 9.99814732e-01 -4.35294498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.578623853 meters 0.02215608777746931 Centerline is valid? [True, True] Translation: X:172.05, Y:-35.44, Z:-4.35 [[ 9.55173368e-01 2.95471259e-01 1.84546142e-02 1.72050872e+02] [-2.95421972e-01 9.55351585e-01 -5.40437250e-03 -3.54440561e+01] [-1.92274816e-02 -2.89785823e-04 9.99815093e-01 -4.35386717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.608623853 meters 0.023852606122967128 Centerline is valid? [True, True] Translation: X:172.08, Y:-35.45, Z:-4.35 [[ 9.54780073e-01 2.96721983e-01 1.87370703e-02 1.72079231e+02] [-2.96671434e-01 9.54963854e-01 -5.48617568e-03 -3.54468829e+01] [-1.95210938e-02 -3.20662315e-04 9.99809394e-01 -4.35461529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.638623853 meters 0.024011029963004294 Centerline is valid? [True, True] Translation: X:172.11, Y:-35.45, Z:-4.35 [[ 9.54741840e-01 2.96842484e-01 1.87765520e-02 1.72107164e+02] [-2.96791770e-01 9.54926402e-01 -5.49646635e-03 -3.54541246e+01] [-1.95618100e-02 -3.25019722e-04 9.99808597e-01 -4.35479480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.668623853 meters 0.023688933651290236 Centerline is valid? [True, True] Translation: X:172.13, Y:-35.46, Z:-4.36 [[ 9.54859546e-01 2.96441663e-01 1.91203777e-02 1.72134357e+02] [-2.96389013e-01 9.55050908e-01 -5.59618548e-03 -3.54618686e+01] [-1.99198767e-02 -3.23498753e-04 9.99801527e-01 -4.35520741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.69862385300002 meters 0.023214663301734818 Centerline is valid? [True, True] Translation: X:172.16, Y:-35.47, Z:-4.36 [[ 9.55007567e-01 2.95939622e-01 1.95009827e-02 1.72162417e+02] [-2.95884776e-01 9.55206594e-01 -5.70626744e-03 -3.54701756e+01] [-2.03161779e-02 -3.20515308e-04 9.99793554e-01 -4.35513806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72862385300002 meters 0.021951583885369764 Centerline is valid? [True, True] Translation: X:172.19, Y:-35.48, Z:-4.36 [[ 9.55507459e-01 2.94339894e-01 1.92229607e-02 1.72189183e+02] [-2.94286297e-01 9.55700762e-01 -5.62396546e-03 -3.54793697e+01] [-2.00267556e-02 -2.83312973e-04 9.99799404e-01 -4.35675280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75862385300002 meters 0.02100391003814462 Centerline is valid? [True, True] Translation: X:172.22, Y:-35.49, Z:-4.36 [[ 9.55913363e-01 2.93033619e-01 1.89984271e-02 1.72215916e+02] [-2.92981023e-01 9.56102104e-01 -5.55755759e-03 -3.54882777e+01] [-1.97929873e-02 -2.53635042e-04 9.99804067e-01 -4.35807983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78862385300002 meters 0.020208319076741116 Centerline is valid? [True, True] Translation: X:172.24, Y:-35.50, Z:-4.36 [[ 9.56271187e-01 2.91855256e-01 1.91292230e-02 1.72242737e+02] [-2.91801736e-01 9.56462469e-01 -5.59387575e-03 -3.54965986e+01] [-1.99289859e-02 -2.32678284e-04 9.99801371e-01 -4.35923111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81862385300002 meters 0.017204128697047592 Centerline is valid? [True, True] Translation: X:172.27, Y:-35.51, Z:-4.36 [[ 9.57172732e-01 2.88892383e-01 1.90145483e-02 1.72269474e+02] [-2.88838943e-01 9.57361563e-01 -5.55906037e-03 -3.55093099e+01] [-1.98097678e-02 -1.71161023e-04 9.99803753e-01 -4.35983773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84862385300002 meters 0.01678171539168196 Centerline is valid? [True, True] Translation: X:172.30, Y:-35.52, Z:-4.36 [[ 9.57743956e-01 2.87011717e-01 1.87293379e-02 1.72295368e+02] [-2.86959520e-01 9.57927062e-01 -5.47509632e-03 -3.55184312e+01] [-1.95127564e-02 -1.30821399e-04 9.99809599e-01 -4.36173119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.87862385300002 meters 0.01678171539168196 Centerline is valid? [True, True] Translation: X:172.32, Y:-35.53, Z:-4.36 [[ 9.57763500e-01 2.86946473e-01 1.87296539e-02 1.72321793e+02] [-2.86894284e-01 9.57946609e-01 -5.47401497e-03 -3.55260120e+01] [-1.95127577e-02 -1.30618913e-04 9.99809599e-01 -4.36242266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90862385300002 meters 0.015556768980385261 Centerline is valid? [True, True] Translation: X:172.35, Y:-35.54, Z:-4.36 [[ 9.58336574e-01 2.85018793e-01 1.88493949e-02 1.72348233e+02] [-2.84965592e-01 9.58521924e-01 -5.50748878e-03 -3.55378415e+01] [-1.96372960e-02 -9.34010398e-05 9.99807165e-01 -4.36213029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.93862385300002 meters 0.01510013287219715 Centerline is valid? [True, True] Translation: X:172.37, Y:-35.55, Z:-4.36 [[ 9.58908205e-01 2.83081958e-01 1.89647062e-02 1.72374641e+02] [-2.83027741e-01 9.59095721e-01 -5.54039187e-03 -3.55478982e+01] [-1.97573536e-02 -5.48107298e-05 9.99804803e-01 -4.36366798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96862385300003 meters 0.014563481074573727 Centerline is valid? [True, True] Translation: X:172.40, Y:-35.56, Z:-4.36 [[ 9.59808040e-01 2.80007548e-01 1.90866048e-02 1.72400847e+02] [-2.79952062e-01 9.59997798e-01 -5.57406552e-03 -3.55604146e+01] [-1.98838790e-02 6.69854607e-06 9.99802296e-01 -4.36382040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.99862385300003 meters 0.014624534695140797 Centerline is valid? [True, True] Translation: X:172.43, Y:-35.57, Z:-4.36 [[ 9.60138641e-01 2.78851359e-01 1.93832144e-02 1.72427770e+02] [-2.78793916e-01 9.60334275e-01 -5.65980539e-03 -3.55694857e+01] [-2.01926095e-02 3.02756216e-05 9.99796108e-01 -4.36395083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.028623853 meters 0.01473081991677924 Centerline is valid? [True, True] Translation: X:172.45, Y:-35.58, Z:-4.36 [[ 9.60337601e-01 2.78160531e-01 1.94527913e-02 1.72454897e+02] [-2.78102565e-01 9.60534600e-01 -5.67859642e-03 -3.55780181e+01] [-2.02646405e-02 4.34985236e-05 9.99794650e-01 -4.36439739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.058623853 meters 0.014750790853696029 Centerline is valid? [True, True] Translation: X:172.48, Y:-35.59, Z:-4.36 [[ 9.60406954e-01 2.77903327e-01 1.97034107e-02 1.72481282e+02] [-2.77843837e-01 9.60609046e-01 -5.75012403e-03 -3.55861165e+01] [-2.05252531e-02 4.79878875e-05 9.99789334e-01 -4.36485503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.088623853 meters 0.014646536571152871 Centerline is valid? [True, True] Translation: X:172.51, Y:-35.59, Z:-4.36 [[ 9.60306783e-01 2.78218140e-01 2.01382696e-02 1.72509245e+02] [-2.78156093e-01 9.60517915e-01 -5.87562817e-03 -3.55928001e+01] [-2.09778750e-02 4.08232035e-05 9.99779939e-01 -4.36495778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.118623853 meters 0.020678710472807376 Centerline is valid? [True, True] Translation: X:172.54, Y:-35.60, Z:-4.36 [[ 9.60117283e-01 2.78894197e-01 1.98199191e-02 1.72536523e+02] [-2.78834259e-01 9.60321835e-01 -5.78184107e-03 -3.55982054e+01] [-2.06460230e-02 2.47730854e-05 9.99786848e-01 -4.35959226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.148623853 meters 0.014424618301042962 Centerline is valid? [True, True] Translation: X:172.56, Y:-35.60, Z:-4.37 [[ 9.59926684e-01 2.79506242e-01 2.04211240e-02 1.72563406e+02] [-2.79442787e-01 9.60143875e-01 -5.95549668e-03 -3.56049357e+01] [-2.12718156e-02 1.03043871e-05 9.99773729e-01 -4.36595223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.178623853 meters 0.014390477978404813 Centerline is valid? [True, True] Translation: X:172.59, Y:-35.61, Z:-4.37 [[ 9.59574496e-01 2.80691089e-01 2.07195492e-02 1.72590852e+02] [-2.80626071e-01 9.59798162e-01 -6.04118602e-03 -3.56100105e+01] [-2.15822924e-02 -1.74776721e-05 9.99767075e-01 -4.36638006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.208623853 meters 0.014432527060853741 Centerline is valid? [True, True] Translation: X:172.62, Y:-35.62, Z:-4.37 [[ 9.59460679e-01 2.81079713e-01 2.07219689e-02 1.72617907e+02] [-2.81014805e-01 9.59684424e-01 -6.04029292e-03 -3.56158537e+01] [-2.15843546e-02 -2.77565061e-05 9.99767030e-01 -4.36738147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.238623853 meters 0.014717943746543394 Centerline is valid? [True, True] Translation: X:172.64, Y:-35.62, Z:-4.37 [[ 9.59399487e-01 2.81330522e-01 2.01435477e-02 1.72643970e+02] [-2.81269271e-01 9.59610930e-01 -5.87035071e-03 -3.56212224e+01] [-2.09814774e-02 -3.37495304e-05 9.99779864e-01 -4.36943399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.268623853 meters 0.014628908822013172 Centerline is valid? [True, True] Translation: X:172.67, Y:-35.63, Z:-4.37 [[ 9.59437031e-01 2.81211087e-01 2.00226787e-02 1.72670129e+02] [-2.81150596e-01 9.59645937e-01 -5.83255203e-03 -3.56278520e+01] [-2.08548605e-02 -3.34216508e-05 9.99782513e-01 -4.37067120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.298623853 meters 0.01434657428421835 Centerline is valid? [True, True] Translation: X:172.70, Y:-35.64, Z:-4.37 [[ 9.59608406e-01 2.80577297e-01 2.06902997e-02 1.72698265e+02] [-2.80512600e-01 9.59831433e-01 -6.02506546e-03 -3.56360044e+01] [-2.15496966e-02 -2.21862926e-05 9.99767778e-01 -4.36953265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.328623853 meters 0.01434016910352271 Centerline is valid? [True, True] Translation: X:172.72, Y:-35.64, Z:-4.37 [[ 9.59801055e-01 2.79902988e-01 2.08866328e-02 1.72724051e+02] [-2.79836919e-01 9.60028290e-01 -6.08125754e-03 -3.56433189e+01] [-2.17539205e-02 -8.05354491e-06 9.99763355e-01 -4.37012936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.358623853 meters 0.02204063128253378 Centerline is valid? [True, True] Translation: X:172.75, Y:-35.65, Z:-4.37 [[ 9.60048051e-01 2.79072876e-01 2.06414635e-02 1.72749668e+02] [-2.79008195e-01 9.60269925e-01 -6.00810541e-03 -3.56507239e+01] [-2.14980759e-02 8.93241217e-06 9.99768890e-01 -4.36518851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.388623853 meters 0.014399338275119593 Centerline is valid? [True, True] Translation: X:172.78, Y:-35.66, Z:-4.37 [[ 9.60331106e-01 2.78044906e-01 2.13353397e-02 1.72775669e+02] [-2.77975611e-01 9.60568076e-01 -6.20730690e-03 -3.56597878e+01] [-2.22199563e-02 3.03658267e-05 9.99753106e-01 -4.37071159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.418623853 meters 0.014957648928178533 Centerline is valid? [True, True] Translation: X:172.80, Y:-35.67, Z:-4.37 [[ 9.60872690e-01 2.76174224e-01 2.12478379e-02 1.72801515e+02] [-2.76105075e-01 9.61107586e-01 -6.18021757e-03 -3.56705564e+01] [-2.21282750e-02 7.17664082e-05 9.99755137e-01 -4.37226368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44862385300002 meters 0.015272600139094315 Centerline is valid? [True, True] Translation: X:172.83, Y:-35.68, Z:-4.37 [[ 9.61218899e-01 2.74969349e-01 2.12152415e-02 1.72828518e+02] [-2.74900148e-01 9.61452988e-01 -6.16937204e-03 -3.56797348e+01] [-2.20938456e-02 9.80439672e-05 9.99755896e-01 -4.37313584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47862385300002 meters 0.01582428292118246 Centerline is valid? [True, True] Translation: X:172.86, Y:-35.69, Z:-4.37 [[ 9.61589880e-01 2.73661042e-01 2.13198597e-02 1.72855158e+02] [-2.73590858e-01 9.61826189e-01 -6.19876904e-03 -3.56895981e+01] [-2.22023610e-02 1.27754891e-04 9.99753489e-01 -4.37361186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50862385300002 meters 0.01697755152450681 Centerline is valid? [True, True] Translation: X:172.88, Y:-35.70, Z:-4.38 [[ 9.62296859e-01 2.71234556e-01 2.04100855e-02 1.72881390e+02] [-2.71169715e-01 9.62513265e-01 -5.93298525e-03 -3.57009692e+01] [-2.12542087e-02 1.74695988e-04 9.99774089e-01 -4.37620518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53862385300002 meters 0.01776374564801094 Centerline is valid? [True, True] Translation: X:172.91, Y:-35.71, Z:-4.38 [[ 9.62654901e-01 2.69961051e-01 2.04100908e-02 1.72907561e+02] [-2.69895946e-01 9.62871222e-01 -5.93196001e-03 -3.57111348e+01] [-2.12536872e-02 2.01829621e-04 9.99774095e-01 -4.37748839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56862385300002 meters 0.018844642415353493 Centerline is valid? [True, True] Translation: X:172.93, Y:-35.72, Z:-4.38 [[ 9.63011425e-01 2.68700580e-01 2.02235891e-02 1.72932984e+02] [-2.68636409e-01 9.63223726e-01 -5.87645017e-03 -3.57217848e+01] [-2.10588465e-02 2.26296292e-04 9.99778212e-01 -4.37858722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59862385300002 meters 0.021071385666864777 Centerline is valid? [True, True] Translation: X:172.96, Y:-35.74, Z:-4.38 [[ 9.63573972e-01 2.66702160e-01 1.98785874e-02 1.72957737e+02] [-2.66639761e-01 9.63778962e-01 -5.77494443e-03 -3.57352487e+01] [-2.06987545e-02 2.64164353e-04 9.99785723e-01 -4.37958351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62862385300002 meters 0.020967004365341112 Centerline is valid? [True, True] Translation: X:172.98, Y:-35.74, Z:-4.38 [[ 9.63769638e-01 2.65983661e-01 2.00193873e-02 1.72984955e+02] [-2.65920248e-01 9.63977496e-01 -5.81450326e-03 -3.57435222e+01] [-2.08448017e-02 2.80281265e-04 9.99782684e-01 -4.38035719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.65862385300002 meters 0.02113896076174208 Centerline is valid? [True, True] Translation: X:173.01, Y:-35.75, Z:-4.38 [[ 9.63826558e-01 2.65801918e-01 1.96902429e-02 1.73012453e+02] [-2.65740555e-01 9.64027625e-01 -5.71791739e-03 -3.57520128e+01] [-2.05017716e-02 2.78584550e-04 9.99789778e-01 -4.38114631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68862385300002 meters 0.021060209086563544 Centerline is valid? [True, True] Translation: X:173.04, Y:-35.76, Z:-4.38 [[ 9.63777701e-01 2.65986789e-01 1.95849768e-02 1.73040319e+02] [-2.65926139e-01 9.63976636e-01 -5.68634876e-03 -3.57600524e+01] [-2.03919537e-02 2.72218881e-04 9.99792025e-01 -4.38239815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.71862385300003 meters 0.02073840502168552 Centerline is valid? [True, True] Translation: X:173.07, Y:-35.77, Z:-4.38 [[ 9.63678469e-01 2.66342125e-01 1.96387701e-02 1.73068496e+02] [-2.66281236e-01 9.63878521e-01 -5.70095808e-03 -3.57680972e+01] [-2.04477939e-02 2.64454597e-04 9.99790887e-01 -4.38299270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74862385300003 meters 0.022055291301378076 Centerline is valid? [True, True] Translation: X:173.10, Y:-35.77, Z:-4.38 [[ 9.63359093e-01 2.67536374e-01 1.90669150e-02 1.73096380e+02] [-2.67479231e-01 9.63547734e-01 -5.53402869e-03 -3.57742887e+01] [-1.98524367e-02 2.31253083e-04 9.99802894e-01 -4.37922817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.77862385300003 meters 0.019342750175823195 Centerline is valid? [True, True] Translation: X:173.12, Y:-35.78, Z:-4.39 [[ 9.63126939e-01 2.68385159e-01 1.88654642e-02 1.73122657e+02] [-2.68329399e-01 9.63311664e-01 -5.47463922e-03 -3.57837329e+01] [-1.96426336e-02 2.10613839e-04 9.99807043e-01 -4.38574743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.808623853 meters 0.018598491383088153 Centerline is valid? [True, True] Translation: X:173.15, Y:-35.79, Z:-4.39 [[ 9.62857713e-01 2.69317536e-01 1.93155001e-02 1.73150407e+02] [-2.69259299e-01 9.63051414e-01 -5.60383569e-03 -3.57903105e+01] [-2.01110309e-02 1.94818401e-04 9.99797734e-01 -4.38569242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.838623853 meters 0.017187490855402467 Centerline is valid? [True, True] Translation: X:173.18, Y:-35.79, Z:-4.38 [[ 9.62327370e-01 2.71124472e-01 2.04341401e-02 1.73177772e+02] [-2.71059723e-01 9.62544281e-01 -5.92732917e-03 -3.57944638e+01] [-2.12758087e-02 1.65158732e-04 9.99773631e-01 -4.38432896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.868623853 meters 0.016577448586011533 Centerline is valid? [True, True] Translation: X:173.21, Y:-35.80, Z:-4.38 [[ 9.62089142e-01 2.71943724e-01 2.07627884e-02 1.73206278e+02] [-2.71877095e-01 9.62313145e-01 -6.02130062e-03 -3.58008322e+01] [-2.16177591e-02 1.48101364e-04 9.99766298e-01 -4.38415271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.898623853 meters 0.016164014508327867 Centerline is valid? [True, True] Translation: X:173.23, Y:-35.81, Z:-4.38 [[ 9.61895574e-01 2.72603169e-01 2.10811843e-02 1.73232950e+02] [-2.72534662e-01 9.62126548e-01 -6.11260843e-03 -3.58073415e+01] [-2.19490835e-02 1.34337557e-04 9.99759081e-01 -4.38445797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.928623853 meters 0.015577614917304342 Centerline is valid? [True, True] Translation: X:173.26, Y:-35.81, Z:-4.38 [[ 9.61804279e-01 2.72895480e-01 2.14612831e-02 1.73261522e+02] [-2.72824581e-01 9.62043679e-01 -6.22154122e-03 -3.58142282e+01] [-2.23445223e-02 1.28739389e-04 9.99750322e-01 -4.38391322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.958623853 meters 0.015466881874030227 Centerline is valid? [True, True] Translation: X:173.29, Y:-35.82, Z:-4.38 [[ 9.61754764e-01 2.73057937e-01 2.16133400e-02 1.73289432e+02] [-2.72986115e-01 9.61997582e-01 -6.26362618e-03 -3.58232002e+01] [-2.25023136e-02 1.23930606e-04 9.99746783e-01 -4.38446325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.988623853 meters 0.015528231159705546 Centerline is valid? [True, True] Translation: X:173.32, Y:-35.83, Z:-4.39 [[ 9.61797839e-01 2.72910592e-01 2.15575029e-02 1.73315737e+02] [-2.72839129e-01 9.62039393e-01 -6.24634693e-03 -3.58314196e+01] [-2.24438612e-02 1.25992664e-04 9.99748097e-01 -4.38502081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.018623853 meters 0.016105686724274135 Centerline is valid? [True, True] Translation: X:173.34, Y:-35.84, Z:-4.39 [[ 9.61874653e-01 2.72663603e-01 2.12535141e-02 1.73341871e+02] [-2.72594113e-01 9.62109424e-01 -6.15684433e-03 -3.58404795e+01] [-2.21269535e-02 1.28529691e-04 9.99755161e-01 -4.38697388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.048623853 meters 0.01606689750499013 Centerline is valid? [True, True] Translation: X:173.37, Y:-35.85, Z:-4.39 [[ 9.61846534e-01 2.72781607e-01 2.10104819e-02 1.73367883e+02] [-2.72713753e-01 9.62075974e-01 -6.08515967e-03 -3.58468488e+01] [-2.18735995e-02 1.23142373e-04 9.99760737e-01 -4.38779146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.078623853 meters 0.01575188438956418 Centerline is valid? [True, True] Translation: X:173.40, Y:-35.85, Z:-4.39 [[ 9.61844728e-01 2.72774586e-01 2.11836131e-02 1.73395223e+02] [-2.72705648e-01 9.62077965e-01 -6.13346825e-03 -3.58534437e+01] [-2.20533417e-02 1.22553159e-04 9.99756788e-01 -4.38764910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.108623853 meters 0.015351172988186824 Centerline is valid? [True, True] Translation: X:173.42, Y:-35.86, Z:-4.39 [[ 9.61820186e-01 2.72845633e-01 2.13820139e-02 1.73423396e+02] [-2.72775453e-01 9.62057818e-01 -6.18922693e-03 -3.58604657e+01] [-2.22594372e-02 1.20434866e-04 9.99752221e-01 -4.38758561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.138623853 meters 0.01555261308547467 Centerline is valid? [True, True] Translation: X:173.45, Y:-35.87, Z:-4.39 [[ 9.61794623e-01 2.72963673e-01 2.10222916e-02 1.73449644e+02] [-2.72895885e-01 9.62024334e-01 -6.08405944e-03 -3.58686155e+01] [-2.18846833e-02 1.14718771e-04 9.99760495e-01 -4.38906568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.168623853 meters 0.01607270878487389 Centerline is valid? [True, True] Translation: X:173.48, Y:-35.88, Z:-4.39 [[ 9.61836241e-01 2.72828181e-01 2.08765406e-02 1.73475716e+02] [-2.72761328e-01 9.62062768e-01 -6.04051913e-03 -3.58774849e+01] [-2.17325663e-02 1.15677271e-04 9.99763813e-01 -4.39117403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.19862385300002 meters 0.015382920129747535 Centerline is valid? [True, True] Translation: X:173.50, Y:-35.88, Z:-4.39 [[ 9.61907744e-01 2.72577869e-01 2.08518050e-02 1.73503554e+02] [-2.72511143e-01 9.62133718e-01 -6.03206563e-03 -3.58833096e+01] [-2.17064322e-02 1.19941432e-04 9.99764380e-01 -4.39047883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22862385300002 meters 0.016128955519538326 Centerline is valid? [True, True] Translation: X:173.53, Y:-35.89, Z:-4.39 [[ 9.62145020e-01 2.71752257e-01 2.06802020e-02 1.73530179e+02] [-2.71686464e-01 9.62367234e-01 -5.98103683e-03 -3.58924424e+01] [-2.15273091e-02 1.36093844e-04 9.99768251e-01 -4.39224031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25862385300002 meters 0.01633946540315671 Centerline is valid? [True, True] Translation: X:173.56, Y:-35.90, Z:-4.39 [[ 9.62290059e-01 2.71235267e-01 2.07188676e-02 1.73558040e+02] [-2.71169140e-01 9.62513069e-01 -5.99075980e-03 -3.59010700e+01] [-2.15670862e-02 1.46531091e-04 9.99767393e-01 -4.39283338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28862385300002 meters 0.016291192759614027 Centerline is valid? [True, True] Translation: X:173.59, Y:-35.91, Z:-4.39 [[ 9.62444833e-01 2.70686991e-01 2.07001675e-02 1.73585908e+02] [-2.70620878e-01 9.62667403e-01 -5.98431325e-03 -3.59088375e+01] [-2.15472523e-02 1.57673836e-04 9.99767819e-01 -4.39302820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31862385300002 meters 0.017296851625071646 Centerline is valid? [True, True] Translation: X:173.61, Y:-35.92, Z:-4.39 [[ 9.62525356e-01 2.70409918e-01 2.05770705e-02 1.73612450e+02] [-2.70344548e-01 9.62745268e-01 -5.94768829e-03 -3.59188427e+01] [-2.14187911e-02 1.61901969e-04 9.99770578e-01 -4.39471780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34862385300002 meters 0.017032476563582966 Centerline is valid? [True, True] Translation: X:173.64, Y:-35.93, Z:-4.40 [[ 9.62607389e-01 2.70131767e-01 2.03922412e-02 1.73640281e+02] [-2.70067535e-01 9.62823349e-01 -5.89283076e-03 -3.59264549e+01] [-2.12259668e-02 1.65200110e-04 9.99774690e-01 -4.39511300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.37862385300002 meters 0.016860240279606767 Centerline is valid? [True, True] Translation: X:173.67, Y:-35.93, Z:-4.39 [[ 9.62706817e-01 2.69732058e-01 2.09809699e-02 1.73667658e+02] [-2.69663992e-01 9.62935400e-01 -6.06187068e-03 -3.59339848e+01] [-2.18383995e-02 1.77992126e-04 9.99761498e-01 -4.39444626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40862385300002 meters 0.028219898594803654 Centerline is valid? [True, True] Translation: X:173.69, Y:-35.94, Z:-4.39 [[ 9.62828235e-01 2.69320618e-01 2.06928625e-02 1.73694580e+02] [-2.69254335e-01 9.63050555e-01 -5.97760524e-03 -3.59420111e+01] [-2.15381650e-02 1.83764162e-04 9.99768010e-01 -4.38778405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.43862385300002 meters 0.017312217989480776 Centerline is valid? [True, True] Translation: X:173.72, Y:-35.95, Z:-4.39 [[ 9.62923352e-01 2.68898234e-01 2.17337884e-02 1.73722198e+02] [-2.68825041e-01 9.63168573e-01 -6.27676827e-03 -3.59505243e+01] [-2.26211138e-02 2.01460176e-04 9.99744090e-01 -4.39419243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46862385300003 meters 0.018625134571968373 Centerline is valid? [True, True] Translation: X:173.75, Y:-35.96, Z:-4.39 [[ 9.63177239e-01 2.67964643e-01 2.20126407e-02 1.73748535e+02] [-2.67889343e-01 9.63428720e-01 -6.35615995e-03 -3.59602387e+01] [-2.29108364e-02 2.25156743e-04 9.99737487e-01 -4.39449919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.49862385300003 meters 0.01891969474798993 Centerline is valid? [True, True] Translation: X:173.78, Y:-35.97, Z:-4.40 [[ 9.63407845e-01 2.67132385e-01 2.20366177e-02 1.73776209e+02] [-2.67056737e-01 9.63659810e-01 -6.36160934e-03 -3.59687248e+01] [-2.29351947e-02 2.43797140e-04 9.99736924e-01 -4.39504469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52862385300003 meters 0.020168533072451447 Centerline is valid? [True, True] Translation: X:173.80, Y:-35.98, Z:-4.40 [[ 9.63809996e-01 2.65671934e-01 2.21068904e-02 1.73802405e+02] [-2.65595443e-01 9.64063455e-01 -6.38079798e-03 -3.59786150e+01] [-2.30076441e-02 2.78387529e-04 9.99735250e-01 -4.39564396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.558623853 meters 0.022437636362219383 Centerline is valid? [True, True] Translation: X:173.83, Y:-35.99, Z:-4.40 [[ 9.64604830e-01 2.62817961e-01 2.15462722e-02 1.73829481e+02] [-2.62744621e-01 9.64845379e-01 -6.21757607e-03 -3.59912987e+01] [-2.24229118e-02 3.36336797e-04 9.99748518e-01 -4.39770279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.588623853 meters 0.024332183398150548 Centerline is valid? [True, True] Translation: X:173.86, Y:-36.00, Z:-4.40 [[ 9.64933262e-01 2.61631678e-01 2.12759074e-02 1.73856103e+02] [-2.61559889e-01 9.65167724e-01 -6.13906159e-03 -3.60027755e+01] [-2.21409921e-02 3.58860739e-04 9.99754794e-01 -4.39932878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.618623853 meters 0.024337618700561364 Centerline is valid? [True, True] Translation: X:173.88, Y:-36.01, Z:-4.40 [[ 9.65197926e-01 2.60641836e-01 2.14195393e-02 1.73884199e+02] [-2.60568850e-01 9.65435491e-01 -6.17965377e-03 -3.60113593e+01] [-2.22898598e-02 3.83324275e-04 9.99751477e-01 -4.39940459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.648623853 meters 0.026602651795173377 Centerline is valid? [True, True] Translation: X:173.91, Y:-36.02, Z:-4.40 [[ 9.65418410e-01 2.59825847e-01 2.13968011e-02 1.73910311e+02] [-2.59752826e-01 9.65655409e-01 -6.17261959e-03 -3.60225338e+01] [-2.22657428e-02 4.01281047e-04 9.99752007e-01 -4.40031625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.678623853 meters 0.029581139012295178 Centerline is valid? [True, True] Translation: X:173.94, Y:-36.03, Z:-4.39 [[ 9.65601618e-01 2.59179993e-01 2.09582161e-02 1.73940575e+02] [-2.59109809e-01 9.65828953e-01 -6.04489781e-03 -3.60277249e+01] [-2.18087685e-02 4.06483729e-04 9.99762078e-01 -4.39421946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.708623853 meters 0.025797949834859998 Centerline is valid? [True, True] Translation: X:173.97, Y:-36.04, Z:-4.40 [[ 9.65831943e-01 2.58214773e-01 2.22213580e-02 1.73969162e+02] [-2.58135617e-01 9.66087431e-01 -6.40922098e-03 -3.60386344e+01] [-2.31227303e-02 4.54106379e-04 9.99732531e-01 -4.39982411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.738623853 meters 0.029349946225581715 Centerline is valid? [True, True] Translation: X:174.00, Y:-36.05, Z:-4.40 [[ 9.65936617e-01 2.57804128e-01 2.24384432e-02 1.73996976e+02] [-2.57723308e-01 9.66197088e-01 -6.47181167e-03 -3.60525093e+01] [-2.33484182e-02 4.68450080e-04 9.99727279e-01 -4.40041570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.768623853 meters 0.02874951752859644 Centerline is valid? [True, True] Translation: X:174.03, Y:-36.06, Z:-4.40 [[ 9.66220925e-01 2.56718871e-01 2.26394716e-02 1.74026346e+02] [-2.56636291e-01 9.66485991e-01 -6.53010903e-03 -3.60609002e+01] [-2.35571343e-02 4.99417965e-04 9.99722367e-01 -4.40071031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.798623853 meters 0.02874951752859644 Centerline is valid? [True, True] Translation: X:174.05, Y:-36.07, Z:-4.40 [[ 9.66226833e-01 2.56696634e-01 2.26394615e-02 1.74054380e+02] [-2.56614047e-01 9.66491898e-01 -6.53014412e-03 -3.60689396e+01] [-2.35571221e-02 4.99996651e-04 9.99722367e-01 -4.40144399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.828623853 meters 0.02939033721796005 Centerline is valid? [True, True] Translation: X:174.08, Y:-36.08, Z:-4.40 [[ 9.66388892e-01 2.56078172e-01 2.27261722e-02 1.74082929e+02] [-2.55994794e-01 9.66655938e-01 -6.55455012e-03 -3.60783421e+01] [-2.36468665e-02 5.16462656e-04 9.99720240e-01 -4.40235060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.858623853 meters 0.028204137060736673 Centerline is valid? [True, True] Translation: X:174.11, Y:-36.09, Z:-4.40 [[ 9.66500255e-01 2.55681371e-01 2.24564666e-02 1.74114253e+02] [-2.55599862e-01 9.66760967e-01 -6.47645306e-03 -3.60863775e+01] [-2.33659438e-02 5.19623774e-04 9.99726844e-01 -4.40290943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.888623853 meters 0.029970723355124844 Centerline is valid? [True, True] Translation: X:174.14, Y:-36.10, Z:-4.40 [[ 9.66598456e-01 2.55327387e-01 2.22564470e-02 1.74143383e+02] [-2.55247136e-01 9.66854512e-01 -6.42279767e-03 -3.60981155e+01] [-2.31586623e-02 5.27371976e-04 9.99731663e-01 -4.40474357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.918623853 meters 0.03049149247877264 Centerline is valid? [True, True] Translation: X:174.17, Y:-36.11, Z:-4.41 [[ 9.66818854e-01 2.54512989e-01 2.20100610e-02 1.74172713e+02] [-2.54434203e-01 9.67069202e-01 -6.35565882e-03 -3.61086354e+01] [-2.29028498e-02 5.44658439e-04 9.99737547e-01 -4.40533502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94862385300002 meters 0.030792213160408925 Centerline is valid? [True, True] Translation: X:174.20, Y:-36.12, Z:-4.41 [[ 9.66854347e-01 2.54364856e-01 2.21628437e-02 1.74202362e+02] [-2.54284921e-01 9.67108171e-01 -6.40031798e-03 -3.61185526e+01] [-2.30618832e-02 5.52498288e-04 9.99733887e-01 -4.40555850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97862385300002 meters 0.030963121371293173 Centerline is valid? [True, True] Translation: X:174.23, Y:-36.13, Z:-4.41 [[ 9.66823810e-01 2.54464945e-01 2.23453189e-02 1.74231797e+02] [-2.54383700e-01 9.67081839e-01 -6.45364411e-03 -3.61284618e+01] [-2.32519783e-02 5.55251881e-04 9.99729482e-01 -4.40602207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00862385300002 meters 0.03218141631332935 Centerline is valid? [True, True] Translation: X:174.26, Y:-36.14, Z:-4.41 [[ 9.66790731e-01 2.54565870e-01 2.26252331e-02 1.74261256e+02] [-2.54482514e-01 9.67055273e-01 -6.53828909e-03 -3.61399303e+01] [-2.35442763e-02 5.63431063e-04 9.99722636e-01 -4.40634535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03862385300002 meters 0.030449365969953 Centerline is valid? [True, True] Translation: X:174.29, Y:-36.15, Z:-4.41 [[ 9.66708055e-01 2.54867481e-01 2.27619023e-02 1.74292634e+02] [-2.54783111e-01 9.66975827e-01 -6.58150751e-03 -3.61481657e+01] [-2.36876216e-02 5.63048045e-04 9.99719250e-01 -4.40618045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06862385300002 meters 0.030092455039933602 Centerline is valid? [True, True] Translation: X:174.32, Y:-36.16, Z:-4.41 [[ 9.66611765e-01 2.55233692e-01 2.27476934e-02 1.74324591e+02] [-2.55149434e-01 9.66879233e-01 -6.58141901e-03 -3.61580200e+01] [-2.36740723e-02 5.57615950e-04 9.99719574e-01 -4.40728659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09862385300002 meters 0.03116775633417794 Centerline is valid? [True, True] Translation: X:174.35, Y:-36.17, Z:-4.41 [[ 9.66502868e-01 2.55637171e-01 2.28438625e-02 1.74353342e+02] [-2.55552196e-01 9.66772636e-01 -6.61407667e-03 -3.61691741e+01] [-2.37756250e-02 5.54724838e-04 9.99717166e-01 -4.40872125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12862385300002 meters 0.029748829068983084 Centerline is valid? [True, True] Translation: X:174.38, Y:-36.18, Z:-4.41 [[ 9.66310118e-01 2.56397088e-01 2.24786228e-02 1.74384511e+02] [-2.56314965e-01 9.66571390e-01 -6.51043572e-03 -3.61779082e+01] [-2.33964505e-02 5.29492488e-04 9.99726125e-01 -4.41060467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.15862385300002 meters 0.028136370500340176 Centerline is valid? [True, True] Translation: X:174.42, Y:-36.19, Z:-4.41 [[ 9.66157996e-01 2.56996564e-01 2.21696533e-02 1.74415735e+02] [-2.56916752e-01 9.66412181e-01 -6.42481277e-03 -3.61857528e+01] [-2.30761779e-02 5.11628904e-04 9.99733579e-01 -4.41166736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18862385300002 meters 0.02898157180800292 Centerline is valid? [True, True] Translation: X:174.45, Y:-36.20, Z:-4.41 [[ 9.65958709e-01 2.57764028e-01 2.19426087e-02 1.74445079e+02] [-2.57685949e-01 9.66207775e-01 -6.36299064e-03 -3.61968258e+01] [-2.28412692e-02 4.92084282e-04 9.99738983e-01 -4.41268551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.21862385300003 meters 0.026833587862169432 Centerline is valid? [True, True] Translation: X:174.48, Y:-36.21, Z:-4.42 [[ 9.65501810e-01 2.59542938e-01 2.10646220e-02 1.74475763e+02] [-2.59471333e-01 9.65731471e-01 -6.11172561e-03 -3.62054339e+01] [-2.19290236e-02 4.35216570e-04 9.99759435e-01 -4.41504120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24862385300003 meters 0.0296793249389545 Centerline is valid? [True, True] Translation: X:174.51, Y:-36.21, Z:-4.41 [[ 9.65297194e-01 2.60352990e-01 2.04364258e-02 1.74505574e+02] [-2.60285689e-01 9.65513415e-01 -5.93350688e-03 -3.62142896e+01] [-2.12764495e-02 4.08288376e-04 9.99773547e-01 -4.41097311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.27862385300003 meters 0.026436280138739606 Centerline is valid? [True, True] Translation: X:174.53, Y:-36.22, Z:-4.42 [[ 9.64979627e-01 2.61512647e-01 2.06265452e-02 1.74534459e+02] [-2.61444334e-01 9.65199972e-01 -5.98954601e-03 -3.62248392e+01] [-2.14750829e-02 3.87096492e-04 9.99769309e-01 -4.41789676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.308623853 meters 0.024150054539815714 Centerline is valid? [True, True] Translation: X:174.56, Y:-36.23, Z:-4.42 [[ 9.64567922e-01 2.63012191e-01 2.08161227e-02 1.74564899e+02] [-2.62942953e-01 9.64792444e-01 -6.04513031e-03 -3.62319345e+01] [-2.16731809e-02 3.57485995e-04 9.99765045e-01 -4.41808554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.338623853 meters 0.021577569084778096 Centerline is valid? [True, True] Translation: X:174.59, Y:-36.24, Z:-4.42 [[ 9.63756065e-01 2.65948056e-01 2.11158298e-02 1.74593363e+02] [-2.65877498e-01 9.63987315e-01 -6.13286860e-03 -3.62387369e+01] [-2.19864165e-02 2.96365312e-04 9.99758226e-01 -4.41788363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.368623853 meters 0.02028955336864436 Centerline is valid? [True, True] Translation: X:174.62, Y:-36.25, Z:-4.42 [[ 9.63318287e-01 2.67484653e-01 2.16757568e-02 1.74622675e+02] [-2.67410706e-01 9.63562083e-01 -6.29489650e-03 -3.62458207e+01] [-2.25697256e-02 2.67659482e-04 9.99745235e-01 -4.41807558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.398623853 meters 0.018664859752847766 Centerline is valid? [True, True] Translation: X:174.65, Y:-36.25, Z:-4.42 [[ 9.62756345e-01 2.69449157e-01 2.23018250e-02 1.74651550e+02] [-2.69371408e-01 9.63014590e-01 -6.47644650e-03 -3.62521020e+01] [-2.32220559e-02 2.27765944e-04 9.99730306e-01 -4.41754974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.428623853 meters 0.017459496063748088 Centerline is valid? [True, True] Translation: X:174.68, Y:-36.26, Z:-4.42 [[ 9.62320586e-01 2.70982950e-01 2.25240022e-02 1.74680072e+02] [-2.70904077e-01 9.62584128e-01 -6.54039252e-03 -3.62588689e+01] [-2.34535819e-02 1.92110318e-04 9.99724908e-01 -4.41769951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.458623853 meters 0.015184530583003293 Centerline is valid? [True, True] Translation: X:174.71, Y:-36.26, Z:-4.42 [[ 9.61274010e-01 2.74654514e-01 2.27414823e-02 1.74709942e+02] [-2.74575151e-01 9.61542972e-01 -6.60296850e-03 -3.62626800e+01] [-2.36804476e-02 1.03016081e-04 9.99719574e-01 -4.41779841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.488623853 meters 0.014630811955930838 Centerline is valid? [True, True] Translation: X:174.74, Y:-36.27, Z:-4.42 [[ 9.60693630e-01 2.76705751e-01 2.23981382e-02 1.74738606e+02] [-2.76629336e-01 9.60954694e-01 -6.50272677e-03 -3.62681738e+01] [-2.33229379e-02 5.11460932e-05 9.99727982e-01 -4.41934343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.518623853 meters 0.014491232117688617 Centerline is valid? [True, True] Translation: X:174.77, Y:-36.27, Z:-4.42 [[ 9.60213769e-01 2.78392279e-01 2.20739051e-02 1.74765872e+02] [-2.78318524e-01 9.60467459e-01 -6.40781336e-03 -3.62733984e+01] [-2.29851533e-02 9.29391508e-06 9.99735806e-01 -4.42146395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.548623853 meters 0.014848339645936884 Centerline is valid? [True, True] Translation: X:174.79, Y:-36.28, Z:-4.42 [[ 9.59454558e-01 2.81060776e-01 2.12553913e-02 1.74794069e+02] [-2.80993078e-01 9.59689969e-01 -6.16869723e-03 -3.62784484e+01] [-2.21323647e-02 -5.40331653e-05 9.99755048e-01 -4.42358532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.578623853 meters 0.01513905920003763 Centerline is valid? [True, True] Translation: X:174.82, Y:-36.29, Z:-4.42 [[ 9.59153437e-01 2.82092605e-01 2.11765340e-02 1.74821259e+02] [-2.82025683e-01 9.59387177e-01 -6.14477166e-03 -3.62852540e+01] [-2.20498898e-02 -7.85475998e-05 9.99756869e-01 -4.42444047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.608623853 meters 0.015761229140511035 Centerline is valid? [True, True] Translation: X:174.85, Y:-36.29, Z:-4.43 [[ 9.58847509e-01 2.83139736e-01 2.10557191e-02 1.74848685e+02] [-2.83073857e-01 9.59078662e-01 -6.10838331e-03 -3.62912700e+01] [-2.19236169e-02 -1.03315500e-04 9.99759643e-01 -4.42619256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.638623853 meters 0.016035764713396745 Centerline is valid? [True, True] Translation: X:174.88, Y:-36.30, Z:-4.43 [[ 9.58614329e-01 2.83950806e-01 2.07486697e-02 1.74876130e+02] [-2.83887053e-01 9.58838842e-01 -6.01797295e-03 -3.62985666e+01] [-2.16034387e-02 -1.21363597e-04 9.99766611e-01 -4.42674031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.668623853 meters 0.01677435743964665 Centerline is valid? [True, True] Translation: X:174.90, Y:-36.30, Z:-4.43 [[ 9.58117090e-01 2.85641685e-01 2.05053651e-02 1.74904542e+02] [-2.85579827e-01 9.58336477e-01 -5.94639889e-03 -3.63047484e+01] [-2.13495788e-02 -1.58572227e-04 9.99772059e-01 -4.42768682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.69862385300002 meters 0.017922318905538248 Centerline is valid? [True, True] Translation: X:174.93, Y:-36.31, Z:-4.43 [[ 9.57907851e-01 2.86339650e-01 2.05463778e-02 1.74932276e+02] [-2.86277726e-01 9.58128162e-01 -5.95732004e-03 -3.63095381e+01] [-2.13918802e-02 -1.75406686e-04 9.99771152e-01 -4.42906925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72862385300002 meters 0.018159096432875322 Centerline is valid? [True, True] Translation: X:174.96, Y:-36.32, Z:-4.43 [[ 9.57691278e-01 2.87043623e-01 2.08176495e-02 1.74959847e+02] [-2.86980255e-01 9.57917491e-01 -6.03431894e-03 -3.63169397e+01] [-2.16737034e-02 -1.95239747e-04 9.99765079e-01 -4.42941840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75862385300002 meters 0.01842905345546819 Centerline is valid? [True, True] Translation: X:174.99, Y:-36.32, Z:-4.43 [[ 9.57584083e-01 2.87383643e-01 2.10562507e-02 1.74987786e+02] [-2.87318919e-01 9.57815535e-01 -6.10242915e-03 -3.63240658e+01] [-2.19217424e-02 -2.06270185e-04 9.99759668e-01 -4.42940276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78862385300002 meters 0.018516094770092712 Centerline is valid? [True, True] Translation: X:175.02, Y:-36.33, Z:-4.43 [[ 9.57540432e-01 2.87461416e-01 2.19602964e-02 1.75015108e+02] [-2.87391059e-01 9.57792194e-01 -6.36335461e-03 -3.63312960e+01] [-2.28626194e-02 -2.18023519e-04 9.99738592e-01 -4.42851956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81862385300002 meters 0.018471458767795795 Centerline is valid? [True, True] Translation: X:175.04, Y:-36.34, Z:-4.43 [[ 9.57642289e-01 2.87124021e-01 2.19327027e-02 1.75041307e+02] [-2.87053788e-01 9.57893393e-01 -6.35382070e-03 -3.63392575e+01] [-2.28335255e-02 -2.11177986e-04 9.99739259e-01 -4.42932470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84862385300002 meters 0.017787037028493467 Centerline is valid? [True, True] Translation: X:175.07, Y:-36.35, Z:-4.43 [[ 9.58008221e-01 2.85925089e-01 2.16122995e-02 1.75067323e+02] [-2.85856642e-01 9.58251956e-01 -6.25858673e-03 -3.63490808e+01] [-2.24995152e-02 -1.82241809e-04 9.99746837e-01 -4.43089035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.87862385300002 meters 0.017628775284967087 Centerline is valid? [True, True] Translation: X:175.09, Y:-36.36, Z:-4.43 [[ 9.58244460e-01 2.85129361e-01 2.16518569e-02 1.75094404e+02] [-2.85060490e-01 9.58489030e-01 -6.26872026e-03 -3.63572899e+01] [-2.25404635e-02 -1.65122490e-04 9.99745918e-01 -4.43191374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90862385300002 meters 0.016925411297039887 Centerline is valid? [True, True] Translation: X:175.12, Y:-36.37, Z:-4.43 [[ 9.58453016e-01 2.84420001e-01 2.17504080e-02 1.75121550e+02] [-2.84350349e-01 9.58699766e-01 -6.29591349e-03 -3.63667558e+01] [-2.26427948e-02 -1.50398841e-04 9.99743608e-01 -4.43170113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.93862385300002 meters 0.016617626165781194 Centerline is valid? [True, True] Translation: X:175.15, Y:-36.38, Z:-4.43 [[ 9.58627708e-01 2.83827543e-01 2.17909032e-02 1.75149033e+02] [-2.83757502e-01 9.58875334e-01 -6.30659584e-03 -3.63755202e+01] [-2.26847452e-02 -1.37654723e-04 9.99742659e-01 -4.43261774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96862385300003 meters 0.01635045666666875 Centerline is valid? [True, True] Translation: X:175.18, Y:-36.38, Z:-4.43 [[ 9.58757445e-01 2.83381832e-01 2.18837709e-02 1.75176518e+02] [-2.83311101e-01 9.59007154e-01 -6.33242706e-03 -3.63843038e+01] [-2.27811876e-02 -1.28653627e-04 9.99740467e-01 -4.43340777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.99862385300003 meters 0.015905615558341066 Centerline is valid? [True, True] Translation: X:175.20, Y:-36.39, Z:-4.43 [[ 9.58842409e-01 2.83096433e-01 2.18550976e-02 1.75203159e+02] [-2.83025836e-01 9.59091442e-01 -6.32309338e-03 -3.63948596e+01] [-2.27510823e-02 -1.22707178e-04 9.99741153e-01 -4.43278355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02862385300003 meters 0.016661219773051263 Centerline is valid? [True, True] Translation: X:175.23, Y:-36.40, Z:-4.43 [[ 9.58821199e-01 2.83192480e-01 2.15389652e-02 1.75230871e+02] [-2.83123958e-01 9.59063087e-01 -6.23057780e-03 -3.64005997e+01] [-2.24216793e-02 -1.24187016e-04 9.99748595e-01 -4.43454835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.058623853 meters 0.016657988647960104 Centerline is valid? [True, True] Translation: X:175.26, Y:-36.41, Z:-4.44 [[ 9.58721928e-01 2.83533740e-01 2.14681735e-02 1.75258409e+02] [-2.83465786e-01 9.58962252e-01 -6.20869360e-03 -3.64079628e+01] [-2.23475421e-02 -1.33081956e-04 9.99750254e-01 -4.43545655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.088623853 meters 0.017052969027197367 Centerline is valid? [True, True] Translation: X:175.29, Y:-36.41, Z:-4.44 [[ 9.58581457e-01 2.84023613e-01 2.12644568e-02 1.75286624e+02] [-2.83957084e-01 9.58817275e-01 -6.14879429e-03 -3.64141889e+01] [-2.21351313e-02 -1.44072952e-04 9.99754978e-01 -4.43733346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.118623853 meters 0.017806635865217274 Centerline is valid? [True, True] Translation: X:175.31, Y:-36.42, Z:-4.44 [[ 9.58491942e-01 2.84340916e-01 2.10580086e-02 1.75314349e+02] [-2.84275771e-01 9.58723224e-01 -6.08816126e-03 -3.64199639e+01] [-2.19199153e-02 -1.50828121e-04 9.99759718e-01 -4.43883057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.148623853 meters 0.016754875917523355 Centerline is valid? [True, True] Translation: X:175.34, Y:-36.43, Z:-4.44 [[ 9.58392842e-01 2.84672645e-01 2.10866292e-02 1.75341731e+02] [-2.84607429e-01 9.58624775e-01 -6.09519055e-03 -3.64289670e+01] [-2.19492992e-02 -1.59824334e-04 9.99759072e-01 -4.43807564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.178623853 meters 0.018449313641089204 Centerline is valid? [True, True] Translation: X:175.37, Y:-36.43, Z:-4.44 [[ 9.58212824e-01 2.85292815e-01 2.08852452e-02 1.75369781e+02] [-2.85229010e-01 9.58440389e-01 -6.03592778e-03 -3.64314467e+01] [-2.17392694e-02 -1.73374400e-04 9.99763659e-01 -4.44003497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.208623853 meters 0.017475700585611577 Centerline is valid? [True, True] Translation: X:175.40, Y:-36.44, Z:-4.44 [[ 9.58198293e-01 2.85329953e-01 2.10440028e-02 1.75395856e+02] [-2.85265204e-01 9.58429333e-01 -6.08081456e-03 -3.64409158e+01] [-2.19042281e-02 -1.76495624e-04 9.99760058e-01 -4.43976007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.238623853 meters 0.017325724052999234 Centerline is valid? [True, True] Translation: X:175.42, Y:-36.45, Z:-4.44 [[ 9.58248849e-01 2.85145718e-01 2.12382514e-02 1.75423181e+02] [-2.85079759e-01 9.58484162e-01 -6.13533423e-03 -3.64488405e+01] [-2.21059919e-02 -1.75418644e-04 9.99755617e-01 -4.43972677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.268623853 meters 0.020881149481122647 Centerline is valid? [True, True] Translation: X:175.45, Y:-36.46, Z:-4.43 [[ 9.58234247e-01 2.85182977e-01 2.13962009e-02 1.75450880e+02] [-2.85116080e-01 9.58473076e-01 -6.17928409e-03 -3.64559218e+01] [-2.22699091e-02 -1.79199278e-04 9.99751979e-01 -4.43407152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.298623853 meters 0.02327914878948943 Centerline is valid? [True, True] Translation: X:175.48, Y:-36.46, Z:-4.43 [[ 9.58224317e-01 2.85193615e-01 2.16969935e-02 1.75478662e+02] [-2.85124852e-01 9.58469910e-01 -6.26501907e-03 -3.64608305e+01] [-2.25826588e-02 -1.83058440e-04 9.99744962e-01 -4.43266855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.328623853 meters 0.019031207117874198 Centerline is valid? [True, True] Translation: X:175.51, Y:-36.47, Z:-4.44 [[ 9.58250367e-01 2.85067790e-01 2.21943496e-02 1.75505518e+02] [-2.84995838e-01 9.58507340e-01 -6.40716715e-03 -3.64651631e+01] [-2.30999240e-02 -1.85626987e-04 9.99733144e-01 -4.44011638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.358623853 meters 0.01666635824342899 Centerline is valid? [True, True] Translation: X:175.53, Y:-36.48, Z:-4.44 [[ 9.58334227e-01 2.84761136e-01 2.25078949e-02 1.75532315e+02] [-2.84687099e-01 9.58598488e-01 -6.49566796e-03 -3.64774523e+01] [-2.34257478e-02 -1.82686377e-04 9.99725563e-01 -4.43957075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.388623853 meters 0.01686535954264873 Centerline is valid? [True, True] Translation: X:175.56, Y:-36.48, Z:-4.44 [[ 9.58391990e-01 2.84614342e-01 2.18968002e-02 1.75559405e+02] [-2.84544258e-01 9.58642084e-01 -6.31821822e-03 -3.64834756e+01] [-2.27894497e-02 -1.75279025e-04 9.99740271e-01 -4.44205074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.418623853 meters 0.016711730057789986 Centerline is valid? [True, True] Translation: X:175.59, Y:-36.49, Z:-4.44 [[ 9.58463185e-01 2.84392398e-01 2.16630430e-02 1.75587194e+02] [-2.84323778e-01 9.58707951e-01 -6.24933571e-03 -3.64915038e+01] [-2.25457952e-02 -1.69560025e-04 9.99745797e-01 -4.44333445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44862385300002 meters 0.016541483994994246 Centerline is valid? [True, True] Translation: X:175.62, Y:-36.50, Z:-4.44 [[ 9.58564861e-01 2.84053844e-01 2.16060676e-02 1.75615213e+02] [-2.83985523e-01 9.58808316e-01 -6.23177792e-03 -3.64998098e+01] [-2.24862377e-02 -1.62247070e-04 9.99747139e-01 -4.44398408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47862385300002 meters 0.01645916798975335 Centerline is valid? [True, True] Translation: X:175.64, Y:-36.51, Z:-4.44 [[ 9.58680502e-01 2.83667809e-01 2.15469060e-02 1.75642156e+02] [-2.83599789e-01 9.58922599e-01 -6.21361751e-03 -3.65074340e+01] [-2.24244184e-02 -1.53824054e-04 9.99748529e-01 -4.44477417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50862385300002 meters 0.016552887583050443 Centerline is valid? [True, True] Translation: X:175.67, Y:-36.51, Z:-4.45 [[ 9.58734639e-01 2.83480690e-01 2.16007006e-02 1.75669164e+02] [-2.83412314e-01 9.58977933e-01 -6.22772175e-03 -3.65131915e+01] [-2.24800340e-02 -1.51171968e-04 9.99747281e-01 -4.44560736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53862385300002 meters 0.01663577920088172 Centerline is valid? [True, True] Translation: X:175.70, Y:-36.52, Z:-4.45 [[ 9.58687308e-01 2.83642779e-01 2.15735918e-02 1.75696876e+02] [-2.83574648e-01 9.58930002e-01 -6.21846895e-03 -3.65199036e+01] [-2.24513882e-02 -1.56156440e-04 9.99747924e-01 -4.44584066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56862385300002 meters 0.016754648622424585 Centerline is valid? [True, True] Translation: X:175.72, Y:-36.53, Z:-4.45 [[ 9.58654012e-01 2.83751561e-01 2.16225978e-02 1.75724502e+02] [-2.83683185e-01 9.58897818e-01 -6.23092620e-03 -3.65259903e+01] [-2.25018969e-02 -1.60665022e-04 9.99746787e-01 -4.44669721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59862385300002 meters 0.01710476143844196 Centerline is valid? [True, True] Translation: X:175.75, Y:-36.53, Z:-4.45 [[ 9.58518633e-01 2.84205977e-01 2.16562374e-02 1.75752400e+02] [-2.84137542e-01 9.58763231e-01 -6.23894747e-03 -3.65320348e+01] [-2.25363503e-02 -1.73202672e-04 9.99746009e-01 -4.44781784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62862385300002 meters 0.018279200871302005 Centerline is valid? [True, True] Translation: X:175.78, Y:-36.53, Z:-4.45 [[ 9.58218702e-01 2.85171242e-01 2.22324352e-02 1.75780363e+02] [-2.85099401e-01 9.58476563e-01 -6.40386467e-03 -3.65349148e+01] [-2.31354662e-02 -2.02151088e-04 9.99732319e-01 -4.44809854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.65862385300002 meters 0.017712823465098455 Centerline is valid? [True, True] Translation: X:175.81, Y:-36.54, Z:-4.45 [[ 9.58105469e-01 2.85527350e-01 2.25398237e-02 1.75807788e+02] [-2.85453656e-01 9.58370537e-01 -6.49031763e-03 -3.65425089e+01] [-2.34546661e-02 -2.15666263e-04 9.99724878e-01 -4.44777767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68862385300002 meters 0.017712823465098455 Centerline is valid? [True, True] Translation: X:175.83, Y:-36.55, Z:-4.45 [[ 9.58125833e-01 2.85458983e-01 2.25401203e-02 1.75834244e+02] [-2.85385295e-01 9.58390903e-01 -6.48928731e-03 -3.65499884e+01] [-2.34546716e-02 -2.15065068e-04 9.99724878e-01 -4.44846919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.71862385300003 meters 0.01846259913108517 Centerline is valid? [True, True] Translation: X:175.86, Y:-36.55, Z:-4.45 [[ 9.57945776e-01 2.86045783e-01 2.27530100e-02 1.75861386e+02] [-2.85970904e-01 9.58215923e-01 -6.54878387e-03 -3.65548588e+01] [-2.36755485e-02 -2.33318981e-04 9.99719668e-01 -4.44873627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74862385300003 meters 0.019104882823178466 Centerline is valid? [True, True] Translation: X:175.89, Y:-36.56, Z:-4.45 [[ 9.57628170e-01 2.87105520e-01 2.27751590e-02 1.75890554e+02] [-2.87030830e-01 9.57898926e-01 -6.55367998e-03 -3.65586390e+01] [-2.36978980e-02 -2.61184202e-04 9.99719131e-01 -4.44984442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.77862385300003 meters 0.01931276338385863 Centerline is valid? [True, True] Translation: X:175.92, Y:-36.56, Z:-4.45 [[ 9.57557125e-01 2.87374021e-01 2.23724037e-02 1.75919007e+02] [-2.87302048e-01 9.57818408e-01 -6.43667082e-03 -3.65644416e+01] [-2.32784321e-02 -2.64157407e-04 9.99728986e-01 -4.45125228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.808623853 meters 0.01945969362379818 Centerline is valid? [True, True] Translation: X:175.95, Y:-36.57, Z:-4.45 [[ 9.57571981e-01 2.87339052e-01 2.21848975e-02 1.75945996e+02] [-2.87268297e-01 9.57828899e-01 -6.38165885e-03 -3.65704226e+01] [-2.30830358e-02 -2.62120001e-04 9.99733517e-01 -4.45271712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.838623853 meters 0.019241895813612065 Centerline is valid? [True, True] Translation: X:175.97, Y:-36.58, Z:-4.45 [[ 9.57662765e-01 2.87053177e-01 2.19659478e-02 1.75973231e+02] [-2.86983773e-01 9.57914615e-01 -6.31702376e-03 -3.65770210e+01] [-2.28548241e-02 -2.54292143e-04 9.99738762e-01 -4.45388283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.868623853 meters 0.018739617040745064 Centerline is valid? [True, True] Translation: X:176.00, Y:-36.58, Z:-4.45 [[ 9.57903566e-01 2.86267429e-01 2.17190632e-02 1.76001171e+02] [-2.86199413e-01 9.58149730e-01 -6.24433162e-03 -3.65835917e+01] [-2.25976633e-02 -2.34515620e-04 9.99744613e-01 -4.45474202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.898623853 meters 0.01842369727446366 Centerline is valid? [True, True] Translation: X:176.03, Y:-36.59, Z:-4.46 [[ 9.58162277e-01 2.85397706e-01 2.17531803e-02 1.76028455e+02] [-2.85329275e-01 9.58409152e-01 -6.25313065e-03 -3.65905658e+01] [-2.26330762e-02 -2.15305263e-04 9.99743816e-01 -4.45574350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.928623853 meters 0.017771242493968248 Centerline is valid? [True, True] Translation: X:176.06, Y:-36.60, Z:-4.46 [[ 9.58333468e-01 2.84833798e-01 2.16025696e-02 1.76055727e+02] [-2.84766213e-01 9.58576896e-01 -6.20784937e-03 -3.65989688e+01] [-2.24759295e-02 -2.02492131e-04 9.99747364e-01 -4.45619106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.958623853 meters 0.017100507916103704 Centerline is valid? [True, True] Translation: X:176.08, Y:-36.61, Z:-4.46 [[ 9.58546180e-01 2.84088534e-01 2.19755889e-02 1.76083152e+02] [-2.84018425e-01 9.58798034e-01 -6.31388830e-03 -3.66067689e+01] [-2.28638547e-02 -1.89318636e-04 9.99738570e-01 -4.45653868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.988623853 meters 0.01680464219843398 Centerline is valid? [True, True] Translation: X:176.11, Y:-36.61, Z:-4.46 [[ 9.58863601e-01 2.83014377e-01 2.19876466e-02 1.76110291e+02] [-2.82943933e-01 9.59115653e-01 -6.31626438e-03 -3.66126859e+01] [-2.28762896e-02 -1.64835191e-04 9.99738290e-01 -4.45786421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.018623853 meters 0.016151338695595048 Centerline is valid? [True, True] Translation: X:176.14, Y:-36.62, Z:-4.46 [[ 9.59137082e-01 2.82095545e-01 2.18669104e-02 1.76138200e+02] [-2.82025679e-01 9.59386305e-01 -6.27965100e-03 -3.66211646e+01] [-2.27502759e-02 -1.43984099e-04 9.99741169e-01 -4.45849787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.048623853 meters 0.02003218436408852 Centerline is valid? [True, True] Translation: X:176.17, Y:-36.63, Z:-4.45 [[ 9.59391323e-01 2.81238216e-01 2.17567186e-02 1.76165730e+02] [-2.81168856e-01 9.59637979e-01 -6.24690110e-03 -3.66281650e+01] [-2.26354408e-02 -1.24088975e-04 9.99743778e-01 -4.45454562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.078623853 meters 0.015175314122595231 Centerline is valid? [True, True] Translation: X:176.19, Y:-36.64, Z:-4.46 [[ 9.59861813e-01 2.79557288e-01 2.26499994e-02 1.76193019e+02] [-2.79481683e-01 9.60129010e-01 -6.50182262e-03 -3.66371725e+01] [-2.35645534e-02 -8.94087193e-05 9.99722313e-01 -4.45915059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.108623853 meters 0.015070264759800028 Centerline is valid? [True, True] Translation: X:176.22, Y:-36.64, Z:-4.46 [[ 9.60040276e-01 2.78924534e-01 2.28861060e-02 1.76219671e+02] [-2.78847194e-01 9.60313021e-01 -6.56839904e-03 -3.66444865e+01] [-2.38099133e-02 -7.57988091e-05 9.99716501e-01 -4.45904441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.138623853 meters 0.01491244700161298 Centerline is valid? [True, True] Translation: X:176.25, Y:-36.65, Z:-4.46 [[ 9.60263373e-01 2.78134765e-01 2.31367016e-02 1.76247018e+02] [-2.78055529e-01 9.60542060e-01 -6.63880471e-03 -3.66524247e+01] [-2.40702574e-02 -5.82867866e-05 9.99710268e-01 -4.45973164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.168623853 meters 0.014806620763114271 Centerline is valid? [True, True] Translation: X:176.27, Y:-36.66, Z:-4.46 [[ 9.60693795e-01 2.76707197e-01 2.23731659e-02 1.76272660e+02] [-2.76632756e-01 9.60954279e-01 -6.41807122e-03 -3.66598468e+01] [-2.32755160e-02 -2.33493518e-05 9.99729088e-01 -4.46181228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.19862385300002 meters 0.014829585057093283 Centerline is valid? [True, True] Translation: X:176.30, Y:-36.67, Z:-4.46 [[ 9.60902670e-01 2.76002792e-01 2.21024128e-02 1.76299707e+02] [-2.75930002e-01 9.61156834e-01 -6.33841163e-03 -3.66675693e+01] [-2.29933045e-02 -8.12215173e-06 9.99735619e-01 -4.46378934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22862385300002 meters 0.014858796502491467 Centerline is valid? [True, True] Translation: X:176.33, Y:-36.68, Z:-4.47 [[ 9.61059065e-01 2.75491893e-01 2.16723325e-02 1.76326795e+02] [-2.75421815e-01 9.61303395e-01 -6.21345190e-03 -3.66750529e+01] [-2.25454424e-02 2.46112589e-06 9.99745819e-01 -4.46512498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25862385300002 meters 0.014903208491584332 Centerline is valid? [True, True] Translation: X:176.35, Y:-36.68, Z:-4.47 [[ 9.61198159e-01 2.75006596e-01 2.16672830e-02 1.76352507e+02] [-2.74936465e-01 9.61442339e-01 -6.21036525e-03 -3.66825335e+01] [-2.25397347e-02 1.22654560e-05 9.99745948e-01 -4.46601514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28862385300002 meters 0.027045307437582572 Centerline is valid? [True, True] Translation: X:176.38, Y:-36.69, Z:-4.46 [[ 9.61348700e-01 2.74479351e-01 2.16739995e-02 1.76379648e+02] [-2.74409087e-01 9.61592994e-01 -6.21031577e-03 -3.66888190e+01] [-2.25461695e-02 2.27365846e-05 9.99745803e-01 -4.45818452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31862385300002 meters 0.014918415115665528 Centerline is valid? [True, True] Translation: X:176.41, Y:-36.70, Z:-4.47 [[ 9.61404795e-01 2.74253129e-01 2.20463457e-02 1.76406297e+02] [-2.74180408e-01 9.61657538e-01 -6.31531076e-03 -3.66965513e+01] [-2.29330283e-02 2.68939783e-05 9.99737003e-01 -4.46657203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34862385300002 meters 0.014936976479717718 Centerline is valid? [True, True] Translation: X:176.43, Y:-36.70, Z:-4.47 [[ 9.61461772e-01 2.74038313e-01 2.22320475e-02 1.76433756e+02] [-2.73964344e-01 9.61718775e-01 -6.36681480e-03 -3.67032948e+01] [-2.31257286e-02 3.06607421e-05 9.99732564e-01 -4.46707255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.37862385300002 meters 0.014858693283913364 Centerline is valid? [True, True] Translation: X:176.46, Y:-36.71, Z:-4.47 [[ 9.61477369e-01 2.73946280e-01 2.26871139e-02 1.76460598e+02] [-2.73869267e-01 9.61744995e-01 -6.49535342e-03 -3.67098137e+01] [-2.35985962e-02 3.18320435e-05 9.99721514e-01 -4.46731388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40862385300002 meters 0.014952411052061283 Centerline is valid? [True, True] Translation: X:176.49, Y:-36.72, Z:-4.47 [[ 9.61504545e-01 2.73850072e-01 2.26968565e-02 1.76487882e+02] [-2.73773008e-01 9.61772394e-01 -6.49640031e-03 -3.67164429e+01] [-2.36082497e-02 3.25317565e-05 9.99721286e-01 -4.46819828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.43862385300002 meters 0.014896148812618271 Centerline is valid? [True, True] Translation: X:176.51, Y:-36.72, Z:-4.47 [[ 9.61553668e-01 2.73679292e-01 2.26757343e-02 1.76514869e+02] [-2.73602365e-01 9.61821004e-01 -6.48862531e-03 -3.67238003e+01] [-2.35858000e-02 3.50269218e-05 9.99721816e-01 -4.46923239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46862385300003 meters 0.015026963765258673 Centerline is valid? [True, True] Translation: X:176.54, Y:-36.73, Z:-4.47 [[ 9.61663992e-01 2.73320206e-01 2.23255639e-02 1.76541222e+02] [-2.73245578e-01 9.61923107e-01 -6.38678097e-03 -3.67311557e+01] [-2.32211120e-02 4.15756859e-05 9.99730353e-01 -4.47084520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.49862385300003 meters 0.026963567118792685 Centerline is valid? [True, True] Translation: X:176.57, Y:-36.74, Z:-4.46 [[ 9.61689926e-01 2.73257061e-01 2.19787309e-02 1.76569073e+02] [-2.73184762e-01 9.61941047e-01 -6.28562036e-03 -3.67376124e+01] [-2.28598336e-02 4.05634061e-05 9.99738679e-01 -4.46333489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52862385300003 meters 0.0149698407281519 Centerline is valid? [True, True] Translation: X:176.59, Y:-36.75, Z:-4.47 [[ 9.61687535e-01 2.73255235e-01 2.21057105e-02 1.76594473e+02] [-2.73182134e-01 9.61941565e-01 -6.32029951e-03 -3.67452976e+01] [-2.29914567e-02 3.92680829e-05 9.99735661e-01 -4.47268276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.558623853 meters 0.015111432683143196 Centerline is valid? [True, True] Translation: X:176.62, Y:-36.75, Z:-4.47 [[ 9.61633156e-01 2.73480854e-01 2.16770644e-02 1.76621364e+02] [-2.73410661e-01 9.61877446e-01 -6.19587810e-03 -3.67514302e+01] [-2.25451334e-02 3.14212926e-05 9.99745826e-01 -4.47428887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.588623853 meters 0.015103504675745293 Centerline is valid? [True, True] Translation: X:176.65, Y:-36.76, Z:-4.48 [[ 9.61527289e-01 2.73876110e-01 2.13810551e-02 1.76647944e+02] [-2.73807953e-01 9.61764980e-01 -6.10972753e-03 -3.67566585e+01] [-2.22368584e-02 2.03668224e-05 9.99752730e-01 -4.47593789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.618623853 meters 0.015036303136167911 Centerline is valid? [True, True] Translation: X:176.67, Y:-36.76, Z:-4.48 [[ 9.61203634e-01 2.75038592e-01 2.10082513e-02 1.76674582e+02] [-2.74973108e-01 9.61433187e-01 -6.00144399e-03 -3.67597782e+01] [-2.18486587e-02 -8.09438931e-06 9.99761290e-01 -4.47731636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.648623853 meters 0.015060499287051101 Centerline is valid? [True, True] Translation: X:176.70, Y:-36.77, Z:-4.48 [[ 9.61103356e-01 2.75386917e-01 2.10329719e-02 1.76701924e+02] [-2.75321409e-01 9.61333473e-01 -6.00635476e-03 -3.67659518e+01] [-2.18737715e-02 -1.80997467e-05 9.99760740e-01 -4.47816985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.678623853 meters 0.015070232381251889 Centerline is valid? [True, True] Translation: X:176.73, Y:-36.77, Z:-4.48 [[ 9.60971724e-01 2.75843620e-01 2.10628485e-02 1.76729514e+02] [-2.75778069e-01 9.61202526e-01 -6.01334300e-03 -3.67724623e+01] [-2.19044055e-02 -3.00190889e-05 9.99760069e-01 -4.47873229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.708623853 meters 0.015031434007611434 Centerline is valid? [True, True] Translation: X:176.76, Y:-36.78, Z:-4.48 [[ 9.60966588e-01 2.75829295e-01 2.14806240e-02 1.76757297e+02] [-2.75761150e-01 9.61206637e-01 -6.13101420e-03 -3.67789383e+01] [-2.23384317e-02 -3.18217727e-05 9.99750466e-01 -4.47820758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.738623853 meters 0.0150008697560882 Centerline is valid? [True, True] Translation: X:176.78, Y:-36.79, Z:-4.48 [[ 9.61006626e-01 2.75673605e-01 2.16870393e-02 1.76783968e+02] [-2.75604141e-01 9.61251301e-01 -6.18827160e-03 -3.67860687e+01] [-2.25526378e-02 -3.00678120e-05 9.99745656e-01 -4.47873141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.768623853 meters 0.014898611532545934 Centerline is valid? [True, True] Translation: X:176.81, Y:-36.79, Z:-4.48 [[ 9.61098043e-01 2.75333868e-01 2.19502411e-02 1.76810706e+02] [-2.75262658e-01 9.61348667e-01 -6.26169033e-03 -3.67936461e+01] [-2.28258905e-02 -2.39833980e-05 9.99739455e-01 -4.47886749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.798623853 meters 0.014857687141073389 Centerline is valid? [True, True] Translation: X:176.84, Y:-36.80, Z:-4.48 [[ 9.61268303e-01 2.74714136e-01 2.22574397e-02 1.76837287e+02] [-2.74640792e-01 9.61525945e-01 -6.34760749e-03 -3.68018038e+01] [-2.31448832e-02 -1.10469742e-05 9.99732121e-01 -4.47889591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.828623853 meters 0.01489264576838477 Centerline is valid? [True, True] Translation: X:176.86, Y:-36.81, Z:-4.48 [[ 9.61729372e-01 2.73098108e-01 2.22269884e-02 1.76862779e+02] [-2.73024571e-01 9.61986186e-01 -6.33724015e-03 -3.68114787e+01] [-2.31127441e-02 2.61960071e-05 9.99732865e-01 -4.47995368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.858623853 meters 0.015286351656096165 Centerline is valid? [True, True] Translation: X:176.89, Y:-36.82, Z:-4.48 [[ 9.61987107e-01 2.72234216e-01 2.16641853e-02 1.76888184e+02] [-2.72164178e-01 9.62231017e-01 -6.17497398e-03 -3.68205197e+01] [-2.25269903e-02 4.40301591e-05 9.99746234e-01 -4.48159288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.888623853 meters 0.01543301539109835 Centerline is valid? [True, True] Translation: X:176.92, Y:-36.83, Z:-4.48 [[ 9.62275785e-01 2.71242704e-01 2.12769832e-02 1.76915359e+02] [-2.71174965e-01 9.62510983e-01 -6.06192493e-03 -3.68294403e+01] [-2.21235829e-02 6.34583981e-05 9.99755242e-01 -4.48245931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.918623853 meters 0.015755652795376014 Centerline is valid? [True, True] Translation: X:176.94, Y:-36.84, Z:-4.48 [[ 9.62694545e-01 2.69722083e-01 2.16612850e-02 1.76942414e+02] [-2.69651514e-01 9.62938206e-01 -6.17030395e-03 -3.68401662e+01] [-2.25227461e-02 9.91196559e-05 9.99746326e-01 -4.48224707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94862385300002 meters 0.016355650410425516 Centerline is valid? [True, True] Translation: X:176.97, Y:-36.85, Z:-4.48 [[ 9.62869550e-01 2.69086403e-01 2.17884668e-02 1.76968150e+02] [-2.69014866e-01 9.63116034e-01 -6.20543362e-03 -3.68503342e+01] [-2.26546196e-02 1.13601600e-04 9.99743345e-01 -4.48335853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97862385300002 meters 0.019900396957933837 Centerline is valid? [True, True] Translation: X:177.00, Y:-36.86, Z:-4.48 [[ 9.63022467e-01 2.68549853e-01 2.16495893e-02 1.76996082e+02] [-2.68479127e-01 9.63265779e-01 -6.16417827e-03 -3.68576241e+01] [-2.25096977e-02 1.23779327e-04 9.99746617e-01 -4.47847865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00862385300002 meters 0.016427694420844685 Centerline is valid? [True, True] Translation: X:177.02, Y:-36.87, Z:-4.48 [[ 9.63188979e-01 2.67934774e-01 2.18620137e-02 1.77023484e+02] [-2.67862521e-01 9.63437044e-01 -6.22354377e-03 -3.68665872e+01] [-2.27301777e-02 1.38434668e-04 9.99741627e-01 -4.48409358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03862385300002 meters 0.017125627641099886 Centerline is valid? [True, True] Translation: X:177.05, Y:-36.88, Z:-4.49 [[ 9.63293822e-01 2.67558277e-01 2.18536380e-02 1.77049705e+02] [-2.67486008e-01 9.63541668e-01 -6.22004034e-03 -3.68764937e+01] [-2.27211141e-02 1.46184043e-04 9.99741831e-01 -4.48522417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06862385300002 meters 0.01720832872225968 Centerline is valid? [True, True] Translation: X:177.08, Y:-36.89, Z:-4.49 [[ 9.63453253e-01 2.66986745e-01 2.18152886e-02 1.77076737e+02] [-2.66914615e-01 9.63700188e-01 -6.20766079e-03 -3.68850108e+01] [-2.26807608e-02 1.57971635e-04 9.99742746e-01 -4.48648104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09862385300002 meters 0.01719513950440355 Centerline is valid? [True, True] Translation: X:177.10, Y:-36.89, Z:-4.49 [[ 9.63564380e-01 2.66617162e-01 2.14237143e-02 1.77104322e+02] [-2.66547530e-01 9.63802502e-01 -6.09519295e-03 -3.68931393e+01] [-2.22733124e-02 1.62672685e-04 9.99751906e-01 -4.48812162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12862385300002 meters 0.017716999948052384 Centerline is valid? [True, True] Translation: X:177.13, Y:-36.90, Z:-4.49 [[ 9.63736529e-01 2.66036445e-01 2.08928990e-02 1.77130597e+02] [-2.65970108e-01 9.63962956e-01 -5.94315565e-03 -3.69030654e+01] [-2.17210767e-02 1.70749598e-04 9.99764055e-01 -4.48993599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.15862385300002 meters 0.01798354520284563 Centerline is valid? [True, True] Translation: X:177.16, Y:-36.91, Z:-4.49 [[ 9.63892802e-01 2.65490345e-01 2.06286939e-02 1.77157914e+02] [-2.65425579e-01 9.64113502e-01 -5.86663064e-03 -3.69126559e+01] [-2.14459361e-02 1.79420022e-04 9.99769993e-01 -4.49113846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18862385300002 meters 0.019029086230763118 Centerline is valid? [True, True] Translation: X:177.18, Y:-36.92, Z:-4.49 [[ 9.64272178e-01 2.64146605e-01 2.01429205e-02 1.77183007e+02] [-2.64084581e-01 9.64482519e-01 -5.72752360e-03 -3.69244522e+01] [-2.09404006e-02 2.03456936e-04 9.99780705e-01 -4.49249134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.21862385300003 meters 0.019415465379904177 Centerline is valid? [True, True] Translation: X:177.21, Y:-36.93, Z:-4.49 [[ 9.64466581e-01 2.63447250e-01 1.99939933e-02 1.77210328e+02] [-2.63386017e-01 9.64673779e-01 -5.68384744e-03 -3.69336601e+01] [-2.07850750e-02 2.15742653e-04 9.99783944e-01 -4.49290887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24862385300003 meters 0.019270045391878998 Centerline is valid? [True, True] Translation: X:177.24, Y:-36.94, Z:-4.49 [[ 9.64630664e-01 2.62823467e-01 2.02856228e-02 1.77238125e+02] [-2.62760319e-01 9.64843911e-01 -5.76570602e-03 -3.69426486e+01] [-2.10878224e-02 2.31520134e-04 9.99777600e-01 -4.49324434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.27862385300003 meters 0.02019567482920019 Centerline is valid? [True, True] Translation: X:177.26, Y:-36.95, Z:-4.49 [[ 9.64782906e-01 2.62238115e-01 2.06183333e-02 1.77264191e+02] [-2.62172767e-01 9.65003166e-01 -5.85921673e-03 -3.69529612e+01] [-2.14332669e-02 2.47306633e-04 9.99770251e-01 -4.49356261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.308623853 meters 0.020136363681858876 Centerline is valid? [True, True] Translation: X:177.29, Y:-36.96, Z:-4.49 [[ 9.64755089e-01 2.62293836e-01 2.12028809e-02 1.77290251e+02] [-2.62224776e-01 9.64988021e-01 -6.02381613e-03 -3.69618276e+01] [-2.20405359e-02 2.51586557e-04 9.99757046e-01 -4.49290325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.338623853 meters 0.019525873254311356 Centerline is valid? [True, True] Translation: X:177.32, Y:-36.97, Z:-4.49 [[ 9.64690492e-01 2.62495243e-01 2.16449203e-02 1.77317742e+02] [-2.62423356e-01 9.64933254e-01 -6.14797071e-03 -3.69693383e+01] [-2.24997164e-02 2.50756253e-04 9.99746818e-01 -4.49286134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.368623853 meters 0.01978006586860807 Centerline is valid? [True, True] Translation: X:177.34, Y:-36.98, Z:-4.49 [[ 9.64614405e-01 2.62770433e-01 2.16967330e-02 1.77343956e+02] [-2.62698296e-01 9.64858352e-01 -6.16159705e-03 -3.69788958e+01] [-2.25533596e-02 2.43870467e-04 9.99745611e-01 -4.49370161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.398623853 meters 0.019087040168556273 Centerline is valid? [True, True] Translation: X:177.37, Y:-36.99, Z:-4.49 [[ 9.64462936e-01 2.63329670e-01 2.16501695e-02 1.77371414e+02] [-2.63258015e-01 9.64705879e-01 -6.14695012e-03 -3.69876896e+01] [-2.25047201e-02 2.28924920e-04 9.99746711e-01 -4.49432590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.428623853 meters 0.018522546501798964 Centerline is valid? [True, True] Translation: X:177.40, Y:-36.99, Z:-4.49 [[ 9.64266075e-01 2.64049653e-01 2.16498671e-02 1.77399015e+02] [-2.63978206e-01 9.64509065e-01 -6.14576242e-03 -3.69948136e+01] [-2.25042795e-02 2.11057135e-04 9.99746724e-01 -4.49489500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.458623853 meters 0.01849512367056621 Centerline is valid? [True, True] Translation: X:177.43, Y:-37.00, Z:-4.50 [[ 9.64032050e-01 2.64904726e-01 2.16262254e-02 1.77425566e+02] [-2.64833674e-01 9.64274572e-01 -6.13797572e-03 -3.70027940e+01] [-2.24795980e-02 1.89852571e-04 9.99747284e-01 -4.49601146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.488623853 meters 0.017455165811583278 Centerline is valid? [True, True] Translation: X:177.45, Y:-37.01, Z:-4.50 [[ 9.63793250e-01 2.65774053e-01 2.16037790e-02 1.77453541e+02] [-2.65703399e-01 9.64035334e-01 -6.13019264e-03 -3.70097375e+01] [-2.24560524e-02 1.68040776e-04 9.99747817e-01 -4.49646992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.518623853 meters 0.016736839057963707 Centerline is valid? [True, True] Translation: X:177.48, Y:-37.02, Z:-4.50 [[ 9.63350313e-01 2.67420921e-01 2.10291549e-02 1.77481246e+02] [-2.67354391e-01 9.63579802e-01 -5.96610449e-03 -3.70174758e+01] [-2.18587301e-02 1.25211718e-04 9.99761062e-01 -4.49794251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.548623853 meters 0.016248798432354657 Centerline is valid? [True, True] Translation: X:177.51, Y:-37.02, Z:-4.50 [[ 9.63083847e-01 2.68385827e-01 2.09416282e-02 1.77508070e+02] [-2.68320099e-01 9.63311496e-01 -5.94025656e-03 -3.70241036e+01] [-2.17675919e-02 1.01905372e-04 9.99763053e-01 -4.49901721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.578623853 meters 0.015731875570987923 Centerline is valid? [True, True] Translation: X:177.54, Y:-37.03, Z:-4.50 [[ 9.62753651e-01 2.69540585e-01 2.12903635e-02 1.77536682e+02] [-2.69472964e-01 9.62989028e-01 -6.03777155e-03 -3.70306666e+01] [-2.21298109e-02 7.57092695e-05 9.99755103e-01 -4.49889784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.608623853 meters 0.015731875570987923 Centerline is valid? [True, True] Translation: X:177.56, Y:-37.04, Z:-4.50 [[ 9.62772628e-01 2.69472775e-01 2.12906276e-02 1.77563168e+02] [-2.69405157e-01 9.63008005e-01 -6.03684001e-03 -3.70380361e+01] [-2.21298088e-02 7.62994474e-05 9.99755103e-01 -4.49958934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.638623853 meters 0.015344709283302132 Centerline is valid? [True, True] Translation: X:177.59, Y:-37.04, Z:-4.50 [[ 9.62432945e-01 2.70688073e-01 2.12318993e-02 1.77590138e+02] [-2.70621160e-01 9.62667110e-01 -6.01853893e-03 -3.70443005e+01] [-2.20683978e-02 4.66389360e-05 9.99756462e-01 -4.50046977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.668623853 meters 0.015180284502796852 Centerline is valid? [True, True] Translation: X:177.62, Y:-37.05, Z:-4.50 [[ 9.61694501e-01 2.73304621e-01 2.11724289e-02 1.77617578e+02] [-2.73238744e-01 9.61927536e-01 -6.00038571e-03 -3.70494343e+01] [-2.20062755e-02 -1.45899592e-05 9.99757832e-01 -4.50142871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.69862385300002 meters 0.01539569162806864 Centerline is valid? [True, True] Translation: X:177.64, Y:-37.06, Z:-4.50 [[ 9.61377384e-01 2.74443499e-01 2.08396546e-02 1.77644486e+02] [-2.74379979e-01 9.61603226e-01 -5.90449852e-03 -3.70554778e+01] [-2.16599303e-02 -4.15326587e-05 9.99765395e-01 -4.50290134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72862385300002 meters 0.015598040380374961 Centerline is valid? [True, True] Translation: X:177.67, Y:-37.06, Z:-4.50 [[ 9.61066892e-01 2.75540126e-01 2.06898245e-02 1.77672351e+02] [-2.75477799e-01 9.61289568e-01 -5.86072401e-03 -3.70619086e+01] [-2.15037771e-02 -6.70395094e-05 9.99768765e-01 -4.50405517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75862385300002 meters 0.01634900727010186 Centerline is valid? [True, True] Translation: X:177.70, Y:-37.07, Z:-4.51 [[ 9.60646502e-01 2.77034990e-01 2.02462978e-02 1.77699361e+02] [-2.76975655e-01 9.60859826e-01 -5.73425149e-03 -3.70677730e+01] [-2.10424425e-02 -9.91429659e-05 9.99778578e-01 -4.50686779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78862385300002 meters 0.01643589056279226 Centerline is valid? [True, True] Translation: X:177.73, Y:-37.08, Z:-4.51 [[ 9.60540827e-01 2.77398569e-01 2.02818641e-02 1.77727423e+02] [-2.77339148e-01 9.60754923e-01 -5.74239849e-03 -3.70752359e+01] [-2.10788339e-02 -1.09146727e-04 9.99777811e-01 -4.50787988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81862385300002 meters 0.01676007129621408 Centerline is valid? [True, True] Translation: X:177.75, Y:-37.08, Z:-4.51 [[ 9.60442951e-01 2.77745477e-01 2.01689808e-02 1.77754178e+02] [-2.77686811e-01 9.60654691e-01 -5.70951866e-03 -3.70825417e+01] [-2.09612190e-02 -1.16993024e-04 9.99780283e-01 -4.50885144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84862385300002 meters 0.016883206407476235 Centerline is valid? [True, True] Translation: X:177.78, Y:-37.09, Z:-4.51 [[ 9.60355142e-01 2.78047556e-01 2.01880526e-02 1.77782024e+02] [-2.77988873e-01 9.60567302e-01 -5.71365580e-03 -3.70906959e+01] [-2.09806512e-02 -1.24915241e-04 9.99779874e-01 -4.50924745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.87862385300002 meters 0.016620066777267184 Centerline is valid? [True, True] Translation: X:177.81, Y:-37.10, Z:-4.51 [[ 9.60189850e-01 2.78583265e-01 2.06595115e-02 1.77809139e+02] [-2.78521954e-01 9.60412070e-01 -5.84608736e-03 -3.71004537e+01] [-2.14702663e-02 -1.40773759e-04 9.99769477e-01 -4.50819502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90862385300002 meters 0.01767001280775183 Centerline is valid? [True, True] Translation: X:177.84, Y:-37.11, Z:-4.51 [[ 9.60040957e-01 2.79087937e-01 2.07673915e-02 1.77836778e+02] [-2.79026125e-01 9.60265536e-01 -5.87557077e-03 -3.71058288e+01] [-2.15820113e-02 -1.53856194e-04 9.99767069e-01 -4.50960379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.93862385300002 meters 0.017997345981028486 Centerline is valid? [True, True] Translation: X:177.86, Y:-37.11, Z:-4.51 [[ 9.59867369e-01 2.79677534e-01 2.08593058e-02 1.77864522e+02] [-2.79615342e-01 9.60093979e-01 -5.90015945e-03 -3.71122454e+01] [-2.16770359e-02 -1.69211381e-04 9.99765011e-01 -4.51015039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96862385300003 meters 0.01787022666747528 Centerline is valid? [True, True] Translation: X:177.89, Y:-37.12, Z:-4.51 [[ 9.59427198e-01 2.81168907e-01 2.10593780e-02 1.77892614e+02] [-2.81105897e-01 9.59658274e-01 -5.95575239e-03 -3.71195034e+01] [-2.18843787e-02 -2.05804511e-04 9.99760487e-01 -4.50890260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.99862385300003 meters 0.019074613841981756 Centerline is valid? [True, True] Translation: X:177.92, Y:-37.12, Z:-4.51 [[ 9.59181114e-01 2.81980715e-01 2.14118633e-02 1.77920408e+02] [-2.81915805e-01 9.59420046e-01 -6.05432339e-03 -3.71246192e+01] [-2.22501733e-02 -2.29150041e-04 9.99752408e-01 -4.50947245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02862385300003 meters 0.019480854388105685 Centerline is valid? [True, True] Translation: X:177.95, Y:-37.13, Z:-4.51 [[ 9.58916432e-01 2.82873550e-01 2.14902737e-02 1.77948409e+02] [-2.82808421e-01 9.59157177e-01 -6.07504049e-03 -3.71313949e+01] [-2.23310185e-02 -2.52174213e-04 9.99750600e-01 -4.50911332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.058623853 meters 0.021070760976767647 Centerline is valid? [True, True] Translation: X:177.98, Y:-37.14, Z:-4.51 [[ 9.58609828e-01 2.83887534e-01 2.17960028e-02 1.77975999e+02] [-2.83820825e-01 9.58857544e-01 -6.16036851e-03 -3.71355729e+01] [-2.26481136e-02 -2.80769708e-04 9.99743459e-01 -4.50960476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.088623853 meters 0.024765321988272904 Centerline is valid? [True, True] Translation: X:178.00, Y:-37.14, Z:-4.51 [[ 9.57991870e-01 2.85961319e-01 2.18563608e-02 1.78004940e+02] [-2.85894810e-01 9.58241104e-01 -6.17603384e-03 -3.71355667e+01] [-2.27097701e-02 -3.32029932e-04 9.99742045e-01 -4.51041212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.118623853 meters 0.02355256343000698 Centerline is valid? [True, True] Translation: X:178.03, Y:-37.14, Z:-4.51 [[ 9.57722587e-01 2.86858554e-01 2.19001413e-02 1.78032241e+02] [-2.86792044e-01 9.57972883e-01 -6.18705209e-03 -3.71438382e+01] [-2.27545503e-02 -3.55306770e-04 9.99741019e-01 -4.51059648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.148623853 meters 0.024092090236585553 Centerline is valid? [True, True] Translation: X:178.06, Y:-37.15, Z:-4.51 [[ 9.57470926e-01 2.87693944e-01 2.19458580e-02 1.78060913e+02] [-2.87627401e-01 9.57722325e-01 -6.19888513e-03 -3.71492757e+01] [-2.28014198e-02 -3.76977799e-04 9.99739943e-01 -4.51138542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.178623853 meters 0.024378599892842166 Centerline is valid? [True, True] Translation: X:178.09, Y:-37.15, Z:-4.51 [[ 9.57222778e-01 2.88508447e-01 2.20777838e-02 1.78089048e+02] [-2.88441343e-01 9.57477267e-01 -6.23504650e-03 -3.71548817e+01] [-2.29378396e-02 -3.99817049e-04 9.99736813e-01 -4.51169712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.208623853 meters 0.025098373092568318 Centerline is valid? [True, True] Translation: X:178.12, Y:-37.16, Z:-4.51 [[ 9.56938200e-01 2.89397462e-01 2.27681929e-02 1.78118199e+02] [-2.89326374e-01 9.57208922e-01 -6.42883296e-03 -3.71590792e+01] [-2.36544053e-02 -4.35442851e-04 9.99720101e-01 -4.51170191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.238623853 meters 0.02511308210047782 Centerline is valid? [True, True] Translation: X:178.15, Y:-37.17, Z:-4.51 [[ 9.56886907e-01 2.89570450e-01 2.27244526e-02 1.78146339e+02] [-2.89499711e-01 9.57156602e-01 -6.41532770e-03 -3.71656195e+01] [-2.36085491e-02 -4.39979373e-04 9.99721183e-01 -4.51202702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.268623853 meters 0.02530962389066602 Centerline is valid? [True, True] Translation: X:178.17, Y:-37.17, Z:-4.51 [[ 9.56851139e-01 2.89698449e-01 2.25988072e-02 1.78174185e+02] [-2.89628553e-01 9.57117868e-01 -6.37870991e-03 -3.71716992e+01] [-2.34776246e-02 -4.41784001e-04 9.99724265e-01 -4.51302934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.298623853 meters 0.024833213158329325 Centerline is valid? [True, True] Translation: X:178.20, Y:-37.18, Z:-4.51 [[ 9.56899537e-01 2.89577072e-01 2.20996614e-02 1.78201929e+02] [-2.89510221e-01 9.57154603e-01 -6.23677978e-03 -3.71769532e+01] [-2.29588211e-02 -4.30106189e-04 9.99736319e-01 -4.51480452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.328623853 meters 0.025098359112747305 Centerline is valid? [True, True] Translation: X:178.23, Y:-37.18, Z:-4.52 [[ 9.56995549e-01 2.89256999e-01 2.21338485e-02 1.78229302e+02] [-2.89189896e-01 9.57251382e-01 -6.24467909e-03 -3.71817534e+01] [-2.29939742e-02 -4.24755275e-04 9.99735513e-01 -4.51557099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.358623853 meters 0.025543756043437314 Centerline is valid? [True, True] Translation: X:178.26, Y:-37.19, Z:-4.52 [[ 9.57056882e-01 2.89048916e-01 2.22002010e-02 1.78256313e+02] [-2.88981386e-01 9.57314236e-01 -6.26201125e-03 -3.71858173e+01] [-2.30625960e-02 -4.22343869e-04 9.99733934e-01 -4.51605636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.388623853 meters 0.03324802596517742 Centerline is valid? [True, True] Translation: X:178.29, Y:-37.19, Z:-4.51 [[ 9.57261266e-01 2.88427180e-01 2.14623242e-02 1.78285736e+02] [-2.88363952e-01 9.57501752e-01 -6.05194525e-03 -3.71868811e+01] [-2.22957585e-02 -3.95667848e-04 9.99751340e-01 -4.50998081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.418623853 meters 0.025006781213817407 Centerline is valid? [True, True] Translation: X:178.31, Y:-37.19, Z:-4.52 [[ 9.57365644e-01 2.88070938e-01 2.15907000e-02 1.78313324e+02] [-2.88006885e-01 9.57608992e-01 -6.08705304e-03 -3.71938204e+01] [-2.24289516e-02 -3.90734795e-04 9.99748363e-01 -4.51946240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44862385300002 meters 0.02298875274018731 Centerline is valid? [True, True] Translation: X:178.34, Y:-37.20, Z:-4.52 [[ 9.57597605e-01 2.87319294e-01 2.13178515e-02 1.78340860e+02] [-2.87256686e-01 9.57834791e-01 -6.00908374e-03 -3.72026356e+01] [-2.21455056e-02 -3.69411190e-04 9.99754690e-01 -4.52089068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47862385300002 meters 0.022450753359403094 Centerline is valid? [True, True] Translation: X:178.37, Y:-37.21, Z:-4.52 [[ 9.57872832e-01 2.86418244e-01 2.10766900e-02 1.78368845e+02] [-2.86356851e-01 9.58104624e-01 -5.94001903e-03 -3.72094097e+01] [-2.18950040e-02 -3.45671732e-04 9.99760216e-01 -4.52207161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50862385300002 meters 0.02018181512485107 Centerline is valid? [True, True] Translation: X:178.40, Y:-37.22, Z:-4.52 [[ 9.58762444e-01 2.83467881e-01 2.05069819e-02 1.78397053e+02] [-2.83409110e-01 9.58981692e-01 -5.77842920e-03 -3.72161821e+01] [-2.13038193e-02 -2.71724582e-04 9.99773011e-01 -4.52420036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53862385300002 meters 0.01958183272853949 Centerline is valid? [True, True] Translation: X:178.42, Y:-37.22, Z:-4.53 [[ 9.59315530e-01 2.81629975e-01 1.99567117e-02 1.78424056e+02] [-2.81573938e-01 9.59523062e-01 -5.62241165e-03 -3.72226729e+01] [-2.07323648e-02 -2.25623089e-04 9.99785036e-01 -4.52666165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56862385300002 meters 0.01827845092221637 Centerline is valid? [True, True] Translation: X:178.45, Y:-37.23, Z:-4.53 [[ 9.60015894e-01 2.79253222e-01 1.96754082e-02 1.78451018e+02] [-2.79198281e-01 9.60217480e-01 -5.54182231e-03 -3.72313541e+01] [-2.04402426e-02 -1.73102643e-04 9.99791061e-01 -4.52853516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59862385300002 meters 0.016653587818260946 Centerline is valid? [True, True] Translation: X:178.48, Y:-37.24, Z:-4.53 [[ 9.60779187e-01 2.76639325e-01 1.93400549e-02 1.78478302e+02] [-2.76585730e-01 9.60973814e-01 -5.44642272e-03 -3.72419444e+01] [-2.00919810e-02 -1.16373615e-04 9.99798129e-01 -4.52867291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62862385300002 meters 0.015700997231695508 Centerline is valid? [True, True] Translation: X:178.50, Y:-37.25, Z:-4.53 [[ 9.62428566e-01 2.70878424e-01 1.88715271e-02 1.78503872e+02] [-2.70826303e-01 9.62613567e-01 -5.31358156e-03 -3.72533315e+01] [-1.96053226e-02 3.03677505e-06 9.99807797e-01 -4.53055280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.65862385300002 meters 0.01625694496831709 Centerline is valid? [True, True] Translation: X:178.53, Y:-37.26, Z:-4.53 [[ 9.63269298e-01 2.67870834e-01 1.89070100e-02 1.78530814e+02] [-2.67817964e-01 9.63454831e-01 -5.32224612e-03 -3.72642409e+01] [-1.96417246e-02 6.31193755e-05 9.99807081e-01 -4.53181048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68862385300002 meters 0.01746486658146198 Centerline is valid? [True, True] Translation: X:178.56, Y:-37.28, Z:-4.53 [[ 9.64167105e-01 2.64620974e-01 1.89085723e-02 1.78557590e+02] [-2.64567488e-01 9.64352489e-01 -5.32172394e-03 -3.72756074e+01] [-1.96427685e-02 1.28437697e-04 9.99807054e-01 -4.53227876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.71862385300003 meters 0.022250229387488267 Centerline is valid? [True, True] Translation: X:178.58, Y:-37.29, Z:-4.53 [[ 9.65866558e-01 2.58328815e-01 1.91837474e-02 1.78582669e+02] [-2.58272539e-01 9.66057015e-01 -5.39811019e-03 -3.72917835e+01] [-1.99270812e-02 2.59218952e-04 9.99801402e-01 -4.53275021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.74862385300003 meters 0.023534619784032894 Centerline is valid? [True, True] Translation: X:178.61, Y:-37.30, Z:-4.53 [[ 9.66684428e-01 2.55198489e-01 1.98732944e-02 1.78610148e+02] [-2.55137447e-01 9.66888628e-01 -5.59141582e-03 -3.73016583e+01] [-2.06421832e-02 3.34713008e-04 9.99786871e-01 -4.53184961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.77862385300003 meters 0.027184808317916195 Centerline is valid? [True, True] Translation: X:178.64, Y:-37.31, Z:-4.53 [[ 9.67450973e-01 2.52257119e-01 2.01236536e-02 1.78635121e+02] [-2.52193914e-01 9.67660160e-01 -5.66083967e-03 -3.73143902e+01] [-2.09008450e-02 4.01521882e-04 9.99781473e-01 -4.53237952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.808623853 meters 0.028955036948835118 Centerline is valid? [True, True] Translation: X:178.66, Y:-37.32, Z:-4.53 [[ 9.68124295e-01 2.49664878e-01 2.00698158e-02 1.78662730e+02] [-2.49601483e-01 9.68332196e-01 -5.64428929e-03 -3.73244643e+01] [-2.08434296e-02 4.54917809e-04 9.99782649e-01 -4.53284394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.838623853 meters 0.03523048638183247 Centerline is valid? [True, True] Translation: X:178.69, Y:-37.34, Z:-4.53 [[ 9.69152951e-01 2.45670739e-01 1.97089980e-02 1.78687581e+02] [-2.45608791e-01 9.69353190e-01 -5.54213743e-03 -3.73406843e+01] [-2.04665211e-02 5.30475687e-04 9.99790398e-01 -4.53470905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.868623853 meters 0.03227542422376481 Centerline is valid? [True, True] Translation: X:178.72, Y:-37.35, Z:-4.53 [[ 9.69500718e-01 2.44260434e-01 2.01295463e-02 1.78717143e+02] [-2.44195533e-01 9.69709500e-01 -5.65925758e-03 -3.73453144e+01] [-2.09021450e-02 5.71108991e-04 9.99781363e-01 -4.53394263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.898623853 meters 0.035523691362106986 Centerline is valid? [True, True] Translation: X:178.74, Y:-37.36, Z:-4.54 [[ 9.69686919e-01 2.43532180e-01 1.99839134e-02 1.78742991e+02] [-2.43468071e-01 9.69892643e-01 -5.61784952e-03 -3.73581667e+01] [-2.07503777e-02 5.82110358e-04 9.99784518e-01 -4.53532627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.928623853 meters 0.037089038648020566 Centerline is valid? [True, True] Translation: X:178.77, Y:-37.37, Z:-4.54 [[ 9.69774853e-01 2.43195072e-01 1.98214893e-02 1.78769238e+02] [-2.43131944e-01 9.69977224e-01 -5.57152488e-03 -3.73679622e+01] [-2.05813605e-02 5.83887507e-04 9.99788011e-01 -4.53577478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.958623853 meters 0.03377293503933605 Centerline is valid? [True, True] Translation: X:178.80, Y:-37.37, Z:-4.54 [[ 9.69493158e-01 2.44335286e-01 1.95776667e-02 1.78798182e+02] [-2.44273959e-01 9.69690654e-01 -5.50173578e-03 -3.73725147e+01] [-2.03285487e-02 5.51581024e-04 9.99793202e-01 -4.53618824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.988623853 meters 0.0318735407754298 Centerline is valid? [True, True] Translation: X:178.83, Y:-37.38, Z:-4.54 [[ 9.69295866e-01 2.45120026e-01 1.95370592e-02 1.78826686e+02] [-2.45059132e-01 9.69492593e-01 -5.48934392e-03 -3.73782771e+01] [-2.02865823e-02 5.33063605e-04 9.99794064e-01 -4.53627109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.018623853 meters 0.03129519085947822 Centerline is valid? [True, True] Translation: X:178.85, Y:-37.39, Z:-4.54 [[ 9.68612453e-01 2.47778422e-01 1.98939417e-02 1.78854472e+02] [-2.47715866e-01 9.68816607e-01 -5.58850834e-03 -3.73863163e+01] [-2.06582928e-02 4.85053792e-04 9.99786477e-01 -4.53622986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.048623853 meters 0.028710233473227844 Centerline is valid? [True, True] Translation: X:178.88, Y:-37.39, Z:-4.54 [[ 9.68170996e-01 2.49500804e-01 1.98562733e-02 1.78883215e+02] [-2.49438861e-01 9.68374488e-01 -5.57721416e-03 -3.73907581e+01] [-2.06198279e-02 4.46770789e-04 9.99787289e-01 -4.53669545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.078623853 meters 0.026998772857669735 Centerline is valid? [True, True] Translation: X:178.91, Y:-37.40, Z:-4.54 [[ 9.67712821e-01 2.51266403e-01 1.99271454e-02 1.78911951e+02] [-2.51204413e-01 9.67917882e-01 -5.59605054e-03 -3.73965890e+01] [-2.06939398e-02 4.09582995e-04 9.99785774e-01 -4.53736682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.108623853 meters 0.02664325679225671 Centerline is valid? [True, True] Translation: X:178.94, Y:-37.40, Z:-4.54 [[ 9.67257519e-01 2.53022066e-01 1.98172974e-02 1.78939194e+02] [-2.52961141e-01 9.67460437e-01 -5.56450446e-03 -3.74042644e+01] [-2.05803936e-02 3.69302612e-04 9.99788133e-01 -4.53831971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.138623853 meters 0.024737495819962714 Centerline is valid? [True, True] Translation: X:178.97, Y:-37.41, Z:-4.54 [[ 9.66801408e-01 2.54772161e-01 1.96515318e-02 1.78968104e+02] [-2.54712633e-01 9.67001054e-01 -5.51690697e-03 -3.74097357e+01] [-2.04086063e-02 3.28260010e-04 9.99791669e-01 -4.53941363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.168623853 meters 0.02201329476031605 Centerline is valid? [True, True] Translation: X:179.00, Y:-37.41, Z:-4.54 [[ 9.65955407e-01 2.58015859e-01 1.89200298e-02 1.78997115e+02] [-2.57961314e-01 9.66140649e-01 -5.31093803e-03 -3.74138466e+01] [-1.96497161e-02 2.49493569e-04 9.99806895e-01 -4.54117492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.19862385300002 meters 0.021238725858295813 Centerline is valid? [True, True] Translation: X:179.02, Y:-37.42, Z:-4.54 [[ 9.65477922e-01 2.59786090e-01 1.90674869e-02 1.79024184e+02] [-2.59731053e-01 9.65666165e-01 -5.35151601e-03 -3.74205443e+01] [-1.98030764e-02 2.14352113e-04 9.99803877e-01 -4.54302504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22862385300002 meters 0.01939328748051079 Centerline is valid? [True, True] Translation: X:179.05, Y:-37.43, Z:-4.54 [[ 9.65020619e-01 2.61495229e-01 1.88533639e-02 1.79053156e+02] [-2.61441779e-01 9.65204753e-01 -5.28979538e-03 -3.74251832e+01] [-1.95806126e-02 1.75704633e-04 9.99808266e-01 -4.54312489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25862385300002 meters 0.01720559350064465 Centerline is valid? [True, True] Translation: X:179.08, Y:-37.43, Z:-4.54 [[ 9.63904033e-01 2.65559472e-01 1.91620119e-02 1.79082517e+02] [-2.65505079e-01 9.64094476e-01 -5.37541162e-03 -3.74279087e+01] [-1.99014813e-02 9.37694693e-05 9.99801942e-01 -4.54297382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28862385300002 meters 0.016609298547917664 Centerline is valid? [True, True] Translation: X:179.11, Y:-37.43, Z:-4.54 [[ 9.63294111e-01 2.67761666e-01 1.91871283e-02 1.79111194e+02] [-2.67707586e-01 9.63485178e-01 -5.38148233e-03 -3.74324163e+01] [-1.99274684e-02 4.74104335e-05 9.99801427e-01 -4.54289733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.31862385300002 meters 0.016224922033011884 Centerline is valid? [True, True] Translation: X:179.14, Y:-37.44, Z:-4.54 [[ 9.62651527e-01 2.70033612e-01 1.95929964e-02 1.79139816e+02] [-2.69977711e-01 9.62850896e-01 -5.49430186e-03 -3.74367636e+01] [-2.03487804e-02 -5.74244462e-07 9.99792942e-01 -4.54211898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34862385300002 meters 0.016836832296617282 Centerline is valid? [True, True] Translation: X:179.17, Y:-37.44, Z:-4.54 [[ 9.61485303e-01 2.74101917e-01 2.03507047e-02 1.79168864e+02] [-2.74042538e-01 9.61700645e-01 -5.70582805e-03 -3.74373394e+01] [-2.11352643e-02 -9.08889565e-05 9.99776621e-01 -4.54158494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.37862385300002 meters 0.01752196521346346 Centerline is valid? [True, True] Translation: X:179.20, Y:-37.44, Z:-4.54 [[ 9.60941014e-01 2.75977220e-01 2.07109133e-02 1.79197095e+02] [-2.75916204e-01 9.61164167e-01 -5.80458787e-03 -3.74426638e+01] [-2.15085217e-02 -1.36610012e-04 9.99768656e-01 -4.54123320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40862385300002 meters 0.018771941989892925 Centerline is valid? [True, True] Translation: X:179.22, Y:-37.45, Z:-4.54 [[ 9.60531700e-01 2.77384094e-01 2.09025848e-02 1.79224331e+02] [-2.77322297e-01 9.60759093e-01 -5.85730531e-03 -3.74466731e+01] [-2.17070718e-02 -1.70625417e-04 9.99764359e-01 -4.54169229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.43862385300002 meters 0.019058655564424362 Centerline is valid? [True, True] Translation: X:179.25, Y:-37.45, Z:-4.54 [[ 9.60178457e-01 2.78567227e-01 2.13922973e-02 1.79252855e+02] [-2.78502833e-01 9.60416711e-01 -5.99277430e-03 -3.74536009e+01] [-2.22149103e-02 -2.03682611e-04 9.99753198e-01 -4.54088187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46862385300003 meters 0.019651300751730653 Centerline is valid? [True, True] Translation: X:179.28, Y:-37.46, Z:-4.54 [[ 9.59900070e-01 2.79502390e-01 2.16857032e-02 1.79280972e+02] [-2.79436482e-01 9.60144969e-01 -6.07384488e-03 -3.74592000e+01] [-2.25190730e-02 -2.29492481e-04 9.99746387e-01 -4.54147985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.49862385300003 meters 0.019651300751730653 Centerline is valid? [True, True] Translation: X:179.31, Y:-37.47, Z:-4.54 [[ 9.59919938e-01 2.79434126e-01 2.16859735e-02 1.79307479e+02] [-2.79368222e-01 9.60164838e-01 -6.07287953e-03 -3.74664847e+01] [-2.25190791e-02 -2.28893722e-04 9.99746387e-01 -4.54217135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52862385300003 meters 0.020116211782868928 Centerline is valid? [True, True] Translation: X:179.34, Y:-37.47, Z:-4.54 [[ 9.59608534e-01 2.80556487e-01 2.09647346e-02 1.79335619e+02] [-2.80495194e-01 9.59837484e-01 -5.86942993e-03 -3.74708389e+01] [-2.17694447e-02 -2.48152238e-04 9.99762987e-01 -4.54413620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.558623853 meters 0.020196238617454502 Centerline is valid? [True, True] Translation: X:179.36, Y:-37.48, Z:-4.55 [[ 9.59638555e-01 2.80482016e-01 2.05835383e-02 1.79361467e+02] [-2.80422957e-01 9.59859250e-01 -5.76070359e-03 -3.74767111e+01] [-2.13730734e-02 -2.43903423e-04 9.99771540e-01 -4.54583101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.588623853 meters 0.03112142618258594 Centerline is valid? [True, True] Translation: X:179.39, Y:-37.48, Z:-4.54 [[ 9.59612818e-01 2.80604464e-01 2.01090581e-02 1.79388736e+02] [-2.80548161e-01 9.59823461e-01 -5.62615519e-03 -3.74819859e+01] [-2.08798700e-02 -2.42628610e-04 9.99781962e-01 -4.53959779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.618623853 meters 0.019872884364228138 Centerline is valid? [True, True] Translation: X:179.42, Y:-37.49, Z:-4.55 [[ 9.59897599e-01 2.79610821e-01 2.03565562e-02 1.79415790e+02] [-2.79552946e-01 9.60113399e-01 -5.69319694e-03 -3.74910773e+01] [-2.11364818e-02 -2.25849172e-04 9.99776574e-01 -4.54716752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.648623853 meters 0.01979251533832785 Centerline is valid? [True, True] Translation: X:179.44, Y:-37.50, Z:-4.55 [[ 9.59981120e-01 2.79312104e-01 2.05182380e-02 1.79441831e+02] [-2.79253258e-01 9.60200343e-01 -5.73747977e-03 -3.74975819e+01] [-2.13041668e-02 -2.21912562e-04 9.99773016e-01 -4.54727198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.678623853 meters 0.019615450648167308 Centerline is valid? [True, True] Translation: X:179.47, Y:-37.51, Z:-4.55 [[ 9.60055431e-01 2.79038020e-01 2.07690133e-02 1.79469224e+02] [-2.78977706e-01 9.60280029e-01 -5.80556331e-03 -3.75051054e+01] [-2.15640416e-02 -2.20429095e-04 9.99767445e-01 -4.54791811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.708623853 meters 0.02032757055341026 Centerline is valid? [True, True] Translation: X:179.50, Y:-37.51, Z:-4.55 [[ 9.60098494e-01 2.78883259e-01 2.08568921e-02 1.79495413e+02] [-2.78822418e-01 9.60324987e-01 -5.82917109e-03 -3.75101705e+01] [-2.16550528e-02 -2.18790705e-04 9.99765478e-01 -4.54866599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.738623853 meters 0.01954551425928707 Centerline is valid? [True, True] Translation: X:179.52, Y:-37.52, Z:-4.55 [[ 9.60237590e-01 2.78386156e-01 2.10930952e-02 1.79523721e+02] [-2.78323854e-01 9.60469210e-01 -5.89312937e-03 -3.75170031e+01] [-2.18998341e-02 -2.11907194e-04 9.99760147e-01 -4.54848219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.768623853 meters 0.019388117264463496 Centerline is valid? [True, True] Translation: X:179.55, Y:-37.52, Z:-4.55 [[ 9.60286394e-01 2.78185960e-01 2.15084671e-02 1.79551539e+02] [-2.78121154e-01 9.60527213e-01 -6.00807179e-03 -3.75234521e+01] [-2.23308292e-02 -2.12490092e-04 9.99750613e-01 -4.54914948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.798623853 meters 0.019048533967454807 Centerline is valid? [True, True] Translation: X:179.58, Y:-37.53, Z:-4.55 [[ 9.60414687e-01 2.77767809e-01 2.11819054e-02 1.79579016e+02] [-2.77704878e-01 9.60648221e-01 -5.91580360e-03 -3.75304587e+01] [-2.19915795e-02 -2.00693781e-04 9.99758136e-01 -4.55008621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.828623853 meters 0.018832977369770888 Centerline is valid? [True, True] Translation: X:179.61, Y:-37.54, Z:-4.55 [[ 9.60701918e-01 2.76811104e-01 2.06745528e-02 1.79605819e+02] [-2.76750951e-01 9.60924337e-01 -5.77312607e-03 -3.75369872e+01] [-2.14647464e-02 -1.75448870e-04 9.99769590e-01 -4.55222147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.858623853 meters 0.018229752391778948 Centerline is valid? [True, True] Translation: X:179.63, Y:-37.54, Z:-4.55 [[ 9.60861091e-01 2.76281539e-01 2.03586454e-02 1.79633304e+02] [-2.76223119e-01 9.61076732e-01 -5.68360047e-03 -3.75449767e+01] [-2.11364943e-02 -1.62377985e-04 9.99776586e-01 -4.55332227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.888623853 meters 0.01804484843982344 Centerline is valid? [True, True] Translation: X:179.66, Y:-37.55, Z:-4.55 [[ 9.60982671e-01 2.75861904e-01 2.03105185e-02 1.79660095e+02] [-2.75803686e-01 9.61197267e-01 -5.66921321e-03 -3.75517909e+01] [-2.10863348e-02 -1.53700228e-04 9.99777647e-01 -4.55413470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.918623853 meters 0.018070603575415983 Centerline is valid? [True, True] Translation: X:179.69, Y:-37.56, Z:-4.56 [[ 9.61193462e-01 2.75171088e-01 1.96977153e-02 1.79686356e+02] [-2.75116216e-01 9.61395264e-01 -5.49672285e-03 -3.75564666e+01] [-2.04498294e-02 -1.35746830e-04 9.99790871e-01 -4.55605209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94862385300002 meters 0.0179853382365523 Centerline is valid? [True, True] Translation: X:179.71, Y:-37.56, Z:-4.56 [[ 9.61284539e-01 2.74895763e-01 1.90880487e-02 1.79713508e+02] [-2.74844216e-01 9.61474026e-01 -5.32484049e-03 -3.75631043e+01] [-1.98164391e-02 -1.27552931e-04 9.99803627e-01 -4.55807888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97862385300002 meters 0.018529554202489702 Centerline is valid? [True, True] Translation: X:179.74, Y:-37.57, Z:-4.56 [[ 9.61343318e-01 2.74734075e-01 1.84448861e-02 1.79739696e+02] [-2.74685932e-01 9.61520241e-01 -5.14443280e-03 -3.75678876e+01] [-1.91484823e-02 -1.20984645e-04 9.99816644e-01 -4.56078568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00862385300002 meters 0.018399262807967606 Centerline is valid? [True, True] Translation: X:179.77, Y:-37.57, Z:-4.56 [[ 9.61429719e-01 2.74471178e-01 1.78456864e-02 1.79766562e+02] [-2.74426105e-01 9.61595320e-01 -4.97529386e-03 -3.75742514e+01] [-1.85259033e-02 -1.13926843e-04 9.99828374e-01 -4.56214943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03862385300002 meters 0.018108522524792774 Centerline is valid? [True, True] Translation: X:179.79, Y:-37.58, Z:-4.56 [[ 9.61592207e-01 2.73942730e-01 1.71990606e-02 1.79794435e+02] [-2.73900852e-01 9.61746001e-01 -4.79094513e-03 -3.75798491e+01] [-1.78535724e-02 -1.03901862e-04 9.99840607e-01 -4.56362698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06862385300002 meters 0.018048564129365455 Centerline is valid? [True, True] Translation: X:179.82, Y:-37.59, Z:-4.56 [[ 9.61747771e-01 2.73393516e-01 1.72397725e-02 1.79820918e+02] [-2.73351367e-01 9.61902270e-01 -4.80139898e-03 -3.75855674e+01] [-1.78956477e-02 -9.47806193e-05 9.99839856e-01 -4.56427631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09862385300002 meters 0.017958977464126544 Centerline is valid? [True, True] Translation: X:179.85, Y:-37.59, Z:-4.57 [[ 9.61969879e-01 2.72593006e-01 1.75215624e-02 1.79848106e+02] [-2.72549386e-01 9.62129433e-01 -4.87708259e-03 -3.75920398e+01] [-1.81874695e-02 -8.38845348e-05 9.99834591e-01 -4.56547988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12862385300002 meters 0.017366747452742616 Centerline is valid? [True, True] Translation: X:179.88, Y:-37.60, Z:-4.56 [[ 9.62265611e-01 2.71513606e-01 1.80348355e-02 1.79875994e+02] [-2.71467227e-01 9.62434599e-01 -5.01868325e-03 -3.76004818e+01] [-1.87199905e-02 -6.65604877e-05 9.99824763e-01 -4.56405307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.15862385300002 meters 0.016745058110350538 Centerline is valid? [True, True] Translation: X:179.90, Y:-37.61, Z:-4.56 [[ 9.62819081e-01 2.69470537e-01 1.91061755e-02 1.79903862e+02] [-2.69418166e-01 9.63008634e-01 -5.31255516e-03 -3.76092181e+01] [-1.98309891e-02 -3.25213009e-05 9.99803346e-01 -4.56247072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18862385300002 meters 0.02202473476020684 Centerline is valid? [True, True] Translation: X:179.93, Y:-37.62, Z:-4.56 [[ 9.63000556e-01 2.68799532e-01 1.94098177e-02 1.79931905e+02] [-2.68745366e-01 9.63196144e-01 -5.39598914e-03 -3.76160413e+01] [-2.01459009e-02 -1.99580315e-05 9.99797051e-01 -4.55683157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.21862385300003 meters 0.018485916186331306 Centerline is valid? [True, True] Translation: X:179.96, Y:-37.62, Z:-4.56 [[ 9.63314741e-01 2.67669249e-01 1.94392325e-02 1.79958866e+02] [-2.67614706e-01 9.63510858e-01 -5.40331065e-03 -3.76240303e+01] [-2.01762117e-02 2.86430161e-06 9.99796440e-01 -4.56053287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.24862385300003 meters 0.016947876425286314 Centerline is valid? [True, True] Translation: X:179.99, Y:-37.63, Z:-4.57 [[ 9.63847066e-01 2.65823088e-01 1.83553390e-02 1.79986116e+02] [-2.65774151e-01 9.64021828e-01 -5.10061310e-03 -3.76334816e+01] [-1.90508081e-02 3.78363387e-05 9.99818516e-01 -4.56679687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.27862385300003 meters 0.017241344580952205 Centerline is valid? [True, True] Translation: X:180.01, Y:-37.64, Z:-4.57 [[ 9.64076448e-01 2.65017589e-01 1.79521635e-02 1.80012965e+02] [-2.64970653e-01 9.64243577e-01 -4.98779283e-03 -3.76417387e+01] [-1.86321112e-02 5.18171095e-05 9.99826406e-01 -4.56812630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.308623853 meters 0.01758799109960507 Centerline is valid? [True, True] Translation: X:180.04, Y:-37.65, Z:-4.57 [[ 9.64283649e-01 2.64278038e-01 1.77246082e-02 1.80040014e+02] [-2.64232180e-01 9.64446533e-01 -4.92348858e-03 -3.76498585e+01] [-1.83956068e-02 6.42276731e-05 9.99830784e-01 -4.57001446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.338623853 meters 0.017951374433028 Centerline is valid? [True, True] Translation: X:180.07, Y:-37.66, Z:-4.57 [[ 9.64495991e-01 2.63533334e-01 1.72530024e-02 1.80066928e+02] [-2.63489783e-01 9.64650287e-01 -4.79147637e-03 -3.76577200e+01] [-1.79058274e-02 7.53698987e-05 9.99839675e-01 -4.57129840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.368623853 meters 0.01801385722566171 Centerline is valid? [True, True] Translation: X:180.09, Y:-37.66, Z:-4.57 [[ 9.64559565e-01 2.63302447e-01 1.72240496e-02 1.80093595e+02] [-2.63259022e-01 9.64713333e-01 -4.78247531e-03 -3.76647760e+01] [-1.78755078e-02 7.85958493e-05 9.99840217e-01 -4.57215230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.398623853 meters 0.01815305832682082 Centerline is valid? [True, True] Translation: X:180.12, Y:-37.67, Z:-4.57 [[ 9.64634361e-01 2.63028350e-01 1.72231612e-02 1.80120789e+02] [-2.62984908e-01 9.64788101e-01 -4.78098372e-03 -3.76718528e+01] [-1.78742353e-02 8.24697129e-05 9.99840240e-01 -4.57230431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.428623853 meters 0.018306281368970563 Centerline is valid? [True, True] Translation: X:180.15, Y:-37.68, Z:-4.57 [[ 9.64780953e-01 2.62470513e-01 1.75197613e-02 1.80147857e+02] [-2.62425493e-01 9.64940009e-01 -4.86201524e-03 -3.76794182e+01] [-1.81816542e-02 9.31477066e-05 9.99834696e-01 -4.57251109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.458623853 meters 0.01871767165297539 Centerline is valid? [True, True] Translation: X:180.17, Y:-37.69, Z:-4.57 [[ 9.65045493e-01 2.61467445e-01 1.79435847e-02 1.80174802e+02] [-2.61420076e-01 9.65212289e-01 -4.97815262e-03 -3.76889237e+01] [-1.86209933e-02 1.13330472e-04 9.99826608e-01 -4.57224728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.488623853 meters 0.019037802414439458 Centerline is valid? [True, True] Translation: X:180.20, Y:-37.70, Z:-4.57 [[ 9.65210316e-01 2.60836155e-01 1.82632740e-02 1.80201699e+02] [-2.60786983e-01 9.65383076e-01 -5.06608970e-03 -3.76979071e+01] [-1.89524750e-02 1.27017922e-04 9.99820378e-01 -4.57227049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.518623853 meters 0.019336898209603538 Centerline is valid? [True, True] Translation: X:180.23, Y:-37.71, Z:-4.57 [[ 9.65360343e-01 2.60286076e-01 1.81814805e-02 1.80228149e+02] [-2.60237272e-01 9.65531533e-01 -5.04202727e-03 -3.77065398e+01] [-1.88671622e-02 1.35874289e-04 9.99821990e-01 -4.57286994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.548623853 meters 0.019544400041865334 Centerline is valid? [True, True] Translation: X:180.25, Y:-37.71, Z:-4.57 [[ 9.65462400e-01 2.59883358e-01 1.85201321e-02 1.80254524e+02] [-2.59832665e-01 9.65640005e-01 -5.13487744e-03 -3.77146552e+01] [-1.92182496e-02 1.45395829e-04 9.99815302e-01 -4.57254129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.578623853 meters 0.01978600536816231 Centerline is valid? [True, True] Translation: X:180.28, Y:-37.72, Z:-4.57 [[ 9.65528389e-01 2.59630327e-01 1.86285929e-02 1.80280205e+02] [-2.59579016e-01 9.65708067e-01 -5.16367795e-03 -3.77217343e+01] [-1.93304298e-02 1.50085834e-04 9.99813139e-01 -4.57333732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.608623853 meters 0.018646347077073286 Centerline is valid? [True, True] Translation: X:180.31, Y:-37.73, Z:-4.57 [[ 9.65464512e-01 2.59886863e-01 1.83601152e-02 1.80307562e+02] [-2.59837096e-01 9.65639062e-01 -5.08775175e-03 -3.77262933e+01] [-1.90514843e-02 1.41404733e-04 9.99818494e-01 -4.57274278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.638623853 meters 0.018758095073929004 Centerline is valid? [True, True] Translation: X:180.33, Y:-37.73, Z:-4.57 [[ 9.65354019e-01 2.60324408e-01 1.79671934e-02 1.80333111e+02] [-2.60276848e-01 9.65521199e-01 -4.97758322e-03 -3.77336414e+01] [-1.86434925e-02 1.28685494e-04 9.99826187e-01 -4.57483001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.668623853 meters 0.018566882390211446 Centerline is valid? [True, True] Translation: X:180.36, Y:-37.74, Z:-4.58 [[ 9.65240678e-01 2.60770070e-01 1.75898680e-02 1.80360594e+02] [-2.60724592e-01 9.65400931e-01 -4.87138993e-03 -3.77406316e+01] [-1.82515876e-02 1.15952571e-04 9.99833419e-01 -4.57585458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.69862385300002 meters 0.018659797744550424 Centerline is valid? [True, True] Translation: X:180.39, Y:-37.75, Z:-4.58 [[ 9.64966638e-01 2.61802608e-01 1.72852909e-02 1.80387291e+02] [-2.61758881e-01 9.65121436e-01 -4.78568377e-03 -3.77479458e+01] [-1.79353093e-02 9.34467686e-05 9.99839145e-01 -4.57925706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72862385300002 meters 0.017521097446406352 Centerline is valid? [True, True] Translation: X:180.42, Y:-37.75, Z:-4.58 [[ 9.64387954e-01 2.63923344e-01 1.73303793e-02 1.80415989e+02] [-2.63879752e-01 9.64543657e-01 -4.79699519e-03 -3.77513113e+01] [-1.79819464e-02 5.30281874e-05 9.99838310e-01 -4.57811546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75862385300002 meters 0.01743123260407931 Centerline is valid? [True, True] Translation: X:180.44, Y:-37.76, Z:-4.58 [[ 9.64019372e-01 2.65250155e-01 1.75785459e-02 1.80443593e+02] [-2.65205540e-01 9.64179628e-01 -4.86488049e-03 -3.77571480e+01] [-1.82392861e-02 2.79112733e-05 9.99833650e-01 -4.57985062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78862385300002 meters 0.017003659634036723 Centerline is valid? [True, True] Translation: X:180.47, Y:-37.76, Z:-4.58 [[ 9.63674067e-01 2.66478662e-01 1.79280564e-02 1.80472503e+02] [-2.66432490e-01 9.63840818e-01 -4.96039560e-03 -3.77623176e+01] [-1.86016322e-02 3.58787857e-06 9.99826975e-01 -4.57817858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81862385300002 meters 0.017136374842254855 Centerline is valid? [True, True] Translation: X:180.50, Y:-37.76, Z:-4.58 [[ 9.62884957e-01 2.69295307e-01 1.82372735e-02 1.80501869e+02] [-2.69248051e-01 9.63057649e-01 -5.04502055e-03 -3.77648099e+01] [-1.89221461e-02 -5.25759507e-05 9.99820959e-01 -4.57774988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84862385300002 meters 0.0244590659804236 Centerline is valid? [True, True] Translation: X:180.53, Y:-37.77, Z:-4.58 [[ 9.62556918e-01 2.70512354e-01 1.75284526e-02 1.80530187e+02] [-2.70468911e-01 9.62716501e-01 -4.84838550e-03 -3.77675956e+01] [-1.81864787e-02 -7.40544860e-05 9.99834610e-01 -4.57516481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.87862385300002 meters 0.017719000358212837 Centerline is valid? [True, True] Translation: X:180.56, Y:-37.78, Z:-4.58 [[ 9.62335154e-01 2.71276344e-01 1.78940208e-02 1.80556617e+02] [-2.71231237e-01 9.62501500e-01 -4.94763858e-03 -3.77758369e+01] [-1.85651992e-02 -9.21308649e-05 9.99827648e-01 -4.58008489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90862385300002 meters 0.01838430110609024 Centerline is valid? [True, True] Translation: X:180.58, Y:-37.78, Z:-4.58 [[ 9.62151722e-01 2.71959933e-01 1.73740757e-02 1.80583659e+02] [-2.71917547e-01 9.62308570e-01 -4.80246476e-03 -3.77810884e+01] [-1.80253000e-02 -1.03616324e-04 9.99837526e-01 -4.58285951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.93862385300002 meters 0.018749541748107685 Centerline is valid? [True, True] Translation: X:180.61, Y:-37.79, Z:-4.58 [[ 9.62057041e-01 2.72307144e-01 1.71775589e-02 1.80611145e+02] [-2.72265787e-01 9.62210376e-01 -4.74700928e-03 -3.77875700e+01] [-1.78210700e-02 -1.09967898e-04 9.99841186e-01 -4.58477989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.96862385300003 meters 0.018305307687354073 Centerline is valid? [True, True] Translation: X:180.64, Y:-37.79, Z:-4.58 [[ 9.62137875e-01 2.72032188e-01 1.70058410e-02 1.80637748e+02] [-2.71991610e-01 9.62288147e-01 -4.69959168e-03 -3.77947920e+01] [-1.76429594e-02 -1.03790916e-04 9.99844345e-01 -4.58407929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.99862385300003 meters 0.019146328627703643 Centerline is valid? [True, True] Translation: X:180.66, Y:-37.80, Z:-4.59 [[ 9.62280852e-01 2.71543830e-01 1.67185554e-02 1.80664866e+02] [-2.71504613e-01 9.62426069e-01 -4.61589795e-03 -3.77993371e+01] [-1.73437921e-02 -9.73746806e-05 9.99849580e-01 -4.58781484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.02862385300003 meters 0.018007096503015137 Centerline is valid? [True, True] Translation: X:180.69, Y:-37.81, Z:-4.59 [[ 9.62487336e-01 2.70807545e-01 1.67750309e-02 1.80691149e+02] [-2.70767962e-01 9.62633506e-01 -4.63082981e-03 -3.78086595e+01] [-1.74022704e-02 -8.50258781e-05 9.99848565e-01 -4.58580793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.058623853 meters 0.018032743586812342 Centerline is valid? [True, True] Translation: X:180.72, Y:-37.82, Z:-4.59 [[ 9.63060494e-01 2.68732984e-01 1.72356836e-02 1.80717625e+02] [-2.68690949e-01 9.63214712e-01 -4.75326517e-03 -3.78164998e+01] [-1.78790231e-02 -5.33902811e-05 9.99840156e-01 -4.58940495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.088623853 meters 0.01717933355799418 Centerline is valid? [True, True] Translation: X:180.74, Y:-37.83, Z:-4.59 [[ 9.63425541e-01 2.67393624e-01 1.76600505e-02 1.80744793e+02] [-2.67349292e-01 9.63587385e-01 -4.86903275e-03 -3.78266295e+01] [-1.83189502e-02 -3.04514867e-05 9.99832193e-01 -4.58590740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.118623853 meters 0.017011165749947182 Centerline is valid? [True, True] Translation: X:180.77, Y:-37.84, Z:-4.59 [[ 9.63814794e-01 2.65950836e-01 1.81987639e-02 1.80771069e+02] [-2.65903517e-01 9.63986594e-01 -5.01667522e-03 -3.78351885e+01] [-1.88775534e-02 -3.96953328e-06 9.99821803e-01 -4.58578781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.148623853 meters 0.017087922018389302 Centerline is valid? [True, True] Translation: X:180.80, Y:-37.84, Z:-4.59 [[ 9.64272383e-01 2.64261880e-01 1.85588272e-02 1.80797085e+02] [-2.64212379e-01 9.64450962e-01 -5.11480056e-03 -3.78444736e+01] [-1.92507255e-02 2.85890438e-05 9.99814687e-01 -4.58609689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.178623853 meters 0.018344658223677056 Centerline is valid? [True, True] Translation: X:180.82, Y:-37.86, Z:-4.59 [[ 9.65439513e-01 2.59923010e-01 1.91461737e-02 1.80822701e+02] [-2.59869503e-01 9.65629336e-01 -5.27503578e-03 -3.78587051e+01] [-1.98592102e-02 1.17221324e-04 9.99802780e-01 -4.58586511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.208623853 meters 0.019592256736070686 Centerline is valid? [True, True] Translation: X:180.85, Y:-37.87, Z:-4.59 [[ 9.66133106e-01 2.57337898e-01 1.90794881e-02 1.80848160e+02] [-2.57284274e-01 9.66321467e-01 -5.25592894e-03 -3.78703177e+01] [-1.97894686e-02 1.69074707e-04 9.99804155e-01 -4.58662670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.238623853 meters 0.021536593375736848 Centerline is valid? [True, True] Translation: X:180.87, Y:-37.88, Z:-4.59 [[ 9.66920535e-01 2.54364892e-01 1.90573038e-02 1.80874839e+02] [-2.54310855e-01 9.67108293e-01 -5.24780486e-03 -3.78829012e+01] [-1.97653339e-02 2.27731067e-04 9.99804621e-01 -4.58756791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.268623853 meters 0.026413562432593494 Centerline is valid? [True, True] Translation: X:180.90, Y:-37.90, Z:-4.59 [[ 9.68412651e-01 2.48653142e-01 1.86695631e-02 1.80899463e+02] [-2.48600238e-01 9.68592536e-01 -5.14005258e-03 -3.79007907e+01] [-1.93612897e-02 3.36434122e-04 9.99812496e-01 -4.58946205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.298623853 meters 0.03207845144962423 Centerline is valid? [True, True] Translation: X:180.93, Y:-37.91, Z:-4.58 [[ 9.69060674e-01 2.46208667e-01 1.73983431e-02 1.80927247e+02] [-2.46162341e-01 9.69216779e-01 -4.78939716e-03 -3.79113895e+01] [-1.80419571e-02 3.58399582e-04 9.99837166e-01 -4.58376930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.328623853 meters 0.029103089919398258 Centerline is valid? [True, True] Translation: X:180.95, Y:-37.92, Z:-4.59 [[ 9.69734579e-01 2.43509875e-01 1.78265818e-02 1.80953422e+02] [-2.43460787e-01 9.69898328e-01 -4.90707330e-03 -3.79225264e+01] [-1.84848927e-02 4.18485019e-04 9.99829052e-01 -4.59196134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.358623853 meters 0.031366783249954 Centerline is valid? [True, True] Translation: X:180.98, Y:-37.94, Z:-4.59 [[ 9.70559784e-01 2.40230441e-01 1.74080761e-02 1.80980402e+02] [-2.40183129e-01 9.70715775e-01 -4.79051326e-03 -3.79362952e+01] [-1.80491212e-02 4.68353340e-04 9.99836992e-01 -4.59285507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.388623853 meters 0.032564437754702524 Centerline is valid? [True, True] Translation: X:181.01, Y:-37.95, Z:-4.59 [[ 9.70747692e-01 2.39473316e-01 1.73623327e-02 1.81006084e+02] [-2.39426134e-01 9.70902827e-01 -4.77773957e-03 -3.79464355e+01] [-1.80012790e-02 4.80983476e-04 9.99837848e-01 -4.59355996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.418623853 meters 0.032564437754702524 Centerline is valid? [True, True] Translation: X:181.03, Y:-37.95, Z:-4.59 [[ 9.70759251e-01 2.39426432e-01 1.73626453e-02 1.81033425e+02] [-2.39379262e-01 9.70914390e-01 -4.77660311e-03 -3.79538693e+01] [-1.80012872e-02 4.80674436e-04 9.99837848e-01 -4.59427266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44862385300002 meters 0.03221636398418238 Centerline is valid? [True, True] Translation: X:181.06, Y:-37.96, Z:-4.59 [[ 9.70860209e-01 2.39020562e-01 1.73096905e-02 1.81061233e+02] [-2.38973632e-01 9.71014384e-01 -4.76114419e-03 -3.79632666e+01] [-1.79459698e-02 4.85845832e-04 9.99838840e-01 -4.59462075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47862385300002 meters 0.040529416416608156 Centerline is valid? [True, True] Translation: X:181.09, Y:-37.97, Z:-4.59 [[ 9.70794076e-01 2.39342289e-01 1.65569169e-02 1.81087521e+02] [-2.39299411e-01 9.70935146e-01 -4.55337160e-03 -3.79746239e+01] [-1.71655069e-02 4.58325718e-04 9.99852557e-01 -4.58582242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50862385300002 meters 0.03432366203340387 Centerline is valid? [True, True] Translation: X:181.11, Y:-37.99, Z:-4.59 [[ 9.70740358e-01 2.39421871e-01 1.84479237e-02 1.81112762e+02] [-2.39368679e-01 9.70915501e-01 -5.07202636e-03 -3.79879862e+01] [-1.91257291e-02 5.07765568e-04 9.99816958e-01 -4.59407904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53862385300002 meters 0.03529301886486785 Centerline is valid? [True, True] Translation: X:181.14, Y:-38.00, Z:-4.59 [[ 9.70612991e-01 2.39918447e-01 1.86965520e-02 1.81138970e+02] [-2.39863928e-01 9.70792916e-01 -5.13917434e-03 -3.79981968e+01] [-1.93834629e-02 5.03520982e-04 9.99811996e-01 -4.59452331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56862385300002 meters 0.03357609051252882 Centerline is valid? [True, True] Translation: X:181.17, Y:-38.00, Z:-4.59 [[ 9.70450420e-01 2.40572762e-01 1.87277498e-02 1.81166724e+02] [-2.40518206e-01 9.70630983e-01 -5.14651191e-03 -3.80049080e+01] [-1.94158448e-02 4.90069858e-04 9.99811375e-01 -4.59485785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59862385300002 meters 0.03282876119916362 Centerline is valid? [True, True] Translation: X:181.19, Y:-38.01, Z:-4.59 [[ 9.70300012e-01 2.41158042e-01 1.89916967e-02 1.81194327e+02] [-2.41102068e-01 9.70485736e-01 -5.21809009e-03 -3.80129669e+01] [-1.96895551e-02 4.84175523e-04 9.99806025e-01 -4.59486659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62862385300002 meters 0.0295483413303218 Centerline is valid? [True, True] Translation: X:181.22, Y:-38.02, Z:-4.59 [[ 9.69926387e-01 2.42621403e-01 1.94334623e-02 1.81222001e+02] [-2.42563107e-01 9.70120941e-01 -5.33848426e-03 -3.80202842e+01] [-2.01480393e-02 4.64095755e-04 9.99796900e-01 -4.59437435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.65862385300002 meters 0.032158667649447685 Centerline is valid? [True, True] Translation: X:181.25, Y:-38.03, Z:-4.60 [[ 9.69647175e-01 2.43738716e-01 1.93853994e-02 1.81246815e+02] [-2.43680950e-01 9.69840835e-01 -5.32434271e-03 -3.80337006e+01] [-2.00985004e-02 4.38881321e-04 9.99797908e-01 -4.59604744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.68862385300002 meters 0.02929024540308093 Centerline is valid? [True, True] Translation: X:181.28, Y:-38.04, Z:-4.60 [[ 9.69323180e-01 2.45033598e-01 1.92641738e-02 1.81275490e+02] [-2.44976836e-01 9.69514502e-01 -5.28968448e-03 -3.80397849e+01] [-1.99730463e-02 4.08137447e-04 9.99800436e-01 -4.59643644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.71862385300003 meters 0.025052488253126372 Centerline is valid? [True, True] Translation: X:181.30, Y:-38.05, Z:-4.60 [[ 9.68591900e-01 2.47892692e-01 1.94665006e-02 1.81304292e+02] [-2.47835322e-01 9.68787433e-01 -5.34452243e-03 -3.80452474e+01] [-2.01837692e-02 3.52174684e-04 9.99796225e-01 -4.59624148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.74862385300003 meters 0.02438575739197336 Centerline is valid? [True, True] Translation: X:181.33, Y:-38.05, Z:-4.60 [[ 9.68103291e-01 2.49827425e-01 1.90335554e-02 1.81330948e+02] [-2.49772964e-01 9.68290331e-01 -5.22507578e-03 -3.80536823e+01] [-1.97353749e-02 3.04345500e-04 9.99805192e-01 -4.59762334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.77862385300003 meters 0.021856615700802964 Centerline is valid? [True, True] Translation: X:181.36, Y:-38.06, Z:-4.60 [[ 9.67525213e-01 2.52072625e-01 1.88242687e-02 1.81359391e+02] [-2.52019805e-01 9.67708286e-01 -5.16635739e-03 -3.80590889e+01] [-1.95186981e-02 2.54492517e-04 9.99809460e-01 -4.59797187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.808623853 meters 0.021153325766788467 Centerline is valid? [True, True] Translation: X:181.39, Y:-38.07, Z:-4.60 [[ 9.66868430e-01 2.54595084e-01 1.86220771e-02 1.81386104e+02] [-2.54543875e-01 9.67047725e-01 -5.11001621e-03 -3.80665423e+01] [-1.93094224e-02 2.00577669e-04 9.99813536e-01 -4.59979785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.838623853 meters 0.017550274940020275 Centerline is valid? [True, True] Translation: X:181.42, Y:-38.07, Z:-4.60 [[ 9.65503416e-01 2.59708284e-01 1.88351159e-02 1.81415607e+02] [-2.59656897e-01 9.65687112e-01 -5.16701202e-03 -3.80677982e+01] [-1.95307445e-02 9.81000119e-05 9.99809252e-01 -4.59840065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.868623853 meters 0.01680215627644955 Centerline is valid? [True, True] Translation: X:181.44, Y:-38.07, Z:-4.60 [[ 9.64777524e-01 2.62376007e-01 1.90567626e-02 1.81443811e+02] [-2.62323944e-01 9.64965714e-01 -5.22680114e-03 -3.80727935e+01] [-1.97605097e-02 4.36551326e-05 9.99804741e-01 -4.59921101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.898623853 meters 0.01659979197244403 Centerline is valid? [True, True] Translation: X:181.47, Y:-38.08, Z:-4.60 [[ 9.64063304e-01 2.64988292e-01 1.90564968e-02 1.81470671e+02] [-2.64936756e-01 9.64251629e-01 -5.22592488e-03 -3.80774269e+01] [-1.97600670e-02 -1.06440388e-05 9.99804751e-01 -4.60043766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.928623853 meters 0.018104462801527332 Centerline is valid? [True, True] Translation: X:181.50, Y:-38.08, Z:-4.60 [[ 9.62641127e-01 2.70144387e-01 1.85491135e-02 1.81498990e+02] [-2.70096550e-01 9.62819815e-01 -5.08498512e-03 -3.80792708e+01] [-1.92331343e-02 -1.15035761e-04 9.99815020e-01 -4.60302431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.958623853 meters 0.01904312339188303 Centerline is valid? [True, True] Translation: X:181.53, Y:-38.08, Z:-4.60 [[ 9.62029267e-01 2.72329818e-01 1.83346858e-02 1.81527297e+02] [-2.72283500e-01 9.62203952e-01 -5.02494872e-03 -3.80840559e+01] [-1.90101505e-02 -1.58084698e-04 9.99819278e-01 -4.60383524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.988623853 meters 0.020651334627298238 Centerline is valid? [True, True] Translation: X:181.56, Y:-38.09, Z:-4.61 [[ 9.61400085e-01 2.74555892e-01 1.81366465e-02 1.81555541e+02] [-2.74510981e-01 9.61571122e-01 -4.96984226e-03 -3.80881508e+01] [-1.88041750e-02 -2.00701843e-04 9.99823166e-01 -4.60508955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.018623853 meters 0.021811399036784605 Centerline is valid? [True, True] Translation: X:181.58, Y:-38.09, Z:-4.61 [[ 9.60920456e-01 2.76246710e-01 1.78782609e-02 1.81584292e+02] [-2.76203384e-01 9.61086729e-01 -4.89785966e-03 -3.80935445e+01] [-1.85355769e-02 -2.31582635e-04 9.99828175e-01 -4.60616316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.048623853 meters 0.02277015636039142 Centerline is valid? [True, True] Translation: X:181.61, Y:-38.10, Z:-4.61 [[ 9.60487103e-01 2.77748976e-01 1.78894352e-02 1.81612149e+02] [-2.77705873e-01 9.60653651e-01 -4.90002054e-03 -3.80997136e+01] [-1.85465270e-02 -2.61594702e-04 9.99827964e-01 -4.60692425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.078623853 meters 0.024918675261432866 Centerline is valid? [True, True] Translation: X:181.64, Y:-38.10, Z:-4.61 [[ 9.59742820e-01 2.80323961e-01 1.76690868e-02 1.81639347e+02] [-2.80282362e-01 9.59905403e-01 -4.83894239e-03 -3.81037523e+01] [-1.83171233e-02 -3.08193157e-04 9.99832180e-01 -4.60819886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.108623853 meters 0.025827346396264602 Centerline is valid? [True, True] Translation: X:181.67, Y:-38.11, Z:-4.61 [[ 9.59560756e-01 2.80963708e-01 1.73940022e-02 1.81666554e+02] [-2.80923525e-01 9.59718341e-01 -4.76221238e-03 -3.81095045e+01] [-1.80313518e-02 -3.16752290e-04 9.99837372e-01 -4.60883000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.138623853 meters 0.027283276392873125 Centerline is valid? [True, True] Translation: X:181.69, Y:-38.11, Z:-4.61 [[ 9.59196748e-01 2.82179059e-01 1.77926332e-02 1.81693658e+02] [-2.82137242e-01 9.59361693e-01 -4.87027349e-03 -3.81141945e+01] [-1.84438599e-02 -3.48413981e-04 9.99829837e-01 -4.60952235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.168623853 meters 0.027518957687528156 Centerline is valid? [True, True] Translation: X:181.72, Y:-38.12, Z:-4.61 [[ 9.59160353e-01 2.82274442e-01 1.82361259e-02 1.81720539e+02] [-2.82230558e-01 9.59333628e-01 -4.99024916e-03 -3.81203345e+01] [-1.89031486e-02 -3.60342854e-04 9.99821255e-01 -4.60919836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.19862385300002 meters 0.027308758354368592 Centerline is valid? [True, True] Translation: X:181.75, Y:-38.13, Z:-4.61 [[ 9.59172844e-01 2.82208327e-01 1.85987900e-02 1.81748263e+02] [-2.82162698e-01 9.59353076e-01 -5.08792874e-03 -3.81274550e+01] [-1.92786623e-02 -3.67681689e-04 9.99814082e-01 -4.60944979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22862385300002 meters 0.02719063140240986 Centerline is valid? [True, True] Translation: X:181.77, Y:-38.13, Z:-4.61 [[ 9.59208510e-01 2.82080884e-01 1.86924834e-02 1.81774755e+02] [-2.82034785e-01 9.59390556e-01 -5.11276332e-03 -3.81349447e+01] [-1.93756049e-02 -3.67724467e-04 9.99812208e-01 -4.61017348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25862385300002 meters 0.026150110978865083 Centerline is valid? [True, True] Translation: X:181.80, Y:-38.14, Z:-4.61 [[ 9.59490178e-01 2.81096063e-01 1.90683214e-02 1.81802143e+02] [-2.81047929e-01 9.59679570e-01 -5.21397118e-03 -3.81440186e+01] [-1.97651052e-02 -3.56358092e-04 9.99804588e-01 -4.61072881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28862385300002 meters 0.025835372689474497 Centerline is valid? [True, True] Translation: X:181.83, Y:-38.15, Z:-4.61 [[ 9.59676896e-01 2.80456301e-01 1.90923728e-02 1.81828576e+02] [-2.80407936e-01 9.59866733e-01 -5.21965479e-03 -3.81516196e+01] [-1.97900185e-02 -3.44470733e-04 9.99804099e-01 -4.61094120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31862385300002 meters 0.025655226407995054 Centerline is valid? [True, True] Translation: X:181.86, Y:-38.16, Z:-4.61 [[ 9.59854560e-01 2.79825510e-01 1.94140936e-02 1.81855476e+02] [-2.79775397e-01 9.60050816e-01 -5.30637632e-03 -3.81589855e+01] [-2.01233759e-02 -3.38236229e-04 9.99797447e-01 -4.61136459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34862385300002 meters 0.025308594651750546 Centerline is valid? [True, True] Translation: X:181.88, Y:-38.17, Z:-4.61 [[ 9.60112463e-01 2.78938943e-01 1.94196708e-02 1.81882038e+02] [-2.78888644e-01 9.60308785e-01 -5.30670417e-03 -3.81663461e+01] [-2.01291269e-02 -3.20892859e-04 9.99797337e-01 -4.61244191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.37862385300002 meters 0.023828070709406624 Centerline is valid? [True, True] Translation: X:181.91, Y:-38.18, Z:-4.61 [[ 9.60551369e-01 2.77411885e-01 1.95886212e-02 1.81909710e+02] [-2.77360415e-01 9.60751040e-01 -5.35159988e-03 -3.81759857e+01] [-2.03043856e-02 -2.92621508e-04 9.99793802e-01 -4.61266717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40862385300002 meters 0.02368131227424418 Centerline is valid? [True, True] Translation: X:181.94, Y:-38.18, Z:-4.61 [[ 9.60741194e-01 2.76771526e-01 1.93359855e-02 1.81936730e+02] [-2.76721263e-01 9.60935714e-01 -5.28171393e-03 -3.81831503e+01] [-2.00424671e-02 -2.76318192e-04 9.99799091e-01 -4.61425339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.43862385300002 meters 0.02227303612941513 Centerline is valid? [True, True] Translation: X:181.96, Y:-38.19, Z:-4.62 [[ 9.61007691e-01 2.75884971e-01 1.87536829e-02 1.81964201e+02] [-2.75837544e-01 9.61190626e-01 -5.12150080e-03 -3.81924017e+01] [-1.94388093e-02 -2.51168161e-04 9.99811017e-01 -4.61567962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46862385300003 meters 0.020655232807327 Centerline is valid? [True, True] Translation: X:181.99, Y:-38.20, Z:-4.62 [[ 9.61388446e-01 2.74579216e-01 1.83986557e-02 1.81991993e+02] [-2.74533347e-01 9.61564457e-01 -5.02359138e-03 -3.82019975e+01] [-1.90708671e-02 -2.21421817e-04 9.99818110e-01 -4.61683830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.49862385300003 meters 0.02071318470340185 Centerline is valid? [True, True] Translation: X:182.02, Y:-38.21, Z:-4.62 [[ 9.61566845e-01 2.73944671e-01 1.85342838e-02 1.82019314e+02] [-2.73898016e-01 9.61745430e-01 -5.06004453e-03 -3.82089816e+01] [-1.92114350e-02 -2.10932499e-04 9.99815421e-01 -4.61788826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52862385300003 meters 0.021013057801396725 Centerline is valid? [True, True] Translation: X:182.05, Y:-38.22, Z:-4.62 [[ 9.61771128e-01 2.73224434e-01 1.85662642e-02 1.82046145e+02] [-2.73177503e-01 9.61950295e-01 -5.06775025e-03 -3.82152440e+01] [-1.92444566e-02 -1.97869831e-04 9.99814789e-01 -4.61975306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.558623853 meters 0.019353114156625145 Centerline is valid? [True, True] Translation: X:182.07, Y:-38.22, Z:-4.62 [[ 9.61956044e-01 2.72551455e-01 1.88752105e-02 1.82073027e+02] [-2.72502860e-01 9.62141189e-01 -5.15003577e-03 -3.82249521e+01] [-1.95642673e-02 -1.89440810e-04 9.99808583e-01 -4.61849907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.588623853 meters 0.01974520784517806 Centerline is valid? [True, True] Translation: X:182.10, Y:-38.23, Z:-4.62 [[ 9.62284093e-01 2.71392899e-01 1.88472179e-02 1.82100197e+02] [-2.71344244e-01 9.62468631e-01 -5.14149545e-03 -3.82301541e+01] [-1.95352213e-02 -1.66504791e-04 9.99809155e-01 -4.62164017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.618623853 meters 0.018570272488589175 Centerline is valid? [True, True] Translation: X:182.13, Y:-38.24, Z:-4.62 [[ 9.62483506e-01 2.70710702e-01 1.84720586e-02 1.82127217e+02] [-2.70663862e-01 9.62660736e-01 -5.03792087e-03 -3.82395290e+01] [-1.91461446e-02 -1.50802979e-04 9.99816684e-01 -4.62159212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.648623853 meters 0.01892780805734577 Centerline is valid? [True, True] Translation: X:182.15, Y:-38.25, Z:-4.62 [[ 9.62723234e-01 2.69864864e-01 1.83556428e-02 1.82154075e+02] [-2.69818476e-01 9.62898197e-01 -5.00531695e-03 -3.82453369e+01] [-1.90253745e-02 -1.33956639e-04 9.99818992e-01 -4.62414842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.678623853 meters 0.01804682281204973 Centerline is valid? [True, True] Translation: X:182.18, Y:-38.25, Z:-4.62 [[ 9.62973775e-01 2.68986512e-01 1.81042794e-02 1.82181786e+02] [-2.68941252e-01 9.63143937e-01 -4.93556170e-03 -3.82545753e+01] [-1.87646265e-02 -1.16171097e-04 9.99823922e-01 -4.62469125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.708623853 meters 0.017154388338605425 Centerline is valid? [True, True] Translation: X:182.21, Y:-38.26, Z:-4.63 [[ 9.63605863e-01 2.66737524e-01 1.77435728e-02 1.82209190e+02] [-2.66693684e-01 9.63769209e-01 -4.83638185e-03 -3.82644454e+01] [-1.83907536e-02 -7.17328809e-05 9.99830873e-01 -4.62591398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.738623853 meters 0.017123348529524213 Centerline is valid? [True, True] Translation: X:182.24, Y:-38.27, Z:-4.63 [[ 9.63900308e-01 2.65662756e-01 1.78744846e-02 1.82235949e+02] [-2.65618097e-01 9.64066023e-01 -4.87124484e-03 -3.82718635e+01] [-1.85262916e-02 -5.23921905e-05 9.99828372e-01 -4.62817998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.768623853 meters 0.01655559956249136 Centerline is valid? [True, True] Translation: X:182.26, Y:-38.28, Z:-4.63 [[ 9.64195938e-01 2.64545201e-01 1.84940669e-02 1.82263343e+02] [-2.64497211e-01 9.64373286e-01 -5.03883051e-03 -3.82810261e+01] [-1.91681826e-02 -3.32092248e-05 9.99816273e-01 -4.62627445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.798623853 meters 0.016416662448942448 Centerline is valid? [True, True] Translation: X:182.29, Y:-38.29, Z:-4.63 [[ 9.64485706e-01 2.63475188e-01 1.86587285e-02 1.82289456e+02] [-2.63426153e-01 9.64666173e-01 -5.08295668e-03 -3.82890818e+01] [-1.93386772e-02 -1.27580045e-05 9.99812990e-01 -4.62659191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.828623853 meters 0.0164183299935141 Centerline is valid? [True, True] Translation: X:182.32, Y:-38.30, Z:-4.63 [[ 9.64756663e-01 2.62487093e-01 1.85770677e-02 1.82316230e+02] [-2.62438336e-01 9.64935504e-01 -5.05902450e-03 -3.82971381e+01] [-1.92536008e-02 5.39285550e-06 9.99814632e-01 -4.62709368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.858623853 meters 0.01664579272571784 Centerline is valid? [True, True] Translation: X:182.34, Y:-38.31, Z:-4.63 [[ 9.65347276e-01 2.60285643e-01 1.88685205e-02 1.82341310e+02] [-2.60234950e-01 9.65531658e-01 -5.13703556e-03 -3.83058856e+01] [-1.95552505e-02 4.87748041e-05 9.99808777e-01 -4.62760374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.888623853 meters 0.016847949566217185 Centerline is valid? [True, True] Translation: X:182.37, Y:-38.31, Z:-4.63 [[ 9.65609322e-01 2.59292896e-01 1.91267006e-02 1.82367977e+02] [-2.59240645e-01 9.65798731e-01 -5.20558647e-03 -3.83140013e+01] [-1.98223147e-02 6.81446272e-05 9.99803516e-01 -4.62807553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.918623853 meters 0.01698108341491781 Centerline is valid? [True, True] Translation: X:182.40, Y:-38.32, Z:-4.63 [[ 9.65868023e-01 2.58301979e-01 1.94692084e-02 1.82395696e+02] [-2.58247671e-01 9.66064221e-01 -5.29723639e-03 -3.83218990e+01] [-2.01767923e-02 8.85535147e-05 9.99796424e-01 -4.62804331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94862385300002 meters 0.01763379850088892 Centerline is valid? [True, True] Translation: X:182.42, Y:-38.33, Z:-4.63 [[ 9.66130945e-01 2.57328812e-01 1.93101051e-02 1.82421772e+02] [-2.57275212e-01 9.66323895e-01 -5.25303810e-03 -3.83312140e+01] [-2.00115741e-02 1.07111266e-04 9.99799743e-01 -4.62917331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97862385300002 meters 0.01986751708078273 Centerline is valid? [True, True] Translation: X:182.45, Y:-38.34, Z:-4.63 [[ 9.66732201e-01 2.55028443e-01 1.97318115e-02 1.82447387e+02] [-2.54972021e-01 9.66933539e-01 -5.36657686e-03 -3.83430028e+01] [-2.04479801e-02 1.56982805e-04 9.99790906e-01 -4.63097427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00862385300002 meters 0.01870781662878699 Centerline is valid? [True, True] Translation: X:182.48, Y:-38.35, Z:-4.63 [[ 9.67062460e-01 2.53762899e-01 1.98642755e-02 1.82475552e+02] [-2.53705488e-01 9.67266436e-01 -5.40075662e-03 -3.83480466e+01] [-2.05845587e-02 1.83193271e-04 9.99788099e-01 -4.62984236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03862385300002 meters 0.020501263036077477 Centerline is valid? [True, True] Translation: X:182.50, Y:-38.36, Z:-4.63 [[ 9.67691694e-01 2.51415295e-01 1.90560924e-02 1.82501434e+02] [-2.51362023e-01 9.67879280e-01 -5.18014276e-03 -3.83599836e+01] [-1.97463641e-02 2.22803206e-04 9.99804997e-01 -4.63221017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06862385300002 meters 0.021736268722772394 Centerline is valid? [True, True] Translation: X:182.53, Y:-38.37, Z:-4.63 [[ 9.68056747e-01 2.50019490e-01 1.88782468e-02 1.82527180e+02] [-2.49966966e-01 9.68240772e-01 -5.13057025e-03 -3.83700242e+01] [-1.95614308e-02 2.47745076e-04 9.99808626e-01 -4.63341095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09862385300002 meters 0.022857442420771073 Centerline is valid? [True, True] Translation: X:182.55, Y:-38.38, Z:-4.64 [[ 9.68399645e-01 2.48707229e-01 1.86236723e-02 1.82552992e+02] [-2.48655892e-01 9.68578671e-01 -5.06021417e-03 -3.83795193e+01] [-1.92970036e-02 2.69423764e-04 9.99813759e-01 -4.63513342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12862385300002 meters 0.02385390446716167 Centerline is valid? [True, True] Translation: X:182.58, Y:-38.39, Z:-4.64 [[ 9.68678881e-01 2.47609622e-01 1.87270097e-02 1.82580281e+02] [-2.47557533e-01 9.68859840e-01 -5.08703666e-03 -3.83897058e+01] [-1.94034468e-02 2.91692664e-04 9.99811693e-01 -4.63583458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.15862385300002 meters 0.02581411903541367 Centerline is valid? [True, True] Translation: X:182.61, Y:-38.40, Z:-4.64 [[ 9.69154492e-01 2.45718042e-01 1.90319234e-02 1.82605377e+02] [-2.45663896e-01 9.69341288e-01 -5.16895741e-03 -3.84022178e+01] [-1.97185352e-02 3.34061836e-04 9.99805515e-01 -4.63587780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18862385300002 meters 0.024916413460524946 Centerline is valid? [True, True] Translation: X:182.63, Y:-38.41, Z:-4.64 [[ 9.69352408e-01 2.44904733e-01 1.94314527e-02 1.82633400e+02] [-2.44848152e-01 9.69547082e-01 -5.27617550e-03 -3.84089428e+01] [-2.01318686e-02 3.56718133e-04 9.99797270e-01 -4.63511313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.21862385300003 meters 0.025444385181341282 Centerline is valid? [True, True] Translation: X:182.66, Y:-38.42, Z:-4.64 [[ 9.69423812e-01 2.44601436e-01 1.96878448e-02 1.82660052e+02] [-2.44543309e-01 9.69623640e-01 -5.34481621e-03 -3.84182170e+01] [-2.03971495e-02 3.66861394e-04 9.99791889e-01 -4.63607867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24862385300003 meters 0.026084696286549306 Centerline is valid? [True, True] Translation: X:182.69, Y:-38.43, Z:-4.64 [[ 9.69498796e-01 2.44317160e-01 1.95245864e-02 1.82685904e+02] [-2.44259961e-01 9.69695308e-01 -5.29924953e-03 -3.84277959e+01] [-2.02275974e-02 3.68541332e-04 9.99795333e-01 -4.63713432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.27862385300003 meters 0.02697319163918071 Centerline is valid? [True, True] Translation: X:182.71, Y:-38.44, Z:-4.64 [[ 9.69598491e-01 2.43941150e-01 1.92738305e-02 1.82711733e+02] [-2.43885361e-01 9.69789966e-01 -5.22998406e-03 -3.84387568e+01] [-1.99673757e-02 3.70379552e-04 9.99800563e-01 -4.63857563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.308623853 meters 0.02697319163918071 Centerline is valid? [True, True] Translation: X:182.74, Y:-38.45, Z:-4.64 [[ 9.69609784e-01 2.43896237e-01 1.92741503e-02 1.82739097e+02] [-2.43840463e-01 9.69801262e-01 -5.22880517e-03 -3.84460882e+01] [-1.99673812e-02 3.70082934e-04 9.99800563e-01 -4.63928818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.338623853 meters 0.02672409871087301 Centerline is valid? [True, True] Translation: X:182.77, Y:-38.45, Z:-4.64 [[ 9.69604666e-01 2.43961710e-01 1.86942774e-02 1.82766766e+02] [-2.43909271e-01 9.69784799e-01 -5.07060239e-03 -3.84545155e+01] [-1.93664589e-02 3.56772168e-04 9.99812389e-01 -4.64122203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.368623853 meters 0.0260524091396178 Centerline is valid? [True, True] Translation: X:182.79, Y:-38.46, Z:-4.64 [[ 9.69580201e-01 2.44074861e-01 1.84850051e-02 1.82794093e+02] [-2.44023627e-01 9.69756330e-01 -5.01293372e-03 -3.84627125e+01] [-1.91494818e-02 3.49663295e-04 9.99816571e-01 -4.64251938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.398623853 meters 0.026335727474372513 Centerline is valid? [True, True] Translation: X:182.82, Y:-38.47, Z:-4.64 [[ 9.69502566e-01 2.44394827e-01 1.83287313e-02 1.82819971e+02] [-2.44344529e-01 9.69675746e-01 -4.96970695e-03 -3.84735563e+01] [-1.89874969e-02 3.39618420e-04 9.99819664e-01 -4.64329455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.428623853 meters 0.02643330299751459 Centerline is valid? [True, True] Translation: X:182.85, Y:-38.48, Z:-4.64 [[ 9.69439598e-01 2.44635408e-01 1.84494983e-02 1.82846728e+02] [-2.44584511e-01 9.69615080e-01 -5.00127290e-03 -3.84826662e+01] [-1.91124002e-02 3.35970465e-04 9.99817285e-01 -4.64418464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.458623853 meters 0.025033733966153496 Centerline is valid? [True, True] Translation: X:182.88, Y:-38.49, Z:-4.64 [[ 9.69383456e-01 2.44859058e-01 1.84324862e-02 1.82875089e+02] [-2.44808318e-01 9.69558628e-01 -4.99545976e-03 -3.84900782e+01] [-1.90945596e-02 3.30090101e-04 9.99817628e-01 -4.64414951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.488623853 meters 0.024654308297289575 Centerline is valid? [True, True] Translation: X:182.90, Y:-38.50, Z:-4.64 [[ 9.69237106e-01 2.45436107e-01 1.84540120e-02 1.82902759e+02] [-2.45385371e-01 9.69412717e-01 -5.00034716e-03 -3.84992069e+01] [-1.91168197e-02 3.18177413e-04 9.99817206e-01 -4.64481150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.518623853 meters 0.02392176243792857 Centerline is valid? [True, True] Translation: X:182.93, Y:-38.51, Z:-4.65 [[ 9.69047534e-01 2.46161949e-01 1.87395475e-02 1.82930237e+02] [-2.46109786e-01 9.69228662e-01 -5.07674424e-03 -3.85070815e+01] [-1.94126078e-02 3.07620460e-04 9.99811510e-01 -4.64517237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.548623853 meters 0.022492653888882566 Centerline is valid? [True, True] Translation: X:182.96, Y:-38.52, Z:-4.64 [[ 9.68487403e-01 2.48314679e-01 1.92865528e-02 1.82957489e+02] [-2.48259872e-01 9.68679383e-01 -5.22391224e-03 -3.85151110e+01] [-1.99796602e-02 2.71216060e-04 9.99800350e-01 -4.64477885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.578623853 meters 0.02129107269088631 Centerline is valid? [True, True] Translation: X:182.99, Y:-38.52, Z:-4.65 [[ 9.68163818e-01 2.49551780e-01 1.95634755e-02 1.82985743e+02] [-2.49495661e-01 9.68361424e-01 -5.29790861e-03 -3.85218071e+01] [-2.02666175e-02 2.48241182e-04 9.99794580e-01 -4.64513623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.608623853 meters 0.020406432990110704 Centerline is valid? [True, True] Translation: X:183.01, Y:-38.53, Z:-4.65 [[ 9.67816744e-01 2.50903261e-01 1.94500273e-02 1.83012566e+02] [-2.50848082e-01 9.68012142e-01 -5.26627297e-03 -3.85287982e+01] [-2.01491877e-02 2.17785107e-04 9.99796961e-01 -4.64598579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.638623853 meters 0.018773996424626203 Centerline is valid? [True, True] Translation: X:183.04, Y:-38.54, Z:-4.65 [[ 9.67185380e-01 2.53299697e-01 1.97914998e-02 1.83040449e+02] [-2.53243092e-01 9.67387841e-01 -5.35740230e-03 -3.85363192e+01] [-2.05030847e-02 1.69540567e-04 9.99789775e-01 -4.64592021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.668623853 meters 0.017689291540896237 Centerline is valid? [True, True] Translation: X:183.07, Y:-38.54, Z:-4.65 [[ 9.66932153e-01 2.54247649e-01 2.00086131e-02 1.83068591e+02] [-2.54190018e-01 9.67139137e-01 -5.41517064e-03 -3.85429558e+01] [-2.07279072e-02 1.50112886e-04 9.99785143e-01 -4.64563915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.69862385300002 meters 0.017511575799841774 Centerline is valid? [True, True] Translation: X:183.10, Y:-38.55, Z:-4.65 [[ 9.66741371e-01 2.54957023e-01 2.01999501e-02 1.83095601e+02] [-2.54898462e-01 9.66952376e-01 -5.46588305e-03 -3.85506959e+01] [-2.09259550e-02 1.35159056e-04 9.99781019e-01 -4.64664432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72862385300002 meters 0.02251494312162742 Centerline is valid? [True, True] Translation: X:183.12, Y:-38.56, Z:-4.64 [[ 9.66498492e-01 2.55977943e-01 1.88668629e-02 1.83123014e+02] [-2.55927067e-01 9.66682617e-01 -5.10438086e-03 -3.85578753e+01] [-1.95448773e-02 1.04835515e-04 9.99808975e-01 -4.64227567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75862385300002 meters 0.016838972694831335 Centerline is valid? [True, True] Translation: X:183.15, Y:-38.57, Z:-4.65 [[ 9.66419606e-01 2.56249233e-01 1.92217737e-02 1.83150547e+02] [-2.56196508e-01 9.66610739e-01 -5.19887403e-03 -3.85665872e+01] [-1.99121804e-02 9.97424754e-05 9.99801728e-01 -4.64983331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78862385300002 meters 0.016710031717375787 Centerline is valid? [True, True] Translation: X:183.18, Y:-38.57, Z:-4.65 [[ 9.66293459e-01 2.56756865e-01 1.87846754e-02 1.83176879e+02] [-2.56706625e-01 9.66476024e-01 -5.07978274e-03 -3.85742625e+01] [-1.94592075e-02 8.64102174e-05 9.99810648e-01 -4.65105445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81862385300002 meters 0.016496406185525916 Centerline is valid? [True, True] Translation: X:183.21, Y:-38.58, Z:-4.65 [[ 9.66144262e-01 2.57313703e-01 1.88394141e-02 1.83205216e+02] [-2.57263296e-01 9.66327922e-01 -5.09348957e-03 -3.85817839e+01] [-1.95156766e-02 7.43559462e-05 9.99809548e-01 -4.65196041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84862385300002 meters 0.01647621567873904 Centerline is valid? [True, True] Translation: X:183.23, Y:-38.59, Z:-4.65 [[ 9.65997039e-01 2.57859196e-01 1.89302877e-02 1.83231893e+02] [-2.57808441e-01 9.66182504e-01 -5.11632429e-03 -3.85893415e+01] [-1.96094040e-02 6.19661643e-05 9.99807715e-01 -4.65316952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.87862385300002 meters 0.016006259485839662 Centerline is valid? [True, True] Translation: X:183.26, Y:-38.60, Z:-4.65 [[ 9.65702054e-01 2.58941778e-01 1.92015122e-02 1.83259670e+02] [-2.58889797e-01 9.65892931e-01 -5.18832625e-03 -3.85966676e+01] [-1.98900794e-02 3.93017127e-05 9.99802172e-01 -4.65223877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90862385300002 meters 0.015932676600713548 Centerline is valid? [True, True] Translation: X:183.29, Y:-38.60, Z:-4.65 [[ 9.65574213e-01 2.59385916e-01 1.96312659e-02 1.83286125e+02] [-2.59331694e-01 9.65773755e-01 -5.30345224e-03 -3.86039721e+01] [-2.03350022e-02 2.98672725e-05 9.99793222e-01 -4.65289465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.93862385300002 meters 0.01594105948805038 Centerline is valid? [True, True] Translation: X:183.31, Y:-38.61, Z:-4.65 [[ 9.65468373e-01 2.59793680e-01 1.94438962e-02 1.83313745e+02] [-2.59740599e-01 9.65664146e-01 -5.25148297e-03 -3.86117933e+01] [-2.01405755e-02 1.97714879e-05 9.99797158e-01 -4.65328045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.96862385300003 meters 0.015858962009744303 Centerline is valid? [True, True] Translation: X:183.34, Y:-38.62, Z:-4.65 [[ 9.65369731e-01 2.60128524e-01 1.98603573e-02 1.83340874e+02] [-2.60073236e-01 9.65574001e-01 -5.36291495e-03 -3.86203182e+01] [-2.05716918e-02 1.20483594e-05 9.99788380e-01 -4.65375497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.99862385300003 meters 0.015731612500113287 Centerline is valid? [True, True] Translation: X:183.37, Y:-38.63, Z:-4.65 [[ 9.65335072e-01 2.60263723e-01 1.97735300e-02 1.83368352e+02] [-2.60208968e-01 9.65537567e-01 -5.33844179e-03 -3.86281175e+01] [-2.04814888e-02 8.13526888e-06 9.99790232e-01 -4.65420581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.02862385300003 meters 0.01582623089557967 Centerline is valid? [True, True] Translation: X:183.40, Y:-38.64, Z:-4.66 [[ 9.65319428e-01 2.60315902e-01 1.98502705e-02 1.83395142e+02] [-2.60260751e-01 9.65523501e-01 -5.35818002e-03 -3.86357332e+01] [-2.05607221e-02 6.10897177e-06 9.99788606e-01 -4.65547423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.058623853 meters 0.015772603320202604 Centerline is valid? [True, True] Translation: X:183.42, Y:-38.64, Z:-4.66 [[ 9.65339582e-01 2.60266434e-01 1.95159879e-02 1.83422072e+02] [-2.60213140e-01 9.65536837e-01 -5.26674823e-03 -3.86437057e+01] [-2.02141630e-02 5.88406258e-06 9.99795673e-01 -4.65713025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.088623853 meters 0.01580071312021971 Centerline is valid? [True, True] Translation: X:183.45, Y:-38.65, Z:-4.66 [[ 9.65507160e-01 2.59635652e-01 1.96278409e-02 1.83449634e+02] [-2.59581645e-01 9.65706647e-01 -5.29541901e-03 -3.86535471e+01] [-2.03296160e-02 1.77377324e-05 9.99793332e-01 -4.65765115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.118623853 meters 0.01579642087441881 Centerline is valid? [True, True] Translation: X:183.48, Y:-38.66, Z:-4.66 [[ 9.65634030e-01 2.59153404e-01 1.97593899e-02 1.83477495e+02] [-2.59098591e-01 9.65836173e-01 -5.32988926e-03 -3.86625842e+01] [-2.04655925e-02 2.70923486e-05 9.99790557e-01 -4.65853427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.148623853 meters 0.015939954912124583 Centerline is valid? [True, True] Translation: X:183.50, Y:-38.67, Z:-4.66 [[ 9.65755205e-01 2.58746923e-01 1.91549971e-02 1.83504375e+02] [-2.58695351e-01 9.65945148e-01 -5.16592049e-03 -3.86717198e+01] [-1.98393425e-02 3.37059103e-05 9.99803180e-01 -4.65971274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.178623853 meters 0.016107808151169325 Centerline is valid? [True, True] Translation: X:183.53, Y:-38.68, Z:-4.66 [[ 9.65860704e-01 2.58360934e-01 1.90454162e-02 1.83532174e+02] [-2.58309894e-01 9.66048460e-01 -5.13540186e-03 -3.86806116e+01] [-1.97255822e-02 4.04634120e-05 9.99805431e-01 -4.66065120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.208623853 meters 0.016024460715945505 Centerline is valid? [True, True] Translation: X:183.56, Y:-38.69, Z:-4.66 [[ 9.65939625e-01 2.58027920e-01 1.95508056e-02 1.83559686e+02] [-2.57974088e-01 9.66137459e-01 -5.27064366e-03 -3.86897640e+01] [-2.02487388e-02 4.75223298e-05 9.99794972e-01 -4.66019203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.238623853 meters 0.015940384155501794 Centerline is valid? [True, True] Translation: X:183.59, Y:-38.70, Z:-4.66 [[ 9.65886951e-01 2.58227053e-01 1.95240269e-02 1.83588584e+02] [-2.58173432e-01 9.66084255e-01 -5.26232134e-03 -3.86976342e+01] [-2.02207287e-02 4.22224926e-05 9.99795539e-01 -4.66037005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.268623853 meters 0.015934068470217583 Centerline is valid? [True, True] Translation: X:183.62, Y:-38.70, Z:-4.66 [[ 9.65756729e-01 2.58701384e-01 1.96859035e-02 1.83615852e+02] [-2.58646977e-01 9.65957345e-01 -5.30549570e-03 -3.87049425e+01] [-2.03882822e-02 3.21187321e-05 9.99792137e-01 -4.66128225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.298623853 meters 0.027249616819043955 Centerline is valid? [True, True] Translation: X:183.64, Y:-38.71, Z:-4.65 [[ 9.65659971e-01 2.59067131e-01 1.96224883e-02 1.83644488e+02] [-2.59013164e-01 9.65859318e-01 -5.28769806e-03 -3.87112165e+01] [-2.03224319e-02 2.36355778e-05 9.99793478e-01 -4.65375053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.328623853 meters 0.015621496122502085 Centerline is valid? [True, True] Translation: X:183.67, Y:-38.72, Z:-4.66 [[ 9.65354856e-01 2.60150506e-01 2.02907821e-02 1.83672699e+02] [-2.60093061e-01 9.65568079e-01 -5.46673855e-03 -3.87183574e+01] [-2.10143063e-02 -1.49015681e-07 9.99779175e-01 -4.66188912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.358623853 meters 0.01565147562299595 Centerline is valid? [True, True] Translation: X:183.70, Y:-38.73, Z:-4.66 [[ 9.65282562e-01 2.60425659e-01 2.02002982e-02 1.83700513e+02] [-2.60368806e-01 9.65493903e-01 -5.44137267e-03 -3.87251392e+01] [-2.09203378e-02 -7.06537906e-06 9.99781146e-01 -4.66321423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.388623853 meters 0.01562747337509061 Centerline is valid? [True, True] Translation: X:183.73, Y:-38.73, Z:-4.66 [[ 9.65285555e-01 2.60415618e-01 2.01867124e-02 1.83729437e+02] [-2.60358863e-01 9.65496611e-01 -5.43662189e-03 -3.87329692e+01] [-2.09059837e-02 -7.89690758e-06 9.99781446e-01 -4.66287139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.418623853 meters 0.0229871051629966 Centerline is valid? [True, True] Translation: X:183.76, Y:-38.74, Z:-4.66 [[ 9.65229175e-01 2.60650464e-01 1.98488296e-02 1.83757957e+02] [-2.60595653e-01 9.65433237e-01 -5.34512767e-03 -3.87393712e+01] [-2.05559298e-02 -1.32455392e-05 9.99788704e-01 -4.65784611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44862385300002 meters 0.015801113842673697 Centerline is valid? [True, True] Translation: X:183.79, Y:-38.75, Z:-4.67 [[ 9.65345679e-01 2.60248577e-01 1.94524725e-02 1.83785212e+02] [-2.60195860e-01 9.65541650e-01 -5.23793684e-03 -3.87481755e+01] [-2.01453380e-02 -5.03311075e-06 9.99797062e-01 -4.66651773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47862385300002 meters 0.01589693811071489 Centerline is valid? [True, True] Translation: X:183.81, Y:-38.76, Z:-4.67 [[ 9.65472309e-01 2.59800175e-01 1.91595925e-02 1.83812206e+02] [-2.59748962e-01 9.65662399e-01 -5.15825938e-03 -3.87564664e+01] [-1.98418147e-02 3.47234308e-06 9.99803132e-01 -4.66834432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50862385300002 meters 0.01593580300213294 Centerline is valid? [True, True] Translation: X:183.84, Y:-38.77, Z:-4.67 [[ 9.65607890e-01 2.59305735e-01 1.90246683e-02 1.83839993e+02] [-2.59255173e-01 9.65795287e-01 -5.12052015e-03 -3.87651774e+01] [-1.97017152e-02 1.21709896e-05 9.99805902e-01 -4.66966403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53862385300002 meters 0.01594868195412401 Centerline is valid? [True, True] Translation: X:183.87, Y:-38.77, Z:-4.67 [[ 9.65757953e-01 2.58765281e-01 1.87644893e-02 1.83866791e+02] [-2.58716008e-01 9.65940230e-01 -5.04961174e-03 -3.87748534e+01] [-1.94320393e-02 2.20289399e-05 9.99811180e-01 -4.67048901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56862385300002 meters 0.01600077623449795 Centerline is valid? [True, True] Translation: X:183.89, Y:-38.78, Z:-4.67 [[ 9.65736083e-01 2.58844379e-01 1.87990846e-02 1.83893203e+02] [-2.58794955e-01 9.65919038e-01 -5.05805664e-03 -3.87820830e+01] [-1.94676432e-02 1.96395589e-05 9.99810487e-01 -4.67176634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.59862385300002 meters 0.019507433793295826 Centerline is valid? [True, True] Translation: X:183.92, Y:-38.79, Z:-4.67 [[ 9.65639533e-01 2.59187489e-01 1.90299230e-02 1.83920442e+02] [-2.59136933e-01 9.65827027e-01 -5.11902231e-03 -3.87878373e+01] [-1.97064005e-02 1.17744212e-05 9.99805810e-01 -4.66627557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62862385300002 meters 0.01573860887866756 Centerline is valid? [True, True] Translation: X:183.95, Y:-38.79, Z:-4.67 [[ 9.65496419e-01 2.59697394e-01 1.93372217e-02 1.83947444e+02] [-2.59645322e-01 9.65690045e-01 -5.20029772e-03 -3.87942671e+01] [-2.00242662e-02 4.96733510e-08 9.99799494e-01 -4.67138114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.65862385300002 meters 0.015747061523639905 Centerline is valid? [True, True] Translation: X:183.98, Y:-38.80, Z:-4.67 [[ 9.65174946e-01 2.60871888e-01 1.95750314e-02 1.83975455e+02] [-2.60818797e-01 9.65373429e-01 -5.26285255e-03 -3.87990920e+01] [-2.02701455e-02 -2.59627115e-05 9.99794539e-01 -4.67144216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68862385300002 meters 0.015849152306573185 Centerline is valid? [True, True] Translation: X:184.00, Y:-38.80, Z:-4.67 [[ 9.64951600e-01 2.61667191e-01 1.99672172e-02 1.84002246e+02] [-2.61612152e-01 9.65158163e-01 -5.36681412e-03 -3.88048780e+01] [-2.06758418e-02 -4.49507872e-05 9.99786231e-01 -4.67185950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.71862385300003 meters 0.01574932879070748 Centerline is valid? [True, True] Translation: X:184.03, Y:-38.81, Z:-4.67 [[ 9.64851590e-01 2.62012382e-01 2.02712090e-02 1.84030446e+02] [-2.61955756e-01 9.65064510e-01 -5.44728991e-03 -3.88123867e+01] [-2.09902818e-02 -5.43335537e-05 9.99779678e-01 -4.67125722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.74862385300003 meters 0.01579966487667978 Centerline is valid? [True, True] Translation: X:184.06, Y:-38.82, Z:-4.67 [[ 9.64751043e-01 2.62366913e-01 2.04701713e-02 1.84057358e+02] [-2.62309271e-01 9.64968186e-01 -5.49977585e-03 -3.88191017e+01] [-2.11960232e-02 -6.36012056e-05 9.99775337e-01 -4.67166576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.77862385300003 meters 0.015893035821949456 Centerline is valid? [True, True] Translation: X:184.09, Y:-38.83, Z:-4.67 [[ 9.64678524e-01 2.62622398e-01 2.06112067e-02 1.84085913e+02] [-2.62564045e-01 9.64898684e-01 -5.53634276e-03 -3.88253295e+01] [-2.13416938e-02 -7.09708464e-05 9.99772238e-01 -4.67241874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.808623853 meters 0.015963815287818622 Centerline is valid? [True, True] Translation: X:184.11, Y:-38.83, Z:-4.67 [[ 9.64682120e-01 2.62646192e-01 2.01341997e-02 1.84114329e+02] [-2.62590534e-01 9.64892208e-01 -5.40725617e-03 -3.88320355e+01] [-2.08475276e-02 -7.07669030e-05 9.99782664e-01 -4.67426344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.838623853 meters 0.016200532874144306 Centerline is valid? [True, True] Translation: X:184.14, Y:-38.84, Z:-4.68 [[ 9.64579300e-01 2.63067752e-01 1.95482063e-02 1.84142002e+02] [-2.63015392e-01 9.64777359e-01 -5.24901422e-03 -3.88378635e+01] [-2.02405132e-02 -7.83886772e-05 9.99795137e-01 -4.67653380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.868623853 meters 0.016228768841132116 Centerline is valid? [True, True] Translation: X:184.17, Y:-38.84, Z:-4.68 [[ 9.64597764e-01 2.63014525e-01 1.93523415e-02 1.84169065e+02] [-2.62963220e-01 9.64791871e-01 -5.19530747e-03 -3.88446665e+01] [-2.00374231e-02 -7.75720861e-05 9.99799228e-01 -4.67752465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.898623853 meters 0.01667213550953561 Centerline is valid? [True, True] Translation: X:184.20, Y:-38.85, Z:-4.68 [[ 9.64548857e-01 2.63184360e-01 1.94806363e-02 1.84196087e+02] [-2.63132437e-01 9.64745555e-01 -5.22825765e-03 -3.88498191e+01] [-2.01698529e-02 -8.30773638e-05 9.99796564e-01 -4.67957805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.928623853 meters 0.01634211989826301 Centerline is valid? [True, True] Translation: X:184.22, Y:-38.86, Z:-4.68 [[ 9.64573389e-01 2.63102728e-01 1.93682910e-02 1.84223763e+02] [-2.63051408e-01 9.64767821e-01 -5.19701772e-03 -3.88568513e+01] [-2.00532535e-02 -8.19512346e-05 9.99798910e-01 -4.67907309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.958623853 meters 0.016322342563589054 Centerline is valid? [True, True] Translation: X:184.25, Y:-38.86, Z:-4.68 [[ 9.64582129e-01 2.63057026e-01 1.95529261e-02 1.84251557e+02] [-2.63004744e-01 9.64780283e-01 -5.24504196e-03 -3.88631181e+01] [-2.02440227e-02 -8.32385822e-05 9.99795065e-01 -4.68022729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.988623853 meters 0.016401236954826228 Centerline is valid? [True, True] Translation: X:184.28, Y:-38.87, Z:-4.68 [[ 9.64555289e-01 2.63157132e-01 1.95299387e-02 1.84278985e+02] [-2.63105023e-01 9.64752982e-01 -5.23740797e-03 -3.88684934e+01] [-2.02198279e-02 -8.66554265e-05 9.99795555e-01 -4.68107378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.018623853 meters 0.01642882787227793 Centerline is valid? [True, True] Translation: X:184.31, Y:-38.87, Z:-4.68 [[ 9.64558190e-01 2.63125302e-01 1.98134860e-02 1.84305165e+02] [-2.63071683e-01 9.64761664e-01 -5.31244389e-03 -3.88749161e+01] [-2.05131301e-02 -8.82058433e-05 9.99789580e-01 -4.68150117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.048623853 meters 0.021934113173009844 Centerline is valid? [True, True] Translation: X:184.33, Y:-38.88, Z:-4.68 [[ 9.64598046e-01 2.63006750e-01 1.94437480e-02 1.84332921e+02] [-2.62955133e-01 9.64793989e-01 -5.21115911e-03 -3.88805881e+01] [-2.01297812e-02 -8.61594477e-05 9.99797372e-01 -4.67648677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.078623853 meters 0.016102285882523045 Centerline is valid? [True, True] Translation: X:184.36, Y:-38.89, Z:-4.68 [[ 9.64620840e-01 2.62895003e-01 1.98205226e-02 1.84361047e+02] [-2.62841373e-01 9.64824445e-01 -5.31061059e-03 -3.88880624e+01] [-2.05194577e-02 -8.69277274e-05 9.99789450e-01 -4.68190758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.108623853 meters 0.016468152226211893 Centerline is valid? [True, True] Translation: X:184.39, Y:-38.89, Z:-4.68 [[ 9.64630831e-01 2.62870137e-01 1.96634696e-02 1.84388726e+02] [-2.62817367e-01 9.64831220e-01 -5.26761071e-03 -3.88931001e+01] [-2.03566269e-02 -8.66016146e-05 9.99792779e-01 -4.68389196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.138623853 meters 0.016327523577091302 Centerline is valid? [True, True] Translation: X:184.42, Y:-38.90, Z:-4.69 [[ 9.64894893e-01 2.61933783e-01 1.91973631e-02 1.84415320e+02] [-2.61883319e-01 9.65085845e-01 -5.14179156e-03 -3.88993651e+01] [-1.98739123e-02 -6.61807587e-05 9.99802492e-01 -4.68598098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.168623853 meters 0.01565603258294772 Centerline is valid? [True, True] Translation: X:184.44, Y:-38.91, Z:-4.68 [[ 9.65011872e-01 2.61472345e-01 1.96035615e-02 1.84442703e+02] [-2.61419675e-01 9.65210966e-01 -5.24826438e-03 -3.89077763e+01] [-2.02938486e-02 -6.01192512e-05 9.99794057e-01 -4.68452375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.19862385300002 meters 0.015629620986824296 Centerline is valid? [True, True] Translation: X:184.47, Y:-38.92, Z:-4.69 [[ 9.65191715e-01 2.60806327e-01 1.96217562e-02 1.84470457e+02] [-2.60753442e-01 9.65391142e-01 -5.25214574e-03 -3.89151419e+01] [-2.03124625e-02 -4.71129135e-05 9.99793680e-01 -4.68522807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22862385300002 meters 0.015629620986824296 Centerline is valid? [True, True] Translation: X:184.50, Y:-38.92, Z:-4.69 [[ 9.65204102e-01 2.60760462e-01 1.96220051e-02 1.84497841e+02] [-2.60707586e-01 9.65403532e-01 -5.25121560e-03 -3.89223785e+01] [-2.03124625e-02 -4.71107505e-05 9.99793680e-01 -4.68594052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25862385300002 meters 0.015455262472730404 Centerline is valid? [True, True] Translation: X:184.53, Y:-38.93, Z:-4.69 [[ 9.65395212e-01 2.60072607e-01 1.93474294e-02 1.84525319e+02] [-2.60021082e-01 9.65589063e-01 -5.17676806e-03 -3.89300547e+01] [-2.00280018e-02 -3.31124188e-05 9.99799419e-01 -4.68684836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28862385300002 meters 0.01551580064312067 Centerline is valid? [True, True] Translation: X:184.55, Y:-38.94, Z:-4.69 [[ 9.65641464e-01 2.59135343e-01 1.96325322e-02 1.84552185e+02] [-2.59082114e-01 9.65841019e-01 -5.25208620e-03 -3.89366387e+01] [-2.03229060e-02 -1.48057388e-05 9.99793468e-01 -4.68831878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31862385300002 meters 0.02426160313168039 Centerline is valid? [True, True] Translation: X:184.58, Y:-38.94, Z:-4.68 [[ 9.65794911e-01 2.58545866e-01 1.98551045e-02 1.84580951e+02] [-2.58491326e-01 9.65998983e-01 -5.31028601e-03 -3.89431801e+01] [-2.05529633e-02 -3.72509641e-06 9.99788766e-01 -4.67976829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34862385300002 meters 0.015271995721802533 Centerline is valid? [True, True] Translation: X:184.61, Y:-38.95, Z:-4.69 [[ 9.65814014e-01 2.58455874e-01 2.00960629e-02 1.84609069e+02] [-2.58400004e-01 9.66023065e-01 -5.37370128e-03 -3.89504214e+01] [-2.08021249e-02 -2.82673241e-06 9.99783612e-01 -4.68696535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.37862385300002 meters 0.015445920256995047 Centerline is valid? [True, True] Translation: X:184.64, Y:-38.96, Z:-4.69 [[ 9.65688132e-01 2.58983053e-01 1.93445268e-02 1.84636124e+02] [-2.58931407e-01 9.65881865e-01 -5.17186833e-03 -3.89550885e+01] [-2.00239539e-02 -1.44936737e-05 9.99799500e-01 -4.68938863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40862385300002 meters 0.015463481458017306 Centerline is valid? [True, True] Translation: X:184.66, Y:-38.96, Z:-4.69 [[ 9.65586289e-01 2.59366890e-01 1.92855925e-02 1.84664568e+02] [-2.59315660e-01 9.65778865e-01 -5.15484506e-03 -3.89609276e+01] [-1.99626137e-02 -2.36084304e-05 9.99800727e-01 -4.69013470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.43862385300002 meters 0.015600821627807548 Centerline is valid? [True, True] Translation: X:184.69, Y:-38.97, Z:-4.69 [[ 9.65387926e-01 2.60115256e-01 1.91365166e-02 1.84693130e+02] [-2.60064981e-01 9.65577574e-01 -5.11403060e-03 -3.89659386e+01] [-1.98080287e-02 -3.97144405e-05 9.99803801e-01 -4.69090531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.46862385300003 meters 0.021526649116206147 Centerline is valid? [True, True] Translation: X:184.72, Y:-38.97, Z:-4.69 [[ 9.65185247e-01 2.60873951e-01 1.90320875e-02 1.84721291e+02] [-2.60824388e-01 9.65372870e-01 -5.08527839e-03 -3.89686815e+01] [-1.96996776e-02 -5.57968911e-05 9.99805941e-01 -4.68740116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.49862385300003 meters 0.016251468289380077 Centerline is valid? [True, True] Translation: X:184.75, Y:-38.97, Z:-4.69 [[ 9.65009612e-01 2.61477545e-01 1.96454101e-02 1.84748700e+02] [-2.61424892e-01 9.65209557e-01 -5.24760974e-03 -3.89737410e+01] [-2.03340697e-02 -7.18053915e-05 9.99793239e-01 -4.69293676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.52862385300003 meters 0.016119993287671386 Centerline is valid? [True, True] Translation: X:184.78, Y:-38.98, Z:-4.69 [[ 9.64686122e-01 2.62615553e-01 2.03410317e-02 1.84777574e+02] [-2.62559389e-01 9.64900545e-01 -5.43193519e-03 -3.89776274e+01] [-2.10535833e-02 -1.00616363e-04 9.99778344e-01 -4.69048953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.558623853 meters 0.016216546548238023 Centerline is valid? [True, True] Translation: X:184.81, Y:-38.98, Z:-4.69 [[ 9.64591390e-01 2.62942343e-01 2.06100601e-02 1.84805587e+02] [-2.62884779e-01 9.64811542e-01 -5.50282736e-03 -3.89824366e+01] [-2.13317502e-02 -1.10091204e-04 9.99772446e-01 -4.69035797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.588623853 meters 0.016241689797442154 Centerline is valid? [True, True] Translation: X:184.83, Y:-38.99, Z:-4.69 [[ 9.64600691e-01 2.62867301e-01 2.11255582e-02 1.84832154e+02] [-2.62806835e-01 9.64831990e-01 -5.63894895e-03 -3.89873565e+01] [-2.18649097e-02 -1.12607048e-04 9.99760928e-01 -4.69017815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.618623853 meters 0.016022560686234654 Centerline is valid? [True, True] Translation: X:184.86, Y:-38.99, Z:-4.69 [[ 9.64771176e-01 2.62224883e-01 2.13234303e-02 1.84859566e+02] [-2.62163178e-01 9.65006788e-01 -5.68925821e-03 -3.89920293e+01] [-2.20691201e-02 -1.01385931e-04 9.99756442e-01 -4.69048596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.648623853 meters 0.015923572035639853 Centerline is valid? [True, True] Translation: X:184.89, Y:-39.00, Z:-4.69 [[ 9.64910339e-01 2.61735546e-01 2.10366482e-02 1.84886415e+02] [-2.61675400e-01 9.65139625e-01 -5.61154591e-03 -3.89978713e+01] [-2.17720438e-02 -9.01346638e-05 9.99762957e-01 -4.69172432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.678623853 meters 0.015638179359438852 Centerline is valid? [True, True] Translation: X:184.91, Y:-39.00, Z:-4.69 [[ 9.65066014e-01 2.61164772e-01 2.09892991e-02 1.84913986e+02] [-2.61104801e-01 9.65294233e-01 -5.59707973e-03 -3.90040056e+01] [-2.17226095e-02 -7.88553379e-05 9.99764033e-01 -4.69259670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.708623853 meters 0.015581121918810793 Centerline is valid? [True, True] Translation: X:184.94, Y:-39.01, Z:-4.69 [[ 9.65245998e-01 2.60533654e-01 2.05518684e-02 1.84940344e+02] [-2.60476044e-01 9.65464764e-01 -5.47900663e-03 -3.90095671e+01] [-2.12695704e-02 -6.46801601e-05 9.99773775e-01 -4.69454021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.738623853 meters 0.015183838116601067 Centerline is valid? [True, True] Translation: X:184.97, Y:-39.02, Z:-4.70 [[ 9.65780809e-01 2.58579714e-01 2.00987444e-02 1.84967946e+02] [-2.58524229e-01 9.65989923e-01 -5.35650078e-03 -3.90157164e+01] [-2.08002670e-02 -2.28067406e-05 9.99783651e-01 -4.69564464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.768623853 meters 0.01519290747041585 Centerline is valid? [True, True] Translation: X:184.99, Y:-39.02, Z:-4.70 [[ 9.66072844e-01 2.57466204e-01 2.03571635e-02 1.84993824e+02] [-2.57409068e-01 9.66287304e-01 -5.42385599e-03 -3.90223840e+01] [-2.10673282e-02 -2.78498529e-07 9.99778059e-01 -4.69684342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.798623853 meters 0.015312178220410306 Centerline is valid? [True, True] Translation: X:185.02, Y:-39.03, Z:-4.70 [[ 9.66487548e-01 2.55918212e-01 2.01912749e-02 1.85020974e+02] [-2.55861703e-01 9.66698437e-01 -5.37785588e-03 -3.90300574e+01] [-2.08951651e-02 3.14567724e-05 9.99781672e-01 -4.69739213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.828623853 meters 0.016225055757529173 Centerline is valid? [True, True] Translation: X:185.05, Y:-39.04, Z:-4.70 [[ 9.67342673e-01 2.52662006e-01 2.02500428e-02 1.85048420e+02] [-2.52604487e-01 9.67554598e-01 -5.39190126e-03 -3.90396322e+01] [-2.09553506e-02 1.00564489e-04 9.99780407e-01 -4.69867276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.858623853 meters 0.016925245558468208 Centerline is valid? [True, True] Translation: X:185.08, Y:-39.05, Z:-4.70 [[ 9.67789586e-01 2.50946982e-01 2.02220227e-02 1.85075690e+02] [-2.50889268e-01 9.68000823e-01 -5.38344103e-03 -3.90480307e+01] [-2.09258929e-02 1.36549695e-04 9.99781020e-01 -4.69894344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.888623853 meters 0.01773373004290115 Centerline is valid? [True, True] Translation: X:185.10, Y:-39.06, Z:-4.70 [[ 9.68143743e-01 2.49578539e-01 2.02051025e-02 1.85103782e+02] [-2.49520645e-01 9.68354545e-01 -5.37791314e-03 -3.90562744e+01] [-2.09079146e-02 1.65002747e-04 9.99781392e-01 -4.69961420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.918623853 meters 0.019087503913572633 Centerline is valid? [True, True] Translation: X:185.13, Y:-39.06, Z:-4.70 [[ 9.68382753e-01 2.48671099e-01 1.99381049e-02 1.85130115e+02] [-2.48614553e-01 9.68587968e-01 -5.30591050e-03 -3.90642100e+01] [-2.06312351e-02 1.81249177e-04 9.99787137e-01 -4.70146958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94862385300002 meters 0.01984711107791115 Centerline is valid? [True, True] Translation: X:185.16, Y:-39.07, Z:-4.70 [[ 9.68735979e-01 2.47315745e-01 1.96348069e-02 1.85158777e+02] [-2.47260654e-01 9.68934920e-01 -5.22391814e-03 -3.90686277e+01] [-2.03168072e-02 2.05682274e-04 9.99793571e-01 -4.70304257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97862385300002 meters 0.019586296131869175 Centerline is valid? [True, True] Translation: X:185.19, Y:-39.07, Z:-4.70 [[ 9.68868446e-01 2.46791931e-01 1.96895174e-02 1.85187378e+02] [-2.46736443e-01 9.69068468e-01 -5.23752005e-03 -3.90738393e+01] [-2.03730681e-02 2.16346425e-04 9.99792424e-01 -4.70285590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00862385300002 meters 0.0206928237580973 Centerline is valid? [True, True] Translation: X:185.21, Y:-39.08, Z:-4.70 [[ 9.68979209e-01 2.46355311e-01 1.97067013e-02 1.85213631e+02] [-2.46299653e-01 9.69179555e-01 -5.24121732e-03 -3.90813876e+01] [-2.03905337e-02 2.24876915e-04 9.99792066e-01 -4.70425471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03862385300002 meters 0.019870078167737434 Centerline is valid? [True, True] Translation: X:185.24, Y:-39.09, Z:-4.70 [[ 9.69212154e-01 2.45448983e-01 1.95600952e-02 1.85242118e+02] [-2.45393998e-01 9.69409479e-01 -5.20066993e-03 -3.90860789e+01] [-2.02382409e-02 2.40622527e-04 9.99795157e-01 -4.70432593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06862385300002 meters 0.023153207067579114 Centerline is valid? [True, True] Translation: X:185.27, Y:-39.10, Z:-4.71 [[ 9.69602307e-01 2.43944162e-01 1.90424034e-02 1.85268255e+02] [-2.43891776e-01 9.69789243e-01 -5.06213074e-03 -3.90976205e+01] [-1.97019952e-02 2.63968053e-04 9.99805862e-01 -4.70668753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09862385300002 meters 0.022313124359062932 Centerline is valid? [True, True] Translation: X:185.30, Y:-39.10, Z:-4.71 [[ 9.69913374e-01 2.42697089e-01 1.91355847e-02 1.85297087e+02] [-2.42643972e-01 9.70102077e-01 -5.08558350e-03 -3.91032156e+01] [-1.97977268e-02 2.89441160e-04 9.99803964e-01 -4.70619032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12862385300002 meters 0.025795838881987818 Centerline is valid? [True, True] Translation: X:185.32, Y:-39.12, Z:-4.71 [[ 9.70223175e-01 2.41468952e-01 1.89667010e-02 1.85322809e+02] [-2.41416552e-01 9.70408496e-01 -5.03980932e-03 -3.91150993e+01] [-1.96224052e-02 3.10864253e-04 9.99807414e-01 -4.70840694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.15862385300002 meters 0.02393177240435052 Centerline is valid? [True, True] Translation: X:185.35, Y:-39.12, Z:-4.71 [[ 9.70532173e-01 2.40205169e-01 1.92035903e-02 1.85352051e+02] [-2.40151231e-01 9.70722083e-01 -5.10145395e-03 -3.91188468e+01] [-1.98667448e-02 3.39359340e-04 9.99802579e-01 -4.70699912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18862385300002 meters 0.02608991078652077 Centerline is valid? [True, True] Translation: X:185.38, Y:-39.13, Z:-4.71 [[ 9.70927242e-01 2.38564428e-01 1.96800680e-02 1.85378098e+02] [-2.38507463e-01 9.71126597e-01 -5.22704198e-03 -3.91277274e+01] [-2.03588237e-02 3.81234378e-04 9.99792665e-01 -4.70674599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.21862385300003 meters 0.025569565500366605 Centerline is valid? [True, True] Translation: X:185.41, Y:-39.13, Z:-4.71 [[ 9.71095269e-01 2.37874931e-01 1.97356580e-02 1.85405815e+02] [-2.37817527e-01 9.71295712e-01 -5.24054031e-03 -3.91337533e+01] [-2.04157531e-02 3.95578521e-04 9.99791499e-01 -4.70702976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24862385300003 meters 0.029396929786265524 Centerline is valid? [True, True] Translation: X:185.43, Y:-39.15, Z:-4.71 [[ 9.71246777e-01 2.37267097e-01 1.95964788e-02 1.85431200e+02] [-2.37210401e-01 9.71444369e-01 -5.20232808e-03 -3.91462812e+01] [-2.02712302e-02 4.04255786e-04 9.99794436e-01 -4.70903503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.27862385300003 meters 0.03000314664969612 Centerline is valid? [True, True] Translation: X:185.46, Y:-39.15, Z:-4.71 [[ 9.71359850e-01 2.36825516e-01 1.93317583e-02 1.85459177e+02] [-2.36770281e-01 9.71552114e-01 -5.13074519e-03 -3.91546652e+01] [-1.99969020e-02 4.06614032e-04 9.99799959e-01 -4.71001798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.308623853 meters 0.029845307266343574 Centerline is valid? [True, True] Translation: X:185.49, Y:-39.16, Z:-4.71 [[ 9.71475943e-01 2.36357934e-01 1.92202649e-02 1.85487533e+02] [-2.36303261e-01 9.71665970e-01 -5.10025737e-03 -3.91614778e+01] [-1.98811636e-02 4.12966072e-04 9.99802265e-01 -4.71086758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.338623853 meters 0.028396613397805102 Centerline is valid? [True, True] Translation: X:185.52, Y:-39.17, Z:-4.71 [[ 9.71516006e-01 2.36195344e-01 1.91939838e-02 1.85516218e+02] [-2.36140806e-01 9.71705504e-01 -5.09237676e-03 -3.91661912e+01] [-1.98536954e-02 4.14842723e-04 9.99802810e-01 -4.71177148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.368623853 meters 0.02631020965482135 Centerline is valid? [True, True] Translation: X:185.55, Y:-39.17, Z:-4.71 [[ 9.71437957e-01 2.36534296e-01 1.89689621e-02 1.85545107e+02] [-2.36481112e-01 9.71623057e-01 -5.03175876e-03 -3.91704400e+01] [-1.96208645e-02 4.02240195e-04 9.99807411e-01 -4.71215885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.398623853 meters 0.0275304954626443 Centerline is valid? [True, True] Translation: X:185.57, Y:-39.18, Z:-4.71 [[ 9.71404531e-01 2.36697277e-01 1.86449939e-02 1.85571704e+02] [-2.36645942e-01 9.71583371e-01 -4.94494118e-03 -3.91790337e+01] [-1.92856202e-02 3.91276122e-04 9.99813939e-01 -4.71436294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.428623853 meters 0.027151572063936032 Centerline is valid? [True, True] Translation: X:185.60, Y:-39.19, Z:-4.72 [[ 9.71210065e-01 2.37545983e-01 1.79698216e-02 1.85599058e+02] [-2.37498465e-01 9.71376228e-01 -4.76474825e-03 -3.91855039e+01] [-1.85873043e-02 3.59766420e-04 9.99827176e-01 -4.71614759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.458623853 meters 0.02784546133968556 Centerline is valid? [True, True] Translation: X:185.63, Y:-39.19, Z:-4.72 [[ 9.71167940e-01 2.37702084e-01 1.81810659e-02 1.85625743e+02] [-2.37653491e-01 9.71338041e-01 -4.81961137e-03 -3.91931814e+01] [-1.88055926e-02 3.59858279e-04 9.99823094e-01 -4.71725214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.488623853 meters 0.027425218345387317 Centerline is valid? [True, True] Translation: X:185.65, Y:-39.20, Z:-4.72 [[ 9.71112070e-01 2.37937964e-01 1.80796065e-02 1.85653550e+02] [-2.37889975e-01 9.71280290e-01 -4.79151977e-03 -3.91994117e+01] [-1.87004499e-02 3.52145547e-04 9.99825069e-01 -4.71757761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.518623853 meters 0.02567532551747109 Centerline is valid? [True, True] Translation: X:185.68, Y:-39.20, Z:-4.72 [[ 9.71042965e-01 2.38219834e-01 1.80795555e-02 1.85681995e+02] [-2.38171910e-01 9.71211198e-01 -4.79063684e-03 -3.92039815e+01] [-1.87002915e-02 3.45871925e-04 9.99825074e-01 -4.71779706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.548623853 meters 0.025094722601340838 Centerline is valid? [True, True] Translation: X:185.71, Y:-39.21, Z:-4.72 [[ 9.71084254e-01 2.38050672e-01 1.80900435e-02 1.85710017e+02] [-2.38002680e-01 9.71252674e-01 -4.79250309e-03 -3.92109910e+01] [-1.87108617e-02 3.48445435e-04 9.99824876e-01 -4.71824948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.578623853 meters 0.02603801082334415 Centerline is valid? [True, True] Translation: X:185.74, Y:-39.22, Z:-4.72 [[ 9.71131289e-01 2.37861213e-01 1.80572094e-02 1.85736528e+02] [-2.37813378e-01 9.71299089e-01 -4.78295077e-03 -3.92200488e+01] [-1.86766296e-02 3.50627163e-04 9.99825515e-01 -4.71919061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.608623853 meters 0.026927726193364688 Centerline is valid? [True, True] Translation: X:185.76, Y:-39.23, Z:-4.72 [[ 9.71180265e-01 2.37666462e-01 1.79873986e-02 1.85763143e+02] [-2.37618985e-01 9.71346760e-01 -4.76329277e-03 -3.92287438e+01] [-1.86040763e-02 3.51868541e-04 9.99826867e-01 -4.72032790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.638623853 meters 0.027509666329553477 Centerline is valid? [True, True] Translation: X:185.79, Y:-39.24, Z:-4.72 [[ 9.71229236e-01 2.37488500e-01 1.76913344e-02 1.85789659e+02] [-2.37442564e-01 9.71390288e-01 -4.68379727e-03 -3.92371567e+01] [-1.82975384e-02 3.48365058e-04 9.99832525e-01 -4.72159197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.668623853 meters 0.026725953688748545 Centerline is valid? [True, True] Translation: X:185.82, Y:-39.24, Z:-4.72 [[ 9.71099928e-01 2.38006394e-01 1.78293731e-02 1.85817339e+02] [-2.37959849e-01 9.71263528e-01 -4.71907080e-03 -3.92444616e+01] [-1.84401889e-02 3.40014376e-04 9.99829907e-01 -4.72169691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.69862385300002 meters 0.0263197698293627 Centerline is valid? [True, True] Translation: X:185.85, Y:-39.25, Z:-4.72 [[ 9.71022422e-01 2.38315761e-01 1.79179836e-02 1.85845531e+02] [-2.38268815e-01 9.71187668e-01 -4.74193389e-03 -3.92518281e+01] [-1.85318022e-02 3.35227417e-04 9.99828215e-01 -4.72166910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72862385300002 meters 0.027008488825395145 Centerline is valid? [True, True] Translation: X:185.87, Y:-39.26, Z:-4.72 [[ 9.70825267e-01 2.39097680e-01 1.81824236e-02 1.85871836e+02] [-2.39049491e-01 9.70995466e-01 -4.81109261e-03 -3.92605759e+01] [-1.88053719e-02 3.24231171e-04 9.99823111e-01 -4.72274250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75862385300002 meters 0.026057153177956347 Centerline is valid? [True, True] Translation: X:185.90, Y:-39.27, Z:-4.72 [[ 9.70645428e-01 2.39825656e-01 1.81963563e-02 1.85899894e+02] [-2.39777545e-01 9.70815925e-01 -4.81348929e-03 -3.92665577e+01] [-1.88197106e-02 3.09113744e-04 9.99822846e-01 -4.72297393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78862385300002 meters 0.02467169955541636 Centerline is valid? [True, True] Translation: X:185.93, Y:-39.27, Z:-4.72 [[ 9.70299649e-01 2.41218658e-01 1.82249697e-02 1.85928190e+02] [-2.41170657e-01 9.70470752e-01 -4.82019408e-03 -3.92731448e+01] [-1.88495208e-02 2.81704705e-04 9.99822292e-01 -4.72416542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81862385300002 meters 0.023043005831263782 Centerline is valid? [True, True] Translation: X:185.96, Y:-39.28, Z:-4.72 [[ 9.70145526e-01 2.41839275e-01 1.82050107e-02 1.85956376e+02] [-2.41791505e-01 9.70316285e-01 -4.81406984e-03 -3.92787779e+01] [-1.88288495e-02 2.68531375e-04 9.99822685e-01 -4.72408849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84862385300002 meters 0.022468810203899344 Centerline is valid? [True, True] Translation: X:185.98, Y:-39.29, Z:-4.72 [[ 9.70023380e-01 2.42340081e-01 1.80534360e-02 1.85984746e+02] [-2.42293206e-01 9.70191331e-01 -4.77311390e-03 -3.92858535e+01] [-1.86720040e-02 2.55807183e-04 9.99825630e-01 -4.72453330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.87862385300002 meters 0.02201497922790855 Centerline is valid? [True, True] Translation: X:186.01, Y:-39.29, Z:-4.73 [[ 9.69922022e-01 2.42748980e-01 1.80056618e-02 1.86012215e+02] [-2.42702439e-01 9.70089105e-01 -4.75959930e-03 -3.92928581e+01] [-1.86224842e-02 2.46422142e-04 9.99826556e-01 -4.72570294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90862385300002 meters 0.021733260294986036 Centerline is valid? [True, True] Translation: X:186.04, Y:-39.30, Z:-4.73 [[ 9.69802194e-01 2.43264116e-01 1.75007080e-02 1.86039554e+02] [-2.43220249e-01 9.69960060e-01 -4.62528697e-03 -3.93008524e+01] [-1.81001541e-02 2.29086909e-04 9.99836153e-01 -4.72757235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.93862385300002 meters 0.029552228602505823 Centerline is valid? [True, True] Translation: X:186.07, Y:-39.31, Z:-4.72 [[ 9.69800771e-01 2.43290972e-01 1.72037151e-02 1.86066848e+02] [-2.43248597e-01 9.69953325e-01 -4.54614100e-03 -3.93078591e+01] [-1.77928358e-02 2.24071477e-04 9.99841670e-01 -4.72007053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.96862385300003 meters 0.02123603268383387 Centerline is valid? [True, True] Translation: X:186.09, Y:-39.32, Z:-4.73 [[ 9.69899740e-01 2.42870868e-01 1.75566540e-02 1.86094846e+02] [-2.42826695e-01 9.70058599e-01 -4.63789716e-03 -3.93158640e+01] [-1.81573933e-02 2.35070990e-04 9.99835113e-01 -4.72817356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.99862385300003 meters 0.02310387283162156 Centerline is valid? [True, True] Translation: X:186.12, Y:-39.33, Z:-4.73 [[ 9.69944055e-01 2.42710694e-01 1.73219224e-02 1.86120752e+02] [-2.42667682e-01 9.70098688e-01 -4.57512443e-03 -3.93268781e+01] [-1.79144058e-02 2.34143991e-04 9.99839497e-01 -4.73060126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02862385300003 meters 0.021895632500264613 Centerline is valid? [True, True] Translation: X:186.15, Y:-39.34, Z:-4.73 [[ 9.70034386e-01 2.42349728e-01 1.73176293e-02 1.86147992e+02] [-2.42306703e-01 9.70188926e-01 -4.57268513e-03 -3.93351440e+01] [-1.79095612e-02 2.39484132e-04 9.99839582e-01 -4.73015528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.058623853 meters 0.02241443619044897 Centerline is valid? [True, True] Translation: X:186.17, Y:-39.34, Z:-4.73 [[ 9.70089256e-01 2.42146811e-01 1.70809038e-02 1.86174679e+02] [-2.42104937e-01 9.70239591e-01 -4.50941777e-03 -3.93447988e+01] [-1.76645103e-02 2.39166595e-04 9.99843942e-01 -4.73135163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.088623853 meters 0.02241443619044897 Centerline is valid? [True, True] Translation: X:186.20, Y:-39.35, Z:-4.73 [[ 9.70100549e-01 2.42101545e-01 1.70811942e-02 1.86202091e+02] [-2.42059683e-01 9.70250888e-01 -4.50831735e-03 -3.93519409e+01] [-1.76645145e-02 2.38852685e-04 9.99843942e-01 -4.73206414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.118623853 meters 0.02240717022984679 Centerline is valid? [True, True] Translation: X:186.23, Y:-39.36, Z:-4.73 [[ 9.70137187e-01 2.41969033e-01 1.68767903e-02 1.86229334e+02] [-2.41928162e-01 9.70283943e-01 -4.45354276e-03 -3.93604720e+01] [-1.74528980e-02 2.37576596e-04 9.99847658e-01 -4.73267996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.148623853 meters 0.021217897376504605 Centerline is valid? [True, True] Translation: X:186.26, Y:-39.37, Z:-4.73 [[ 9.70078149e-01 2.42177843e-01 1.72707198e-02 1.86257452e+02] [-2.42135090e-01 9.70231846e-01 -4.55661473e-03 -3.93685281e+01] [-1.78601135e-02 2.38425088e-04 9.99840467e-01 -4.73154186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.178623853 meters 0.021852200825144625 Centerline is valid? [True, True] Translation: X:186.28, Y:-39.38, Z:-4.73 [[ 9.69993032e-01 2.42495531e-01 1.75907492e-02 1.86283984e+02] [-2.42451246e-01 9.70152494e-01 -4.64020306e-03 -3.93783919e+01] [-1.81909377e-02 2.36065573e-04 9.99834503e-01 -4.73232444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.208623853 meters 0.02121131607051634 Centerline is valid? [True, True] Translation: X:186.31, Y:-39.39, Z:-4.73 [[ 9.69907584e-01 2.42802785e-01 1.80578711e-02 1.86311507e+02] [-2.42756195e-01 9.70075643e-01 -4.76207057e-03 -3.93862291e+01] [-1.86737449e-02 2.35108287e-04 9.99825603e-01 -4.73276452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.238623853 meters 0.020810879481172953 Centerline is valid? [True, True] Translation: X:186.34, Y:-39.39, Z:-4.73 [[ 9.69794544e-01 2.43232747e-01 1.83404625e-02 1.86339307e+02] [-2.43184782e-01 9.69967926e-01 -4.83565462e-03 -3.93944374e+01] [-1.89658500e-02 2.29470084e-04 9.99820106e-01 -4.73294626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.268623853 meters 0.01986252259741168 Centerline is valid? [True, True] Translation: X:186.37, Y:-39.40, Z:-4.73 [[ 9.69631183e-01 2.43879166e-01 1.83935372e-02 1.86367482e+02] [-2.43831057e-01 9.69805602e-01 -4.84872653e-03 -3.94014370e+01] [-1.90206588e-02 2.16560835e-04 9.99819067e-01 -4.73287781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.298623853 meters 0.01977113000101294 Centerline is valid? [True, True] Translation: X:186.39, Y:-39.41, Z:-4.73 [[ 9.69476577e-01 2.44488164e-01 1.84581650e-02 1.86393687e+02] [-2.44439843e-01 9.69652255e-01 -4.86488956e-03 -3.94093271e+01] [-1.90874092e-02 2.04485539e-04 9.99817798e-01 -4.73387585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.328623853 meters 0.019343027248572568 Centerline is valid? [True, True] Translation: X:186.42, Y:-39.42, Z:-4.73 [[ 9.69311546e-01 2.45153718e-01 1.82970528e-02 1.86421317e+02] [-2.45106380e-01 9.69484203e-01 -4.82113475e-03 -3.94166356e+01] [-1.89206228e-02 1.88457180e-04 9.99820971e-01 -4.73472735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.358623853 meters 0.017686769635759773 Centerline is valid? [True, True] Translation: X:186.45, Y:-39.42, Z:-4.73 [[ 9.68745188e-01 2.47398032e-01 1.80824198e-02 1.86450289e+02] [-2.47352205e-01 9.68913925e-01 -4.76369526e-03 -3.94214517e+01] [-1.86988372e-02 1.42080439e-04 9.99825151e-01 -4.73498018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.388623853 meters 0.016907958141936387 Centerline is valid? [True, True] Translation: X:186.48, Y:-39.43, Z:-4.74 [[ 9.68395695e-01 2.48763778e-01 1.80654466e-02 1.86478798e+02] [-2.48718293e-01 9.68564179e-01 -4.75828639e-03 -3.94272856e+01] [-1.86812338e-02 1.14697010e-04 9.99825484e-01 -4.73593139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.418623853 meters 0.016560336247183605 Centerline is valid? [True, True] Translation: X:186.51, Y:-39.43, Z:-4.74 [[ 9.68078206e-01 2.50015613e-01 1.77983201e-02 1.86506437e+02] [-2.49971690e-01 9.68241801e-01 -4.68709307e-03 -3.94331969e+01] [-1.84049239e-02 8.83965058e-05 9.99830611e-01 -4.73702110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44862385300002 meters 0.016320078213357125 Centerline is valid? [True, True] Translation: X:186.53, Y:-39.44, Z:-4.74 [[ 9.67770328e-01 2.51214445e-01 1.76605435e-02 1.86533429e+02] [-2.51171420e-01 9.67931453e-01 -4.64966053e-03 -3.94384521e+01] [-1.82622574e-02 6.39797164e-05 9.99833229e-01 -4.73841728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47862385300002 meters 0.015937340508390966 Centerline is valid? [True, True] Translation: X:186.56, Y:-39.44, Z:-4.74 [[ 9.67128268e-01 2.53695932e-01 1.73576563e-02 1.86561589e+02] [-2.53654789e-01 9.67284019e-01 -4.56881848e-03 -3.94414594e+01] [-1.79488742e-02 1.57808631e-05 9.99838906e-01 -4.74013101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50862385300002 meters 0.01586127426429544 Centerline is valid? [True, True] Translation: X:186.59, Y:-39.45, Z:-4.74 [[ 9.66893397e-01 2.54581809e-01 1.74717382e-02 1.86588801e+02] [-2.54540286e-01 9.67051241e-01 -4.59781902e-03 -3.94471024e+01] [-1.80665872e-02 -1.66039675e-06 9.99836786e-01 -4.74052414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53862385300002 meters 0.015919163354829544 Centerline is valid? [True, True] Translation: X:186.62, Y:-39.45, Z:-4.74 [[ 9.66723603e-01 2.55221326e-01 1.75371294e-02 1.86615032e+02] [-2.55179621e-01 9.66882658e-01 -4.61375895e-03 -3.94526276e+01] [-1.81338759e-02 -1.48883467e-05 9.99835568e-01 -4.74172475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56862385300002 meters 0.015897992603557547 Centerline is valid? [True, True] Translation: X:186.64, Y:-39.46, Z:-4.74 [[ 9.66648565e-01 2.55479060e-01 1.79165263e-02 1.86641357e+02] [-2.55435606e-01 9.66814589e-01 -4.71190726e-03 -3.94579032e+01] [-1.85257527e-02 -2.17603677e-05 9.99828383e-01 -4.74182935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59862385300002 meters 0.015751654434442635 Centerline is valid? [True, True] Translation: X:186.67, Y:-39.46, Z:-4.74 [[ 9.66730988e-01 2.55148266e-01 1.81813038e-02 1.86668619e+02] [-2.55103490e-01 9.66901940e-01 -4.77989253e-03 -3.94649848e+01] [-1.87991192e-02 -1.72438149e-05 9.99823281e-01 -4.74137610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62862385300002 meters 0.01569844991892804 Centerline is valid? [True, True] Translation: X:186.70, Y:-39.47, Z:-4.74 [[ 9.66806207e-01 2.54834182e-01 1.85821969e-02 1.86696938e+02] [-2.54787382e-01 9.66984767e-01 -4.88370316e-03 -3.94721843e+01] [-1.92132358e-02 -1.29147827e-05 9.99815409e-01 -4.74124216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.65862385300002 meters 0.015643495373095877 Centerline is valid? [True, True] Translation: X:186.72, Y:-39.48, Z:-4.74 [[ 9.66932299e-01 2.54340507e-01 1.87839242e-02 1.86723702e+02] [-2.54292607e-01 9.67114733e-01 -4.93590466e-03 -3.94790697e+01] [-1.94216103e-02 -3.92741907e-06 9.99811383e-01 -4.74150709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68862385300002 meters 0.01565447744222577 Centerline is valid? [True, True] Translation: X:186.75, Y:-39.49, Z:-4.74 [[ 9.67282297e-01 2.53019111e-01 1.86087734e-02 1.86750143e+02] [-2.52971883e-01 9.67461280e-01 -4.88851165e-03 -3.94875124e+01] [-1.92401546e-02 2.10743345e-05 9.99814891e-01 -4.74325567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.71862385300003 meters 0.016022510742797536 Centerline is valid? [True, True] Translation: X:186.78, Y:-39.50, Z:-4.74 [[ 9.67547804e-01 2.52011939e-01 1.84723889e-02 1.86776788e+02] [-2.51965244e-01 9.67724125e-01 -4.85123217e-03 -3.94964033e+01] [-1.90987448e-02 3.93990657e-05 9.99817602e-01 -4.74461100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.74862385300003 meters 0.016175715147532906 Centerline is valid? [True, True] Translation: X:186.80, Y:-39.50, Z:-4.75 [[ 9.67849951e-01 2.50877990e-01 1.80750208e-02 1.86803870e+02] [-2.50833104e-01 9.68018714e-01 -4.74584929e-03 -3.95048408e+01] [-1.86875875e-02 5.94564195e-05 9.99825370e-01 -4.74530255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.77862385300003 meters 0.016857114993387764 Centerline is valid? [True, True] Translation: X:186.83, Y:-39.51, Z:-4.75 [[ 9.68302709e-01 2.49146344e-01 1.77753341e-02 1.86830417e+02] [-2.49102668e-01 9.68465844e-01 -4.66581146e-03 -3.95132986e+01] [-1.83772738e-02 9.00347319e-05 9.99831120e-01 -4.74622314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.80862385300003 meters 0.017239494049596807 Centerline is valid? [True, True] Translation: X:186.86, Y:-39.52, Z:-4.75 [[ 9.68520780e-01 2.48298479e-01 1.77585016e-02 1.86858372e+02] [-2.48254765e-01 9.68683568e-01 -4.66019376e-03 -3.95211586e+01] [-1.83594877e-02 1.04861847e-04 9.99831445e-01 -4.74751778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.838623853 meters 0.017887422849057567 Centerline is valid? [True, True] Translation: X:186.89, Y:-39.53, Z:-4.75 [[ 9.68699804e-01 2.47596544e-01 1.77944120e-02 1.86885293e+02] [-2.47552549e-01 9.68863219e-01 -4.66880737e-03 -3.95293772e+01] [-1.83963319e-02 1.17620719e-04 9.99830766e-01 -4.74872174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.868623853 meters 0.018067784825993253 Centerline is valid? [True, True] Translation: X:186.91, Y:-39.54, Z:-4.75 [[ 9.68919343e-01 2.46745193e-01 1.76668223e-02 1.86913412e+02] [-2.46701706e-01 9.69080385e-01 -4.63417036e-03 -3.95370127e+01] [-1.82640302e-02 1.31702103e-04 9.99833190e-01 -4.74905113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.898623853 meters 0.018605999875206662 Centerline is valid? [True, True] Translation: X:186.94, Y:-39.55, Z:-4.75 [[ 9.69085331e-01 2.46118158e-01 1.73052960e-02 1.86940476e+02] [-2.46076347e-01 9.69239822e-01 -4.53858253e-03 -3.95452215e+01] [-1.78900096e-02 1.39849714e-04 9.99839951e-01 -4.75046412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.928623853 meters 0.01936950367787803 Centerline is valid? [True, True] Translation: X:186.97, Y:-39.55, Z:-4.75 [[ 9.69410531e-01 2.44820080e-01 1.75029039e-02 1.86967595e+02] [-2.44777119e-01 9.69568513e-01 -4.58920665e-03 -3.95545847e+01] [-1.80937945e-02 1.64514868e-04 9.99836280e-01 -4.75090546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.958623853 meters 0.019003100255957295 Centerline is valid? [True, True] Translation: X:187.00, Y:-39.56, Z:-4.75 [[ 9.69539353e-01 2.44316999e-01 1.73967703e-02 1.86995612e+02] [-2.44274491e-01 9.69695403e-01 -4.56055076e-03 -3.95607500e+01] [-1.79837883e-02 1.72046224e-04 9.99838264e-01 -4.75102023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.988623853 meters 0.019710534617930844 Centerline is valid? [True, True] Translation: X:187.02, Y:-39.57, Z:-4.75 [[ 9.69728050e-01 2.43581870e-01 1.71866588e-02 1.87022648e+02] [-2.43540283e-01 9.69880322e-01 -4.50458888e-03 -3.95687356e+01] [-1.77662384e-02 1.82582438e-04 9.99842151e-01 -4.75233821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.018623853 meters 0.019739298728092696 Centerline is valid? [True, True] Translation: X:187.05, Y:-39.58, Z:-4.75 [[ 9.69787980e-01 2.43330140e-01 1.73699942e-02 1.87049758e+02] [-2.43287636e-01 9.69943507e-01 -4.55181628e-03 -3.95758620e+01] [-1.79555072e-02 1.88391889e-04 9.99838769e-01 -4.75300119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.048623853 meters 0.02098355043959463 Centerline is valid? [True, True] Translation: X:187.08, Y:-39.59, Z:-4.75 [[ 9.69867837e-01 2.43021185e-01 1.72360617e-02 1.87075717e+02] [-2.42979304e-01 9.70020962e-01 -4.51562179e-03 -3.95853220e+01] [-1.78167329e-02 1.91550083e-04 9.99841251e-01 -4.75473672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.078623853 meters 0.0205190169166135 Centerline is valid? [True, True] Translation: X:187.10, Y:-39.59, Z:-4.75 [[ 9.69991912e-01 2.42513255e-01 1.74072689e-02 1.87103503e+02] [-2.42470477e-01 9.70148072e-01 -4.55927289e-03 -3.95920740e+01] [-1.79933125e-02 2.01709020e-04 9.99838087e-01 -4.75477730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.108623853 meters 0.0211123858217122 Centerline is valid? [True, True] Translation: X:187.13, Y:-39.60, Z:-4.76 [[ 9.70071330e-01 2.42209683e-01 1.72071300e-02 1.87129671e+02] [-2.42167849e-01 9.70223906e-01 -4.50608954e-03 -3.96008953e+01] [-1.77861874e-02 2.04214606e-04 9.99841792e-01 -4.75565673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.138623853 meters 0.020720168281530397 Centerline is valid? [True, True] Translation: X:187.16, Y:-39.61, Z:-4.76 [[ 9.70058592e-01 2.42250232e-01 1.73537466e-02 1.87158019e+02] [-2.42207711e-01 9.70213782e-01 -4.54329279e-03 -3.96075866e+01] [-1.79374579e-02 2.04048975e-04 9.99839090e-01 -4.75560334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.168623853 meters 0.020802521908921952 Centerline is valid? [True, True] Translation: X:187.18, Y:-39.61, Z:-4.76 [[ 9.70043876e-01 2.42294102e-01 1.75626705e-02 1.87184742e+02] [-2.42250572e-01 9.70202827e-01 -4.59719888e-03 -3.96143416e+01] [-1.81532268e-02 2.04917646e-04 9.99835196e-01 -4.75619151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.19862385300002 meters 0.020232213775144645 Centerline is valid? [True, True] Translation: X:187.21, Y:-39.62, Z:-4.76 [[ 9.69991274e-01 2.42490091e-01 1.77618519e-02 1.87212949e+02] [-2.42445624e-01 9.70153861e-01 -4.64809391e-03 -3.96206399e+01] [-1.83588460e-02 2.02327265e-04 9.99831442e-01 -4.75655879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22862385300002 meters 0.020111015379623415 Centerline is valid? [True, True] Translation: X:187.24, Y:-39.63, Z:-4.76 [[ 9.69905522e-01 2.42809689e-01 1.80757683e-02 1.87239979e+02] [-2.42763708e-01 9.70073923e-01 -4.72938922e-03 -3.96280316e+01] [-1.86831730e-02 1.98920195e-04 9.99825434e-01 -4.75652339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25862385300002 meters 0.020267608996935194 Centerline is valid? [True, True] Translation: X:187.27, Y:-39.64, Z:-4.76 [[ 9.69935827e-01 2.42654584e-01 1.85268625e-02 1.87266404e+02] [-2.42606273e-01 9.70112731e-01 -4.84621745e-03 -3.96354567e+01] [-1.91491020e-02 2.05786884e-04 9.99816618e-01 -4.75739085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28862385300002 meters 0.02004889060446451 Centerline is valid? [True, True] Translation: X:187.29, Y:-39.64, Z:-4.76 [[ 9.69932553e-01 2.42655762e-01 1.86821845e-02 1.87294595e+02] [-2.42606661e-01 9.70112436e-01 -4.88561009e-03 -3.96428808e+01] [-1.93093410e-02 2.06289860e-04 9.99813536e-01 -4.75739897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31862385300002 meters 0.020301446713337293 Centerline is valid? [True, True] Translation: X:187.32, Y:-39.65, Z:-4.76 [[ 9.69953252e-01 2.42590037e-01 1.84597547e-02 1.87320695e+02] [-2.42542103e-01 9.70128874e-01 -4.82661370e-03 -3.96514714e+01] [-1.90792294e-02 2.04321938e-04 9.99817954e-01 -4.75829354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34862385300002 meters 0.02017468556820537 Centerline is valid? [True, True] Translation: X:187.35, Y:-39.66, Z:-4.76 [[ 9.69942228e-01 2.42614296e-01 1.87183866e-02 1.87348885e+02] [-2.42565037e-01 9.70122807e-01 -4.89298305e-03 -3.96589797e+01] [-1.93462414e-02 2.05484724e-04 9.99812823e-01 -4.75919052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.37862385300002 meters 0.020152392922643522 Centerline is valid? [True, True] Translation: X:187.38, Y:-39.67, Z:-4.76 [[ 9.69941027e-01 2.42619945e-01 1.87073777e-02 1.87376447e+02] [-2.42570764e-01 9.70121395e-01 -4.88918785e-03 -3.96662308e+01] [-1.93346418e-02 2.04360988e-04 9.99813047e-01 -4.76000323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40862385300002 meters 0.02044045413256544 Centerline is valid? [True, True] Translation: X:187.40, Y:-39.67, Z:-4.76 [[ 9.69967711e-01 2.42536018e-01 1.84097510e-02 1.87402801e+02] [-2.42488389e-01 9.70142381e-01 -4.81059290e-03 -3.96735000e+01] [-1.90268217e-02 2.01968916e-04 9.99818953e-01 -4.76073349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.43862385300002 meters 0.020637534230374135 Centerline is valid? [True, True] Translation: X:187.43, Y:-39.68, Z:-4.76 [[ 9.69998262e-01 2.42395444e-01 1.86499620e-02 1.87428867e+02] [-2.42346561e-01 9.70177513e-01 -4.87219958e-03 -3.96819172e+01] [-1.92747727e-02 2.06270966e-04 9.99814203e-01 -4.76174165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46862385300003 meters 0.020730028227451135 Centerline is valid? [True, True] Translation: X:187.46, Y:-39.69, Z:-4.76 [[ 9.70073403e-01 2.42096744e-01 1.86214558e-02 1.87456169e+02] [-2.42047978e-01 9.70252092e-01 -4.86355985e-03 -3.96902883e+01] [-1.92449585e-02 2.10724338e-04 9.99814776e-01 -4.76238904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.49862385300003 meters 0.02104701977792812 Centerline is valid? [True, True] Translation: X:187.48, Y:-39.70, Z:-4.76 [[ 9.70123226e-01 2.41923694e-01 1.82716341e-02 1.87482454e+02] [-2.41876728e-01 9.70295255e-01 -4.77140281e-03 -3.96986301e+01] [-1.88831953e-02 2.09365605e-04 9.99821675e-01 -4.76357063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52862385300003 meters 0.021533424064457816 Centerline is valid? [True, True] Translation: X:187.51, Y:-39.71, Z:-4.76 [[ 9.70258676e-01 2.41358698e-01 1.85493955e-02 1.87508808e+02] [-2.41310211e-01 9.70435948e-01 -4.84280186e-03 -3.97077878e+01] [-1.91698526e-02 2.22611976e-04 9.99816217e-01 -4.76447421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.55862385300003 meters 0.02043635276223288 Centerline is valid? [True, True] Translation: X:187.54, Y:-39.71, Z:-4.76 [[ 9.70351571e-01 2.41007016e-01 1.82605145e-02 1.87537713e+02] [-2.40959989e-01 9.70523347e-01 -4.76611801e-03 -3.97139553e+01] [-1.88709235e-02 2.24756728e-04 9.99821903e-01 -4.76400909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.588623853 meters 0.022513082136851964 Centerline is valid? [True, True] Translation: X:187.56, Y:-39.73, Z:-4.77 [[ 9.70455228e-01 2.40608967e-01 1.79993336e-02 1.87564693e+02] [-2.40563214e-01 9.70622106e-01 -4.69757570e-03 -3.97255515e+01] [-1.86008300e-02 2.28809342e-04 9.99826963e-01 -4.76730781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.618623853 meters 0.02242031347725318 Centerline is valid? [True, True] Translation: X:187.59, Y:-39.73, Z:-4.77 [[ 9.70605194e-01 2.40026794e-01 1.76832211e-02 1.87592123e+02] [-2.39982549e-01 9.70766235e-01 -4.61447524e-03 -3.97339460e+01] [-1.82738717e-02 2.35169152e-04 9.99832991e-01 -4.76826702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.648623853 meters 0.02192580012497629 Centerline is valid? [True, True] Translation: X:187.62, Y:-39.74, Z:-4.77 [[ 9.70809637e-01 2.39253086e-01 1.69295413e-02 1.87620729e+02] [-2.39212431e-01 9.70957210e-01 -4.41687012e-03 -3.97435276e+01] [-1.74946100e-02 2.38183343e-04 9.99846929e-01 -4.76978402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.678623853 meters 0.0236449480995667 Centerline is valid? [True, True] Translation: X:187.65, Y:-39.75, Z:-4.77 [[ 9.70914516e-01 2.38872732e-01 1.62733032e-02 1.87647772e+02] [-2.38835123e-01 9.71050855e-01 -4.24516665e-03 -3.97546244e+01] [-1.68162595e-02 2.35057560e-04 9.99858569e-01 -4.77282150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.708623853 meters 0.02299385632964183 Centerline is valid? [True, True] Translation: X:187.68, Y:-39.76, Z:-4.77 [[ 9.70967649e-01 2.38664163e-01 1.61629834e-02 1.87676572e+02] [-2.38627035e-01 9.71102137e-01 -4.21628374e-03 -3.97622851e+01] [-1.67021835e-02 2.36950311e-04 9.99860481e-01 -4.77290143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.738623853 meters 0.02269759071006474 Centerline is valid? [True, True] Translation: X:187.70, Y:-39.77, Z:-4.77 [[ 9.70898030e-01 2.38894402e-01 1.69257510e-02 1.87704828e+02] [-2.38853729e-01 9.71045522e-01 -4.41481093e-03 -3.97721383e+01] [-1.74903483e-02 2.43552495e-04 9.99847002e-01 -4.77182990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.768623853 meters 0.021964183878472637 Centerline is valid? [True, True] Translation: X:187.73, Y:-39.78, Z:-4.77 [[ 9.70792482e-01 2.39300429e-01 1.72412848e-02 1.87733605e+02] [-2.39258298e-01 9.70945543e-01 -4.49667510e-03 -3.97800743e+01] [-1.78164049e-02 2.40217928e-04 9.99841246e-01 -4.77147179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.798623853 meters 0.021304822476383115 Centerline is valid? [True, True] Translation: X:187.76, Y:-39.79, Z:-4.77 [[ 9.70612779e-01 2.39994210e-01 1.77091288e-02 1.87762298e+02] [-2.39949884e-01 9.70774291e-01 -4.61823086e-03 -3.97879798e+01] [-1.82999156e-02 2.33210481e-04 9.99832515e-01 -4.77160170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.828623853 meters 0.02078576891706929 Centerline is valid? [True, True] Translation: X:187.79, Y:-39.80, Z:-4.77 [[ 9.70359679e-01 2.41001065e-01 1.79047422e-02 1.87790068e+02] [-2.40955934e-01 9.70524827e-01 -4.66886643e-03 -3.97952454e+01] [-1.85021986e-02 2.16225862e-04 9.99828796e-01 -4.77181577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.858623853 meters 0.018725518079384062 Centerline is valid? [True, True] Translation: X:187.82, Y:-39.80, Z:-4.77 [[ 9.69646743e-01 2.43833469e-01 1.81778057e-02 1.87818347e+02] [-2.43787459e-01 9.69817103e-01 -4.73944688e-03 -3.98008173e+01] [-1.87847826e-02 1.64068187e-04 9.99823537e-01 -4.77184793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.888623853 meters 0.01733126484397387 Centerline is valid? [True, True] Translation: X:187.85, Y:-39.81, Z:-4.77 [[ 9.69171237e-01 2.45708488e-01 1.82880562e-02 1.87847931e+02] [-2.45662271e-01 9.69343759e-01 -4.76713544e-03 -3.98065489e+01] [-1.88987387e-02 1.27485134e-04 9.99821395e-01 -4.77203079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.918623853 meters 0.016421615734728973 Centerline is valid? [True, True] Translation: X:187.88, Y:-39.81, Z:-4.77 [[ 9.68716479e-01 2.47504159e-01 1.81679481e-02 1.87876680e+02] [-2.47458869e-01 9.68886827e-01 -4.73553152e-03 -3.98116360e+01] [-1.87747493e-02 9.15675300e-05 9.99823735e-01 -4.77226760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94862385300002 meters 0.015741614497169498 Centerline is valid? [True, True] Translation: X:187.90, Y:-39.82, Z:-4.77 [[ 9.68173382e-01 2.49633987e-01 1.79770877e-02 1.87904535e+02] [-2.49590026e-01 9.68340266e-01 -4.68495880e-03 -3.98159438e+01] [-1.85774629e-02 4.89506102e-05 9.99827423e-01 -4.77369490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97862385300002 meters 0.015775758362975314 Centerline is valid? [True, True] Translation: X:187.93, Y:-39.82, Z:-4.78 [[ 9.66937253e-01 2.54402562e-01 1.76546287e-02 1.87933721e+02] [-2.54360978e-01 9.67098410e-01 -4.59985673e-03 -3.98159790e+01] [-1.82439787e-02 -4.28757944e-05 9.99833564e-01 -4.77560335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00862385300002 meters 0.016379948516085232 Centerline is valid? [True, True] Translation: X:187.96, Y:-39.82, Z:-4.78 [[ 9.66384599e-01 2.56503934e-01 1.75082675e-02 1.87961961e+02] [-2.56463400e-01 9.66543183e-01 -4.56061664e-03 -3.98198491e+01] [-1.80923127e-02 -8.29201374e-05 9.99836317e-01 -4.77661621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03862385300002 meters 0.016379948516085232 Centerline is valid? [True, True] Translation: X:187.99, Y:-39.83, Z:-4.78 [[ 9.66396547e-01 2.56458889e-01 1.75086177e-02 1.87989395e+02] [-2.56418373e-01 9.66555136e-01 -4.55927163e-03 -3.98269000e+01] [-1.80923101e-02 -8.34669151e-05 9.99836317e-01 -4.77732864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06862385300002 meters 0.01728441651863782 Centerline is valid? [True, True] Translation: X:188.02, Y:-39.83, Z:-4.78 [[ 9.65809858e-01 2.58642641e-01 1.77567651e-02 1.88017869e+02] [-2.58601353e-01 9.65973068e-01 -4.62298977e-03 -3.98308359e+01] [-1.83482591e-02 -1.26994381e-04 9.99831648e-01 -4.77770453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09862385300002 meters 0.01850481214598285 Centerline is valid? [True, True] Translation: X:188.05, Y:-39.83, Z:-4.78 [[ 9.65347235e-01 2.60364685e-01 1.77467619e-02 1.88045325e+02] [-2.60323749e-01 9.65510334e-01 -4.61957982e-03 -3.98346772e+01] [-1.83374574e-02 -1.60404982e-04 9.99831842e-01 -4.77800837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12862385300002 meters 0.018731444394430696 Centerline is valid? [True, True] Translation: X:188.07, Y:-39.84, Z:-4.78 [[ 9.64881549e-01 2.62063359e-01 1.80663490e-02 1.88073458e+02] [-2.62021256e-01 9.65050650e-01 -4.70156939e-03 -3.98403709e+01] [-1.86670510e-02 -1.97309909e-04 9.99825736e-01 -4.77740167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.15862385300002 meters 0.020844998672866266 Centerline is valid? [True, True] Translation: X:188.10, Y:-39.84, Z:-4.78 [[ 9.64267601e-01 2.64324871e-01 1.78985036e-02 1.88101736e+02] [-2.64283951e-01 9.64433671e-01 -4.65704581e-03 -3.98418784e+01] [-1.84928925e-02 -2.39648848e-04 9.99828963e-01 -4.77893517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18862385300002 meters 0.021238451894001233 Centerline is valid? [True, True] Translation: X:188.13, Y:-39.85, Z:-4.78 [[ 9.64074480e-01 2.65018185e-01 1.80487766e-02 1.88130338e+02] [-2.64976720e-01 9.64243380e-01 -4.69485947e-03 -3.98474093e+01] [-1.86476365e-02 -2.56311416e-04 9.99826085e-01 -4.77944554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.21862385300003 meters 0.021631291585547864 Centerline is valid? [True, True] Translation: X:188.16, Y:-39.85, Z:-4.78 [[ 9.63946346e-01 2.65477495e-01 1.81422442e-02 1.88158478e+02] [-2.65435699e-01 9.64117020e-01 -4.71823773e-03 -3.98525608e+01] [-1.87438323e-02 -2.67471253e-04 9.99824283e-01 -4.78021289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24862385300003 meters 0.022515720310870825 Centerline is valid? [True, True] Translation: X:188.19, Y:-39.85, Z:-4.78 [[ 9.63789101e-01 2.66009852e-01 1.86903182e-02 1.88186660e+02] [-2.65965610e-01 9.63970267e-01 -4.85985387e-03 -3.98549386e+01] [-1.93096801e-02 -2.87107693e-04 9.99813510e-01 -4.78086828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.27862385300003 meters 0.023484348365443986 Centerline is valid? [True, True] Translation: X:188.21, Y:-39.86, Z:-4.78 [[ 9.63880858e-01 2.65682535e-01 1.86140451e-02 1.88214096e+02] [-2.65638615e-01 9.64060533e-01 -4.83884075e-03 -3.98586593e+01] [-1.92306617e-02 -2.80543175e-04 9.99815034e-01 -4.78223622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30862385300003 meters 0.021738172882487902 Centerline is valid? [True, True] Translation: X:188.24, Y:-39.87, Z:-4.78 [[ 9.64063205e-01 2.65027729e-01 1.85051295e-02 1.88241540e+02] [-2.64984224e-01 9.64240754e-01 -4.80931813e-03 -3.98670798e+01] [-1.91180026e-02 -2.67080707e-04 9.99817199e-01 -4.78240264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.338623853 meters 0.02091351870846954 Centerline is valid? [True, True] Translation: X:188.27, Y:-39.87, Z:-4.78 [[ 9.64394549e-01 2.63825297e-01 1.84219111e-02 1.88269450e+02] [-2.63781980e-01 9.64570450e-01 -4.78676571e-03 -3.98740916e+01] [-1.90321010e-02 -2.43037439e-04 9.99818844e-01 -4.78362127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.368623853 meters 0.018978901848115955 Centerline is valid? [True, True] Translation: X:188.30, Y:-39.88, Z:-4.79 [[ 9.65192386e-01 2.60911197e-01 1.81384758e-02 1.88296500e+02] [-2.60868704e-01 9.65362789e-01 -4.71230191e-03 -3.98816438e+01] [-1.87397019e-02 -1.83482739e-04 9.99824380e-01 -4.78539039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.398623853 meters 0.017520061809155777 Centerline is valid? [True, True] Translation: X:188.32, Y:-39.89, Z:-4.79 [[ 9.65677196e-01 2.59106388e-01 1.82053007e-02 1.88324344e+02] [-2.59063283e-01 9.65848776e-01 -4.72844927e-03 -3.98908938e+01] [-1.88087388e-02 -1.50169349e-04 9.99823089e-01 -4.78543662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.428623853 meters 0.016672144333820478 Centerline is valid? [True, True] Translation: X:188.35, Y:-39.90, Z:-4.79 [[ 9.66239131e-01 2.57002678e-01 1.82089523e-02 1.88350924e+02] [-2.56959199e-01 9.66410685e-01 -4.72853082e-03 -3.98990319e+01] [-1.88125711e-02 -1.10066280e-04 9.99823022e-01 -4.78600748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.458623853 meters 0.015961831338509595 Centerline is valid? [True, True] Translation: X:188.38, Y:-39.91, Z:-4.79 [[ 9.66767254e-01 2.54997290e-01 1.83700637e-02 1.88378171e+02] [-2.54952700e-01 9.66941765e-01 -4.76909707e-03 -3.99076277e+01] [-1.89788887e-02 -7.28904592e-05 9.99819882e-01 -4.78626686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.488623853 meters 0.015264423107248988 Centerline is valid? [True, True] Translation: X:188.40, Y:-39.92, Z:-4.79 [[ 9.67865627e-01 2.50749675e-01 1.89928469e-02 1.88404110e+02] [-2.50701210e-01 9.68051962e-01 -4.92981380e-03 -3.99171050e+01] [-1.96222119e-02 9.86762778e-06 9.99807466e-01 -4.78664306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.518623853 meters 0.0155659442372568 Centerline is valid? [True, True] Translation: X:188.43, Y:-39.93, Z:-4.79 [[ 9.68461599e-01 2.48410079e-01 1.93536586e-02 1.88431608e+02] [-2.48359314e-01 9.68654959e-01 -5.02211598e-03 -3.99263519e+01] [-1.99945616e-02 5.70651052e-05 9.99800087e-01 -4.78742302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.548623853 meters 0.01651082889083155 Centerline is valid? [True, True] Translation: X:188.46, Y:-39.94, Z:-4.79 [[ 9.69120061e-01 2.45822304e-01 1.94345771e-02 1.88457844e+02] [-2.45770612e-01 9.69314904e-01 -5.04216086e-03 -3.99361102e+01] [-2.00777009e-02 1.10011312e-04 9.99798417e-01 -4.78827143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.578623853 meters 0.02010126010454067 Centerline is valid? [True, True] Translation: X:188.48, Y:-39.95, Z:-4.79 [[ 9.70545918e-01 2.40161913e-01 1.90493031e-02 1.88483972e+02] [-2.40111185e-01 9.70732819e-01 -4.94086576e-03 -3.99499143e+01] [-1.96783915e-02 2.21386351e-04 9.99806337e-01 -4.79058658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.608623853 meters 0.02277266932188542 Centerline is valid? [True, True] Translation: X:188.51, Y:-39.96, Z:-4.79 [[ 9.71264211e-01 2.37266515e-01 1.87198776e-02 1.88510800e+02] [-2.37217002e-01 9.71444556e-01 -4.85472740e-03 -3.99615728e+01] [-1.93371874e-02 2.74549739e-04 9.99812981e-01 -4.79253048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.638623853 meters 0.025128863386929896 Centerline is valid? [True, True] Translation: X:188.54, Y:-39.97, Z:-4.79 [[ 9.71966775e-01 2.34410373e-01 1.82308820e-02 1.88538904e+02] [-2.34362927e-01 9.72137682e-01 -4.72710136e-03 -3.99729845e+01] [-1.88310089e-02 3.21942611e-04 9.99822629e-01 -4.79393542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.668623853 meters 0.026972556967217946 Centerline is valid? [True, True] Translation: X:188.57, Y:-39.98, Z:-4.79 [[ 9.72608178e-01 2.31735420e-01 1.82215902e-02 1.88567472e+02] [-2.31687558e-01 9.72778781e-01 -4.72438998e-03 -3.99839295e+01] [-1.88203848e-02 3.73264614e-04 9.99822811e-01 -4.79430578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.69862385300002 meters 0.032175008138452026 Centerline is valid? [True, True] Translation: X:188.59, Y:-40.00, Z:-4.79 [[ 9.73698718e-01 2.27066225e-01 1.87546367e-02 1.88594685e+02] [-2.27014656e-01 9.73879203e-01 -4.86252491e-03 -3.99992161e+01] [-1.93688658e-02 4.77056864e-04 9.99812292e-01 -4.79450843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72862385300002 meters 0.0341610948196538 Centerline is valid? [True, True] Translation: X:188.63, Y:-40.01, Z:-4.80 [[ 9.74177571e-01 2.24995830e-01 1.88397764e-02 1.88625060e+02] [-2.24943404e-01 9.74359587e-01 -4.88463270e-03 -4.00108530e+01] [-1.94557387e-02 5.20616190e-04 9.99810584e-01 -4.79523682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75862385300002 meters 0.03594641905850235 Centerline is valid? [True, True] Translation: X:188.65, Y:-40.02, Z:-4.80 [[ 9.74541696e-01 2.23392774e-01 1.90827333e-02 1.88654713e+02] [-2.23338672e-01 9.74728349e-01 -4.94800579e-03 -4.00225691e+01] [-1.97058299e-02 5.60125634e-04 9.99805664e-01 -4.79538058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78862385300002 meters 0.03771690480957845 Centerline is valid? [True, True] Translation: X:188.68, Y:-40.04, Z:-4.79 [[ 9.75116442e-01 2.20820635e-01 1.96512572e-02 1.88684304e+02] [-2.20762662e-01 9.75314229e-01 -5.09922529e-03 -4.00359561e+01] [-2.02921650e-02 6.34074568e-04 9.99793892e-01 -4.79470497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81862385300002 meters 0.03989124892135186 Centerline is valid? [True, True] Translation: X:188.71, Y:-40.05, Z:-4.80 [[ 9.75243212e-01 2.20279001e-01 1.94380788e-02 1.88713203e+02] [-2.20222163e-01 9.75436699e-01 -5.04430644e-03 -4.00478953e+01] [-2.00717702e-02 6.38729862e-04 9.99798338e-01 -4.79572356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84862385300002 meters 0.04039712179718999 Centerline is valid? [True, True] Translation: X:188.74, Y:-40.06, Z:-4.80 [[ 9.75306098e-01 2.20009204e-01 1.93381761e-02 1.88743394e+02] [-2.19952827e-01 9.75497583e-01 -5.02184717e-03 -4.00576508e+01] [-1.99691967e-02 6.44351676e-04 9.99800388e-01 -4.79619825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.87862385300002 meters 0.03946123706807567 Centerline is valid? [True, True] Translation: X:188.77, Y:-40.07, Z:-4.80 [[ 9.75243684e-01 2.20244789e-01 1.97987166e-02 1.88774999e+02] [-2.20185714e-01 9.75444413e-01 -5.14287359e-03 -4.00662954e+01] [-2.04452386e-02 6.56160438e-04 9.99790759e-01 -4.79642996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90862385300002 meters 0.04115655574378053 Centerline is valid? [True, True] Translation: X:188.81, Y:-40.08, Z:-4.79 [[ 9.75070201e-01 2.20969907e-01 2.02584288e-02 1.88806288e+02] [-2.20908125e-01 9.75280403e-01 -5.26650125e-03 -4.00760302e+01] [-2.09213869e-02 6.59956917e-04 9.99780906e-01 -4.78979989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.93862385300002 meters 0.03811745170855806 Centerline is valid? [True, True] Translation: X:188.84, Y:-40.08, Z:-4.80 [[ 9.74800424e-01 2.22111034e-01 2.07562569e-02 1.88836513e+02] [-2.22046355e-01 9.75021159e-01 -5.39962812e-03 -4.00848493e+01] [-2.14371067e-02 6.54708576e-04 9.99769984e-01 -4.79648592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96862385300003 meters 0.03667389678906199 Centerline is valid? [True, True] Translation: X:188.87, Y:-40.09, Z:-4.80 [[ 9.74559778e-01 2.23174621e-01 2.06477109e-02 1.88867810e+02] [-2.23110780e-01 9.74778277e-01 -5.37493929e-03 -4.00921448e+01] [-2.13264901e-02 6.31472745e-04 9.99772365e-01 -4.79707751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.99862385300003 meters 0.033128946800057256 Centerline is valid? [True, True] Translation: X:188.90, Y:-40.10, Z:-4.80 [[ 9.74269173e-01 2.24430734e-01 2.07466461e-02 1.88899566e+02] [-2.24366487e-01 9.74489853e-01 -5.40427586e-03 -4.00968790e+01] [-2.14302817e-02 6.10367261e-04 9.99770159e-01 -4.79745228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02862385300003 meters 0.034648961766613605 Centerline is valid? [True, True] Translation: X:188.93, Y:-40.11, Z:-4.80 [[ 9.73532025e-01 2.27654286e-01 2.02218067e-02 1.88928030e+02] [-2.27593856e-01 9.73741878e-01 -5.27175515e-03 -4.01101807e+01] [-2.08909576e-02 5.29863521e-04 9.99781620e-01 -4.79981738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.05862385300003 meters 0.03204577756617553 Centerline is valid? [True, True] Translation: X:188.96, Y:-40.12, Z:-4.80 [[ 9.73046157e-01 2.29726219e-01 2.01752457e-02 1.88959766e+02] [-2.29666513e-01 9.73255172e-01 -5.25954163e-03 -4.01159899e+01] [-2.08439169e-02 4.84198433e-04 9.99782625e-01 -4.80089749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.088623853 meters 0.027258224291412902 Centerline is valid? [True, True] Translation: X:188.99, Y:-40.12, Z:-4.80 [[ 9.72524791e-01 2.31955963e-01 1.97980340e-02 1.88992047e+02] [-2.31898865e-01 9.72726192e-01 -5.16443214e-03 -4.01181750e+01] [-2.04559871e-02 4.31396667e-04 9.99790661e-01 -4.80093613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.118623853 meters 0.024932437561138512 Centerline is valid? [True, True] Translation: X:189.02, Y:-40.13, Z:-4.80 [[ 9.71609161e-01 2.35773674e-01 1.96574110e-02 1.89021602e+02] [-2.35718077e-01 9.71807929e-01 -5.13206525e-03 -4.01253707e+01] [-2.03132337e-02 3.52754502e-04 9.99793603e-01 -4.80249944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.148623853 meters 0.02371081327330431 Centerline is valid? [True, True] Translation: X:189.05, Y:-40.13, Z:-4.80 [[ 9.71180650e-01 2.37540376e-01 1.95631116e-02 1.89051654e+02] [-2.37485672e-01 9.71377615e-01 -5.10728014e-03 -4.01335409e+01] [-2.02163540e-02 3.14132939e-04 9.99795579e-01 -4.80361255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.178623853 meters 0.023771806206722403 Centerline is valid? [True, True] Translation: X:189.08, Y:-40.14, Z:-4.81 [[ 9.70867983e-01 2.38827062e-01 1.94163129e-02 1.89080359e+02] [-2.38773391e-01 9.71062074e-01 -5.07106341e-03 -4.01429176e+01] [-2.00655523e-02 2.87234226e-04 9.99798625e-01 -4.80524328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.208623853 meters 0.027404541525286163 Centerline is valid? [True, True] Translation: X:189.11, Y:-40.15, Z:-4.80 [[ 9.70385383e-01 2.40783019e-01 1.93841684e-02 1.89112436e+02] [-2.40729901e-01 9.70578939e-01 -5.06338591e-03 -4.01482193e+01] [-2.00330430e-02 2.47086716e-04 9.99799288e-01 -4.79807317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.238623853 meters 0.020746227544259397 Centerline is valid? [True, True] Translation: X:189.14, Y:-40.16, Z:-4.81 [[ 9.70108438e-01 2.41868694e-01 1.97269627e-02 1.89141912e+02] [-2.41813823e-01 9.70308962e-01 -5.15695096e-03 -4.01591749e+01] [-2.03885537e-02 2.32549379e-04 9.99792105e-01 -4.80590313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.268623853 meters 0.01961210537974618 Centerline is valid? [True, True] Translation: X:189.17, Y:-40.17, Z:-4.81 [[ 9.69987140e-01 2.42328514e-01 2.00459368e-02 1.89172344e+02] [-2.42271902e-01 9.70194227e-01 -5.24278820e-03 -4.01668089e+01] [-2.07189292e-02 2.28869899e-04 9.99785314e-01 -4.80605391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.298623853 meters 0.019282008864445088 Centerline is valid? [True, True] Translation: X:189.20, Y:-40.18, Z:-4.81 [[ 9.69838933e-01 2.42931499e-01 1.99181168e-02 1.89202154e+02] [-2.42875723e-01 9.70043422e-01 -5.20986059e-03 -4.01757944e+01] [-2.05870774e-02 2.15098616e-04 9.99788041e-01 -4.80712104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.328623853 meters 0.018416120741713702 Centerline is valid? [True, True] Translation: X:189.23, Y:-40.19, Z:-4.81 [[ 9.69529096e-01 2.44194113e-01 1.95593289e-02 1.89232849e+02] [-2.44140590e-01 9.69726354e-01 -5.11576503e-03 -4.01872215e+01] [-2.02164364e-02 1.84656931e-04 9.99795610e-01 -4.80864608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.358623853 meters 0.018689154918043904 Centerline is valid? [True, True] Translation: X:189.26, Y:-40.20, Z:-4.81 [[ 9.69322649e-01 2.45039929e-01 1.92102867e-02 1.89262170e+02] [-2.44988398e-01 9.69512973e-01 -5.02789276e-03 -4.01977812e+01] [-1.98566566e-02 1.67352974e-04 9.99802823e-01 -4.81085700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.388623853 meters 0.017485359626314596 Centerline is valid? [True, True] Translation: X:189.29, Y:-40.21, Z:-4.81 [[ 9.69118556e-01 2.45848987e-01 1.91702630e-02 1.89294191e+02] [-2.45797770e-01 9.69308131e-01 -5.02036078e-03 -4.02055070e+01] [-1.98161424e-02 1.53316881e-04 9.99803629e-01 -4.81088142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.418623853 meters 0.017343880777435917 Centerline is valid? [True, True] Translation: X:189.32, Y:-40.21, Z:-4.81 [[ 9.68848354e-01 2.46932037e-01 1.89059973e-02 1.89323550e+02] [-2.46882349e-01 9.69032792e-01 -4.95526186e-03 -4.02148420e+01] [-1.95441443e-02 1.33340269e-04 9.99808986e-01 -4.81246048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44862385300002 meters 0.016515783363788904 Centerline is valid? [True, True] Translation: X:189.35, Y:-40.22, Z:-4.81 [[ 9.68406480e-01 2.48669749e-01 1.87682164e-02 1.89353370e+02] [-2.48621032e-01 9.68588326e-01 -4.92310211e-03 -4.02235740e+01] [-1.94029019e-02 1.01390668e-04 9.99811741e-01 -4.81360518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47862385300002 meters 0.016184134609468888 Centerline is valid? [True, True] Translation: X:189.38, Y:-40.23, Z:-4.81 [[ 9.68133596e-01 2.49739929e-01 1.86362284e-02 1.89382462e+02] [-2.49692082e-01 9.68312946e-01 -4.88901759e-03 -4.02313881e+01] [-1.92666841e-02 7.99035116e-05 9.99814377e-01 -4.81473915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50862385300002 meters 0.01569867176466969 Centerline is valid? [True, True] Translation: X:189.41, Y:-40.24, Z:-4.82 [[ 9.67869744e-01 2.50754384e-01 1.87189156e-02 1.89412962e+02] [-2.50706299e-01 9.68050740e-01 -4.91087566e-03 -4.02396620e+01] [-1.93522837e-02 6.01379278e-05 9.99812725e-01 -4.81544233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53862385300002 meters 0.015439586924674398 Centerline is valid? [True, True] Translation: X:189.44, Y:-40.25, Z:-4.82 [[ 9.67370645e-01 2.52675932e-01 1.86791034e-02 1.89442246e+02] [-2.52628397e-01 9.67550966e-01 -4.90104160e-03 -4.02482685e+01] [-1.93113598e-02 2.22518191e-05 9.99813518e-01 -4.81653438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56862385300002 meters 0.01529950801893996 Centerline is valid? [True, True] Translation: X:189.47, Y:-40.26, Z:-4.82 [[ 9.67143206e-01 2.53545111e-01 1.86787531e-02 1.89472771e+02] [-2.53497759e-01 9.67323564e-01 -4.89994106e-03 -4.02568420e+01] [-1.93107541e-02 3.92264555e-06 9.99813530e-01 -4.81703883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59862385300002 meters 0.015384575639866156 Centerline is valid? [True, True] Translation: X:189.50, Y:-40.27, Z:-4.82 [[ 9.66949354e-01 2.54274044e-01 1.88058018e-02 1.89501974e+02] [-2.54226105e-01 9.67132209e-01 -4.93731618e-03 -4.02651257e+01] [-1.94431280e-02 -6.79103376e-06 9.99810964e-01 -4.81820722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62862385300002 meters 0.022545250823044205 Centerline is valid? [True, True] Translation: X:189.53, Y:-40.27, Z:-4.81 [[ 9.66880341e-01 2.54540303e-01 1.87520807e-02 1.89531621e+02] [-2.54492665e-01 9.67062167e-01 -4.92433159e-03 -4.02736497e+01] [-1.93878686e-02 -1.10275938e-05 9.99812038e-01 -4.81337559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.65862385300002 meters 0.015452075279229139 Centerline is valid? [True, True] Translation: X:189.56, Y:-40.28, Z:-4.82 [[ 9.66654561e-01 2.55343947e-01 1.94532382e-02 1.89561366e+02] [-2.55292816e-01 9.66850282e-01 -5.10980145e-03 -4.02848755e+01] [-2.01131257e-02 -2.68590651e-05 9.99797710e-01 -4.81945288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68862385300002 meters 0.015209393141275541 Centerline is valid? [True, True] Translation: X:189.59, Y:-40.29, Z:-4.82 [[ 9.66649436e-01 2.55348738e-01 1.96441064e-02 1.89591087e+02] [-2.55296590e-01 9.66849017e-01 -5.16042213e-03 -4.02940691e+01] [-2.03105922e-02 -2.67542319e-05 9.99793718e-01 -4.81962188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.71862385300003 meters 0.015234934099827428 Centerline is valid? [True, True] Translation: X:189.62, Y:-40.30, Z:-4.82 [[ 9.66595896e-01 2.55526257e-01 1.99676391e-02 1.89621338e+02] [-2.55472418e-01 9.66802116e-01 -5.24525855e-03 -4.03038205e+01] [-2.06450570e-02 -3.11356613e-05 9.99786868e-01 -4.81951350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74862385300003 meters 0.018575035345659463 Centerline is valid? [True, True] Translation: X:189.65, Y:-40.31, Z:-4.82 [[ 9.66497875e-01 2.55904609e-01 1.98667872e-02 1.89652491e+02] [-2.55851321e-01 9.66702038e-01 -5.22223996e-03 -4.03128272e+01] [-2.05416590e-02 -3.56599250e-05 9.99788997e-01 -4.81566808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.77862385300003 meters 0.015342184698238136 Centerline is valid? [True, True] Translation: X:189.68, Y:-40.32, Z:-4.82 [[ 9.66191436e-01 2.57035904e-01 2.01656674e-02 1.89683883e+02] [-2.56981173e-01 9.66401853e-01 -5.30430204e-03 -4.03224062e+01] [-2.08515344e-02 -5.72256722e-05 9.99782581e-01 -4.82036546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80862385300003 meters 0.015455938135785255 Centerline is valid? [True, True] Translation: X:189.72, Y:-40.33, Z:-4.82 [[ 9.65999551e-01 2.57761834e-01 2.00924229e-02 1.89715260e+02] [-2.57707572e-01 9.66208483e-01 -5.28914821e-03 -4.03307874e+01] [-2.07768100e-02 -6.86547078e-05 9.99784136e-01 -4.82172424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.838623853 meters 0.016415730544066483 Centerline is valid? [True, True] Translation: X:189.75, Y:-40.34, Z:-4.83 [[ 9.65600327e-01 2.59312230e-01 1.93177569e-02 1.89745266e+02] [-2.59262300e-01 9.65793538e-01 -5.08931406e-03 -4.03369397e+01] [-1.99766862e-02 -9.41227682e-05 9.99800442e-01 -4.82511369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.868623853 meters 0.016203324603234127 Centerline is valid? [True, True] Translation: X:189.78, Y:-40.35, Z:-4.82 [[ 9.65431275e-01 2.59927156e-01 1.95019632e-02 1.89776447e+02] [-2.59876343e-01 9.65628222e-01 -5.14044577e-03 -4.03461231e+01] [-2.01677875e-02 -1.05351750e-04 9.99796604e-01 -4.82482808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.898623853 meters 0.016203324603234127 Centerline is valid? [True, True] Translation: X:189.81, Y:-40.35, Z:-4.83 [[ 9.65388227e-01 2.60087057e-01 1.95011121e-02 1.89807016e+02] [-2.60036210e-01 9.65585166e-01 -5.14367202e-03 -4.03543323e+01] [-2.01677871e-02 -1.05354883e-04 9.99796604e-01 -4.82562486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.928623853 meters 0.016654260547784672 Centerline is valid? [True, True] Translation: X:189.84, Y:-40.36, Z:-4.83 [[ 9.65224355e-01 2.60721929e-01 1.91316563e-02 1.89837279e+02] [-2.60673050e-01 9.65413933e-01 -5.04960041e-03 -4.03621098e+01] [-1.97865092e-02 -1.13109904e-04 9.99804221e-01 -4.82779421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.958623853 meters 0.01649341607875343 Centerline is valid? [True, True] Translation: X:189.87, Y:-40.37, Z:-4.83 [[ 9.65273155e-01 2.60537374e-01 1.91836472e-02 1.89867568e+02] [-2.60488116e-01 9.65463757e-01 -5.06718480e-03 -4.03715242e+01] [-1.98413072e-02 -1.05894658e-04 9.99803136e-01 -4.82852483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.988623853 meters 0.026306553221309818 Centerline is valid? [True, True] Translation: X:189.90, Y:-40.38, Z:-4.82 [[ 9.65382348e-01 2.60135838e-01 1.91381099e-02 1.89897424e+02] [-2.60086738e-01 9.65572025e-01 -5.05492419e-03 -4.03801598e+01] [-1.97941904e-02 -9.76339785e-05 9.99804071e-01 -4.82259719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.018623853 meters 0.026168153413374723 Centerline is valid? [True, True] Translation: X:189.93, Y:-40.39, Z:-4.82 [[ 9.65581078e-01 2.59354198e-01 1.97124810e-02 1.89927316e+02] [-2.59301877e-01 9.65782270e-01 -5.20989269e-03 -4.03913513e+01] [-2.03891722e-02 -8.09095172e-05 9.99792116e-01 -4.82250004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.048623853 meters 0.015805475684326584 Centerline is valid? [True, True] Translation: X:189.96, Y:-40.40, Z:-4.83 [[ 9.65698715e-01 2.58880361e-01 2.01729969e-02 1.89956945e+02] [-2.58825388e-01 9.65909392e-01 -5.33525976e-03 -4.04015710e+01] [-2.08664811e-02 -6.90302372e-05 9.99782269e-01 -4.83030528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.078623853 meters 0.015689893057743588 Centerline is valid? [True, True] Translation: X:189.99, Y:-40.41, Z:-4.83 [[ 9.65864738e-01 2.58260915e-01 2.01645317e-02 1.89987777e+02] [-2.58205777e-01 9.66075203e-01 -5.33667161e-03 -4.04121562e+01] [-2.08587077e-02 -5.20956386e-05 9.99782432e-01 -4.83125026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.108623853 meters 0.01537234852833243 Centerline is valid? [True, True] Translation: X:190.02, Y:-40.42, Z:-4.83 [[ 9.66199252e-01 2.56973910e-01 2.05770675e-02 1.90018969e+02] [-2.56916183e-01 9.66418341e-01 -5.44663262e-03 -4.04242094e+01] [-2.12856979e-02 -2.40492920e-05 9.99773434e-01 -4.83173068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.138623853 meters 0.015263399723877427 Centerline is valid? [True, True] Translation: X:190.05, Y:-40.43, Z:-4.83 [[ 9.66382301e-01 2.56260188e-01 2.08797746e-02 1.90050016e+02] [-2.56200494e-01 9.66607840e-01 -5.53090860e-03 -4.04346458e+01] [-2.15999055e-02 -4.43639229e-06 9.99766695e-01 -4.83155849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.168623853 meters 0.015369531077295823 Centerline is valid? [True, True] Translation: X:190.08, Y:-40.45, Z:-4.83 [[ 9.66561703e-01 2.55564252e-01 2.11042172e-02 1.90079897e+02] [-2.55503002e-01 9.66792073e-01 -5.59493921e-03 -4.04450631e+01] [-2.18332564e-02 1.56631189e-05 9.99761626e-01 -4.83233531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.19862385300002 meters 0.015380693065158936 Centerline is valid? [True, True] Translation: X:190.11, Y:-40.46, Z:-4.83 [[ 9.66707398e-01 2.54969581e-01 2.16175670e-02 1.90111284e+02] [-2.54905068e-01 9.66949074e-01 -5.73538943e-03 -4.04560997e+01] [-2.23654362e-02 3.40160127e-05 9.99749862e-01 -4.83251790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22862385300002 meters 0.01585318336827988 Centerline is valid? [True, True] Translation: X:190.14, Y:-40.47, Z:-4.83 [[ 9.67078690e-01 2.53595651e-01 2.11672578e-02 1.90141089e+02] [-2.53533374e-01 9.67310313e-01 -5.62024971e-03 -4.04679660e+01] [-2.19005777e-02 6.86174379e-05 9.99760151e-01 -4.83404649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.25862385300002 meters 0.016264271295358877 Centerline is valid? [True, True] Translation: X:190.17, Y:-40.48, Z:-4.84 [[ 9.67195171e-01 2.53159352e-01 2.10675780e-02 1.90171682e+02] [-2.53097468e-01 9.67424589e-01 -5.59783980e-03 -4.04786385e+01] [-2.17984384e-02 8.20529788e-05 9.99762382e-01 -4.83635855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28862385300002 meters 0.01611805933551156 Centerline is valid? [True, True] Translation: X:190.20, Y:-40.49, Z:-4.84 [[ 9.67286366e-01 2.52823456e-01 2.09137686e-02 1.90203666e+02] [-2.52762311e-01 9.67512424e-01 -5.56083431e-03 -4.04870738e+01] [-2.16402403e-02 9.27067480e-05 9.99765818e-01 -4.83626221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.31862385300002 meters 0.016444267353125052 Centerline is valid? [True, True] Translation: X:190.23, Y:-40.50, Z:-4.84 [[ 9.67352622e-01 2.52561995e-01 2.10081715e-02 1.90234321e+02] [-2.52500138e-01 9.67580709e-01 -5.59035806e-03 -4.04973154e+01] [-2.17390134e-02 1.03281324e-04 9.99763674e-01 -4.83713248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34862385300002 meters 0.016934381621004597 Centerline is valid? [True, True] Translation: X:190.26, Y:-40.51, Z:-4.84 [[ 9.67543606e-01 2.51828737e-01 2.10156466e-02 1.90264240e+02] [-2.51766574e-01 9.67771808e-01 -5.59645069e-03 -4.05094798e+01] [-2.17476974e-02 1.23772729e-04 9.99763483e-01 -4.83856914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.37862385300002 meters 0.016695595930201947 Centerline is valid? [True, True] Translation: X:190.30, Y:-40.52, Z:-4.84 [[ 9.67583626e-01 2.51638665e-01 2.14455061e-02 1.90295908e+02] [-2.51573796e-01 9.67821246e-01 -5.71497634e-03 -4.05187553e+01] [-2.21935255e-02 1.34590143e-04 9.99753684e-01 -4.83843499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40862385300002 meters 0.016977514209964517 Centerline is valid? [True, True] Translation: X:190.33, Y:-40.53, Z:-4.84 [[ 9.67610354e-01 2.51522450e-01 2.16023226e-02 1.90326413e+02] [-2.51456497e-01 9.67851454e-01 -5.76136245e-03 -4.05287932e+01] [-2.23569514e-02 1.42709590e-04 9.99750042e-01 -4.83871648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.43862385300002 meters 0.01712766048784812 Centerline is valid? [True, True] Translation: X:190.36, Y:-40.54, Z:-4.84 [[ 9.67626235e-01 2.51447693e-01 2.17606555e-02 1.90357034e+02] [-2.51380655e-01 9.67870877e-01 -5.80786533e-03 -4.05386132e+01] [-2.25218791e-02 1.49635043e-04 9.99746339e-01 -4.83934918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46862385300003 meters 0.016974721710936225 Centerline is valid? [True, True] Translation: X:190.39, Y:-40.55, Z:-4.84 [[ 9.67565878e-01 2.51650141e-01 2.21015478e-02 1.90388284e+02] [-2.51580940e-01 9.67818260e-01 -5.90316426e-03 -4.05475016e+01] [-2.28758137e-02 1.51372139e-04 9.99738303e-01 -4.83987948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.49862385300003 meters 0.016898986310343044 Centerline is valid? [True, True] Translation: X:190.42, Y:-40.56, Z:-4.84 [[ 9.67450988e-01 2.52102936e-01 2.19703403e-02 1.90418502e+02] [-2.52034566e-01 9.67700413e-01 -5.87267890e-03 -4.05566655e+01] [-2.27412270e-02 1.44243798e-04 9.99741374e-01 -4.84119474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52862385300003 meters 0.016769436881385033 Centerline is valid? [True, True] Translation: X:190.45, Y:-40.57, Z:-4.84 [[ 9.67356755e-01 2.52458958e-01 2.20314072e-02 1.90449783e+02] [-2.52390203e-01 9.67607594e-01 -5.89326524e-03 -4.05659946e+01] [-2.28055645e-02 1.40378601e-04 9.99739909e-01 -4.84216256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.55862385300003 meters 0.02349362738368322 Centerline is valid? [True, True] Translation: X:190.48, Y:-40.57, Z:-4.84 [[ 9.67212987e-01 2.53034708e-01 2.17364932e-02 1.90481812e+02] [-2.52967829e-01 9.67457193e-01 -5.81874957e-03 -4.05742929e+01] [-2.25014723e-02 1.29336654e-04 9.99746801e-01 -4.83701609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.588623853 meters 0.015898250282018207 Centerline is valid? [True, True] Translation: X:190.51, Y:-40.58, Z:-4.84 [[ 9.66823716e-01 2.54462971e-01 2.23718341e-02 1.90513410e+02] [-2.54392396e-01 9.67082512e-01 -5.99360393e-03 -4.05814687e+01] [-2.31605597e-02 1.03533961e-04 9.99731753e-01 -4.84348257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.618623853 meters 0.015886986958360376 Centerline is valid? [True, True] Translation: X:190.54, Y:-40.59, Z:-4.84 [[ 9.66555799e-01 2.55501574e-01 2.21095780e-02 1.90544392e+02] [-2.55432823e-01 9.66808636e-01 -5.92738550e-03 -4.05896821e+01] [-2.28901873e-02 8.16368933e-05 9.99737982e-01 -4.84489008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.648623853 meters 0.015642027957420344 Centerline is valid? [True, True] Translation: X:190.58, Y:-40.60, Z:-4.85 [[ 9.66324008e-01 2.56357350e-01 2.23343091e-02 1.90576780e+02] [-2.56287319e-01 9.66582073e-01 -5.99210733e-03 -4.05973540e+01] [-2.31240635e-02 6.63169748e-05 9.99732601e-01 -4.84587751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.678623853 meters 0.01548735704998679 Centerline is valid? [True, True] Translation: X:190.61, Y:-40.60, Z:-4.85 [[ 9.66004816e-01 2.57574720e-01 2.21350138e-02 1.90607723e+02] [-2.57506149e-01 9.66258383e-01 -5.94314403e-03 -4.06047080e+01] [-2.29189463e-02 4.12035792e-05 9.99737326e-01 -4.84740129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.708623853 meters 0.015219143194065315 Centerline is valid? [True, True] Translation: X:190.64, Y:-40.61, Z:-4.85 [[ 9.65507360e-01 2.59465300e-01 2.17553712e-02 1.90639897e+02] [-2.59399451e-01 9.65752431e-01 -5.84526768e-03 -4.06107774e+01] [-2.25269468e-02 3.17633559e-07 9.99746236e-01 -4.84922130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.738623853 meters 0.015225758975557377 Centerline is valid? [True, True] Translation: X:190.67, Y:-40.62, Z:-4.85 [[ 9.65281014e-01 2.60304767e-01 2.17713747e-02 1.90671515e+02] [-2.60238938e-01 9.65526503e-01 -5.85382183e-03 -4.06187286e+01] [-2.25446170e-02 -1.51763554e-05 9.99745838e-01 -4.85046639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.768623853 meters 0.015340585829847308 Centerline is valid? [True, True] Translation: X:190.70, Y:-40.63, Z:-4.85 [[ 9.65081850e-01 2.61062791e-01 2.15230665e-02 1.90702649e+02] [-2.60998548e-01 9.65321821e-01 -5.79137184e-03 -4.06267903e+01] [-2.22885975e-02 -2.83412585e-05 9.99751578e-01 -4.85167908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.798623853 meters 0.015359555330293016 Centerline is valid? [True, True] Translation: X:190.73, Y:-40.63, Z:-4.85 [[ 9.64885881e-01 2.61787066e-01 2.15120621e-02 1.90734312e+02] [-2.61722979e-01 9.65125655e-01 -5.79241910e-03 -4.06349178e+01] [-2.22782234e-02 -4.11775518e-05 9.99751809e-01 -4.85218793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.828623853 meters 0.015400841185967495 Centerline is valid? [True, True] Translation: X:190.77, Y:-40.64, Z:-4.85 [[ 9.64538708e-01 2.63031511e-01 2.18975841e-02 1.90766419e+02] [-2.62965323e-01 9.64787241e-01 -5.90076827e-03 -4.06412298e+01] [-2.26785978e-02 -6.67858866e-05 9.99742805e-01 -4.85241323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.858623853 meters 0.01592026601029035 Centerline is valid? [True, True] Translation: X:190.80, Y:-40.65, Z:-4.85 [[ 9.64282235e-01 2.63953052e-01 2.21033538e-02 1.90798093e+02] [-2.63885747e-01 9.64535525e-01 -5.96095421e-03 -4.06474027e+01] [-2.28928820e-02 -8.47177855e-05 9.99737920e-01 -4.85342078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.888623853 meters 0.015845746134240977 Centerline is valid? [True, True] Translation: X:190.83, Y:-40.66, Z:-4.85 [[ 9.64049268e-01 2.64783882e-01 2.23272247e-02 1.90830521e+02] [-2.64715368e-01 9.64307775e-01 -6.02403739e-03 -4.06556165e+01] [-2.31253844e-02 -1.02890664e-04 9.99732567e-01 -4.85361485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.918623853 meters 0.016442194678844786 Centerline is valid? [True, True] Translation: X:190.86, Y:-40.66, Z:-4.86 [[ 9.63618609e-01 2.66359137e-01 2.21807511e-02 1.90862070e+02] [-2.66291832e-01 9.63873846e-01 -5.98901327e-03 -4.06610343e+01] [-2.29746743e-02 -1.35428205e-04 9.99736038e-01 -4.85513736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94862385300002 meters 0.01695091950331737 Centerline is valid? [True, True] Translation: X:190.89, Y:-40.67, Z:-4.86 [[ 9.63332386e-01 2.67418287e-01 2.18671899e-02 1.90893653e+02] [-2.67353052e-01 9.63580529e-01 -5.90841901e-03 -4.06672872e+01] [-2.26508177e-02 -1.54488592e-04 9.99743425e-01 -4.85646843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.97862385300002 meters 0.016766353882165155 Centerline is valid? [True, True] Translation: X:190.93, Y:-40.67, Z:-4.86 [[ 9.63147066e-01 2.68083979e-01 2.18794118e-02 1.90926170e+02] [-2.68018752e-01 9.63395533e-01 -5.91575459e-03 -4.06749941e+01] [-2.26644466e-02 -1.66350965e-04 9.99743115e-01 -4.85746292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00862385300002 meters 0.0174389196450369 Centerline is valid? [True, True] Translation: X:190.96, Y:-40.68, Z:-4.86 [[ 9.62948773e-01 2.68820511e-01 2.15683409e-02 1.90957593e+02] [-2.68757210e-01 9.63190273e-01 -5.83610442e-03 -4.06803433e+01] [-2.23432807e-02 -1.76777540e-04 9.99750342e-01 -4.85920673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.03862385300002 meters 0.017793478182005194 Centerline is valid? [True, True] Translation: X:190.99, Y:-40.69, Z:-4.86 [[ 9.62833257e-01 2.69238905e-01 2.15065365e-02 1.90988064e+02] [-2.69175977e-01 9.63073403e-01 -5.82363687e-03 -4.06866426e+01] [-2.22803229e-02 -1.81851713e-04 9.99751746e-01 -4.86049400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06862385300002 meters 0.01787378546736986 Centerline is valid? [True, True] Translation: X:191.02, Y:-40.69, Z:-4.86 [[ 9.62621100e-01 2.69979776e-01 2.17149328e-02 1.91019371e+02] [-2.69915732e-01 9.62865973e-01 -5.88353968e-03 -4.06923753e+01] [-2.24970066e-02 -1.97582549e-04 9.99746891e-01 -4.86116890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.09862385300002 meters 0.01773940907113027 Centerline is valid? [True, True] Translation: X:191.05, Y:-40.70, Z:-4.86 [[ 9.62555647e-01 2.70195865e-01 2.19276213e-02 1.91051042e+02] [-2.70130530e-01 9.62805356e-01 -5.94496858e-03 -4.07002449e+01] [-2.27183372e-02 -2.00956890e-04 9.99741885e-01 -4.86188503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12862385300002 meters 0.017801175100708885 Centerline is valid? [True, True] Translation: X:191.08, Y:-40.71, Z:-4.86 [[ 9.62452826e-01 2.70566236e-01 2.18739536e-02 1.91083304e+02] [-2.70501216e-01 9.62701340e-01 -5.93483179e-03 -4.07079422e+01] [-2.26638496e-02 -2.04935445e-04 9.99743121e-01 -4.86269184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.15862385300002 meters 0.03012715599493832 Centerline is valid? [True, True] Translation: X:191.12, Y:-40.71, Z:-4.86 [[ 9.62468384e-01 2.70570315e-01 2.11261440e-02 1.91115178e+02] [-2.70509574e-01 9.62700196e-01 -5.73614151e-03 -4.07146034e+01] [-2.18901726e-02 -1.93969349e-04 9.99760363e-01 -4.85625872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18862385300002 meters 0.017438016177131983 Centerline is valid? [True, True] Translation: X:191.15, Y:-40.72, Z:-4.86 [[ 9.62753965e-01 2.69496683e-01 2.18252306e-02 1.91145031e+02] [-2.69431485e-01 9.63001302e-01 -5.93014501e-03 -4.07219297e+01] [-2.26158799e-02 -1.71133669e-04 9.99744214e-01 -4.86481337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.21862385300003 meters 0.016680978331450765 Centerline is valid? [True, True] Translation: X:191.18, Y:-40.73, Z:-4.87 [[ 9.62963739e-01 2.68726538e-01 2.20654631e-02 1.91176007e+02] [-2.68659646e-01 9.63216499e-01 -5.99749204e-03 -4.07304933e+01] [-2.28655034e-02 -1.52732133e-04 9.99738539e-01 -4.86523741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.24862385300003 meters 0.016018487254927837 Centerline is valid? [True, True] Translation: X:191.21, Y:-40.74, Z:-4.87 [[ 9.63248965e-01 2.67658603e-01 2.25899186e-02 1.91207440e+02] [-2.67588104e-01 9.63513807e-01 -6.14411893e-03 -4.07391346e+01] [-2.34102247e-02 -1.26477295e-04 9.99725935e-01 -4.86524148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.27862385300003 meters 0.01572024156898378 Centerline is valid? [True, True] Translation: X:191.24, Y:-40.75, Z:-4.87 [[ 9.63532353e-01 2.66604865e-01 2.29619288e-02 1.91237597e+02] [-2.66531625e-01 9.63805912e-01 -6.24952408e-03 -4.07472564e+01] [-2.37969962e-02 -9.84615333e-05 9.99716807e-01 -4.86589753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.30862385300003 meters 0.014989461597853818 Centerline is valid? [True, True] Translation: X:191.27, Y:-40.76, Z:-4.87 [[ 9.64548760e-01 2.62813091e-01 2.39784981e-02 1.91267497e+02] [-2.62731945e-01 9.64846765e-01 -6.53036982e-03 -4.07596334e+01] [-2.48518430e-02 -1.05731894e-06 9.99691145e-01 -4.86527560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.338623853 meters 0.015248741225651659 Centerline is valid? [True, True] Translation: X:191.30, Y:-40.77, Z:-4.87 [[ 9.64934944e-01 2.61399857e-01 2.38886685e-02 1.91297482e+02] [-2.61318771e-01 9.65230601e-01 -6.51048689e-03 -4.07699100e+01] [-2.47599142e-02 3.96388074e-05 9.99693426e-01 -4.86684716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.368623853 meters 0.015724984582324537 Centerline is valid? [True, True] Translation: X:191.33, Y:-40.78, Z:-4.87 [[ 9.65424489e-01 2.59623334e-01 2.34793603e-02 1.91328976e+02] [-2.59544362e-01 9.65709955e-01 -6.40368366e-03 -4.07806604e+01] [-2.43367976e-02 8.83374375e-05 9.99703812e-01 -4.86837948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.398623853 meters 0.016333616902275486 Centerline is valid? [True, True] Translation: X:191.36, Y:-40.79, Z:-4.87 [[ 9.65902252e-01 2.57854459e-01 2.33220630e-02 1.91359557e+02] [-2.57775912e-01 9.66183761e-01 -6.36551239e-03 -4.07904546e+01] [-2.41747743e-02 1.36596684e-04 9.99707738e-01 -4.86965211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.428623853 meters 0.018356440043209913 Centerline is valid? [True, True] Translation: X:191.39, Y:-40.80, Z:-4.87 [[ 9.66902358e-01 2.54135082e-01 2.26978136e-02 1.91389570e+02] [-2.54059563e-01 9.67168707e-01 -6.19921214e-03 -4.08024308e+01] [-2.35280523e-02 2.27436246e-04 9.99723151e-01 -4.87162205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.458623853 meters 0.020117347993845403 Centerline is valid? [True, True] Translation: X:191.42, Y:-40.81, Z:-4.87 [[ 9.67377315e-01 2.52339422e-01 2.24932662e-02 1.91418942e+02] [-2.52264674e-01 9.67638745e-01 -6.14755424e-03 -4.08141775e+01] [-2.33166262e-02 2.72748030e-04 9.99728093e-01 -4.87313082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.488623853 meters 0.022723786842787332 Centerline is valid? [True, True] Translation: X:191.45, Y:-40.83, Z:-4.87 [[ 9.68211849e-01 2.49082543e-01 2.28845469e-02 1.91448340e+02] [-2.49004166e-01 9.68482192e-01 -6.25852396e-03 -4.08282877e+01] [-2.37221652e-02 3.61229544e-04 9.99718525e-01 -4.87275937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.518623853 meters 0.024158561878687278 Centerline is valid? [True, True] Translation: X:191.48, Y:-40.84, Z:-4.87 [[ 9.68519970e-01 2.47872528e-01 2.29843006e-02 1.91477702e+02] [-2.47793022e-01 9.68792575e-01 -6.29013714e-03 -4.08395218e+01] [-2.38261719e-02 3.96774147e-04 9.99716038e-01 -4.87314131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.548623853 meters 0.02629330203878673 Centerline is valid? [True, True] Translation: X:191.51, Y:-40.85, Z:-4.87 [[ 9.68898866e-01 2.46354791e-01 2.33303406e-02 1.91507044e+02] [-2.46272376e-01 9.69179612e-01 -6.38716857e-03 -4.08516626e+01] [-2.41848001e-02 4.42901970e-04 9.99707407e-01 -4.87358251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.578623853 meters 0.02649653995755157 Centerline is valid? [True, True] Translation: X:191.54, Y:-40.86, Z:-4.87 [[ 9.69182492e-01 2.45211661e-01 2.35910626e-02 1.91537254e+02] [-2.45127001e-01 9.69469449e-01 -6.46076831e-03 -4.08611904e+01] [-2.44550702e-02 4.78857110e-04 9.99700815e-01 -4.87420388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.608623853 meters 0.0278011040422599 Centerline is valid? [True, True] Translation: X:191.57, Y:-40.87, Z:-4.88 [[ 9.69422112e-01 2.44287079e-01 2.33365024e-02 1.91566444e+02] [-2.44203874e-01 9.69702827e-01 -6.39493793e-03 -4.08722207e+01] [-2.41916730e-02 5.00529942e-04 9.99707213e-01 -4.87532729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.638623853 meters 0.028692731783810224 Centerline is valid? [True, True] Translation: X:191.60, Y:-40.88, Z:-4.88 [[ 9.69672518e-01 2.43354115e-01 2.26711832e-02 1.91596202e+02] [-2.43275244e-01 9.69937375e-01 -6.21640513e-03 -4.08831009e+01] [-2.35024157e-02 5.12539574e-04 9.99723649e-01 -4.87750069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.668623853 meters 0.030916570136461645 Centerline is valid? [True, True] Translation: X:191.63, Y:-40.90, Z:-4.88 [[ 9.69581357e-01 2.43727799e-01 2.25555474e-02 1.91626120e+02] [-2.43649785e-01 9.69843548e-01 -6.18671196e-03 -4.08954238e+01] [-2.33832258e-02 5.02866301e-04 9.99726449e-01 -4.87908574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.69862385300002 meters 0.029346201301892104 Centerline is valid? [True, True] Translation: X:191.66, Y:-40.90, Z:-4.88 [[ 9.69444335e-01 2.44274553e-01 2.25305306e-02 1.91657571e+02] [-2.44196758e-01 9.69705986e-01 -6.18418806e-03 -4.09025312e+01] [-2.33586302e-02 4.93343554e-04 9.99727028e-01 -4.87968148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72862385300002 meters 0.028026572908989227 Centerline is valid? [True, True] Translation: X:191.69, Y:-40.91, Z:-4.88 [[ 9.69189185e-01 2.45261643e-01 2.27826767e-02 1.91689223e+02] [-2.45182274e-01 9.69456805e-01 -6.25741078e-03 -4.09100441e+01] [-2.36215238e-02 4.78706390e-04 9.99720858e-01 -4.87966213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.75862385300002 meters 0.026198068461556544 Centerline is valid? [True, True] Translation: X:191.72, Y:-40.92, Z:-4.88 [[ 9.68885763e-01 2.46449140e-01 2.28735632e-02 1.91720889e+02] [-2.46369371e-01 9.69155619e-01 -6.28641879e-03 -4.09166447e+01] [-2.37173248e-02 4.55476290e-04 9.99718601e-01 -4.88033826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78862385300002 meters 0.025576176431157772 Centerline is valid? [True, True] Translation: X:191.75, Y:-40.93, Z:-4.88 [[ 9.68214278e-01 2.49102123e-01 2.25664405e-02 1.91751276e+02] [-2.49025108e-01 9.68477145e-01 -6.20604229e-03 -4.09254463e+01] [-2.34010202e-02 3.89168481e-04 9.99726083e-01 -4.88224122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.81862385300002 meters 0.02415369161888356 Centerline is valid? [True, True] Translation: X:191.78, Y:-40.93, Z:-4.88 [[ 9.67925347e-01 2.50205427e-01 2.27544738e-02 1.91783128e+02] [-2.50127329e-01 9.68192702e-01 -6.26191811e-03 -4.09323435e+01] [-2.35974814e-02 3.69553502e-04 9.99721472e-01 -4.88264104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84862385300002 meters 0.02415369161888356 Centerline is valid? [True, True] Translation: X:191.81, Y:-40.94, Z:-4.88 [[ 9.67878738e-01 2.50385759e-01 2.27534600e-02 1.91814393e+02] [-2.50307624e-01 9.68146082e-01 -6.26559966e-03 -4.09411536e+01] [-2.35974901e-02 3.68976173e-04 9.99721472e-01 -4.88345883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.87862385300002 meters 0.02227415793225378 Centerline is valid? [True, True] Translation: X:191.85, Y:-40.95, Z:-4.88 [[ 9.67571025e-01 2.51550653e-01 2.29908583e-02 1.91845595e+02] [-2.51471096e-01 9.67844072e-01 -6.33565302e-03 -4.09474169e+01] [-2.38453036e-02 3.48657937e-04 9.99715600e-01 -4.88424616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90862385300002 meters 0.02125458219788984 Centerline is valid? [True, True] Translation: X:191.88, Y:-40.95, Z:-4.89 [[ 9.67236378e-01 2.52861895e-01 2.26859429e-02 1.91877254e+02] [-2.52784698e-01 9.67502332e-01 -6.25570304e-03 -4.09549288e+01] [-2.35305316e-02 3.16084304e-04 9.99723069e-01 -4.88513502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.93862385300002 meters 0.02085386200895679 Centerline is valid? [True, True] Translation: X:191.91, Y:-40.96, Z:-4.89 [[ 9.66610167e-01 2.55289043e-01 2.21876089e-02 1.91907037e+02] [-2.55215745e-01 9.66864747e-01 -6.12243556e-03 -4.09630665e+01] [-2.30154076e-02 2.55381323e-04 9.99735078e-01 -4.88774721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96862385300003 meters 0.019319009003214514 Centerline is valid? [True, True] Translation: X:191.94, Y:-40.97, Z:-4.89 [[ 9.66372188e-01 2.56203789e-01 2.20093967e-02 1.91939152e+02] [-2.56131847e-01 9.66622762e-01 -6.07564131e-03 -4.09693885e+01] [-2.28313861e-02 2.34023372e-04 9.99739303e-01 -4.88882284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.99862385300003 meters 0.019228567469559713 Centerline is valid? [True, True] Translation: X:191.97, Y:-40.98, Z:-4.89 [[ 9.66078721e-01 2.57318669e-01 2.18862371e-02 1.91968615e+02] [-2.57247789e-01 9.66326580e-01 -6.04281624e-03 -4.09779889e+01] [-2.27041821e-02 2.07650072e-04 9.99742205e-01 -4.88978398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02862385300003 meters 0.01799945864012382 Centerline is valid? [True, True] Translation: X:192.00, Y:-40.98, Z:-4.89 [[ 9.65796512e-01 2.58347727e-01 2.22159802e-02 1.92000185e+02] [-2.58274880e-01 9.66051974e-01 -6.13762282e-03 -4.09841496e+01] [-2.30474324e-02 1.89865103e-04 9.99734355e-01 -4.88927179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.05862385300003 meters 0.017036371761121414 Centerline is valid? [True, True] Translation: X:192.03, Y:-40.99, Z:-4.89 [[ 9.65247659e-01 2.60377739e-01 2.23693959e-02 1.92031072e+02] [-2.60304328e-01 9.65506816e-01 -6.18425946e-03 -4.09904910e+01] [-2.32080477e-02 1.46491379e-04 9.99730646e-01 -4.89020054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.088623853 meters 0.017051900611190777 Centerline is valid? [True, True] Translation: X:192.06, Y:-41.00, Z:-4.89 [[ 9.64981466e-01 2.61372264e-01 2.22555527e-02 1.92061504e+02] [-2.61299814e-01 9.65238066e-01 -6.15491473e-03 -4.09996160e+01] [-2.30906306e-02 1.24006870e-04 9.99733368e-01 -4.89127123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.118623853 meters 0.016602272716303976 Centerline is valid? [True, True] Translation: X:192.09, Y:-41.01, Z:-4.89 [[ 9.64775967e-01 2.62145508e-01 2.20695629e-02 1.92093582e+02] [-2.62074371e-01 9.65028352e-01 -6.10765678e-03 -4.10075407e+01] [-2.28988487e-02 1.08653671e-04 9.99737781e-01 -4.89206944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.148623853 meters 0.016629504815868234 Centerline is valid? [True, True] Translation: X:192.13, Y:-41.02, Z:-4.89 [[ 9.64708528e-01 2.62418842e-01 2.17671142e-02 1.92125345e+02] [-2.62349612e-01 9.64954061e-01 -6.02835053e-03 -4.10157100e+01] [-2.25862180e-02 1.05007206e-04 9.99744893e-01 -4.89414576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.178623853 meters 0.016693979649370503 Centerline is valid? [True, True] Translation: X:192.16, Y:-41.03, Z:-4.90 [[ 9.64735109e-01 2.62321960e-01 2.17567911e-02 1.92156907e+02] [-2.62252671e-01 9.64980402e-01 -6.02991468e-03 -4.10250556e+01] [-2.25766561e-02 1.11493826e-04 9.99745109e-01 -4.89522953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.208623853 meters 0.017046993583318553 Centerline is valid? [True, True] Translation: X:192.19, Y:-41.04, Z:-4.90 [[ 9.64827423e-01 2.61954091e-01 2.20929596e-02 1.92186968e+02] [-2.61882441e-01 9.65080327e-01 -6.12767507e-03 -4.10354493e+01] [-2.29266503e-02 1.26390744e-04 9.99737142e-01 -4.89586872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.238623853 meters 0.017951498877796273 Centerline is valid? [True, True] Translation: X:192.22, Y:-41.05, Z:-4.90 [[ 9.65221031e-01 2.60517877e-01 2.18814344e-02 1.92217215e+02] [-2.60447131e-01 9.65469010e-01 -6.07313165e-03 -4.10482068e+01] [-2.27080061e-02 1.62957585e-04 9.99742127e-01 -4.89728155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.268623853 meters 0.01849692392876656 Centerline is valid? [True, True] Translation: X:192.25, Y:-41.06, Z:-4.90 [[ 9.65431359e-01 2.59770551e-01 2.14837631e-02 1.92247565e+02] [-2.59702085e-01 9.65670352e-01 -5.96647321e-03 -4.10589506e+01] [-2.22961471e-02 1.80842269e-04 9.99751394e-01 -4.89888999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.298623853 meters 0.019438955797421737 Centerline is valid? [True, True] Translation: X:192.28, Y:-41.07, Z:-4.90 [[ 9.65696268e-01 2.58822023e-01 2.10208865e-02 1.92276669e+02] [-2.58756171e-01 9.65925007e-01 -5.84162031e-03 -4.10710426e+01] [-2.18165399e-02 2.01946842e-04 9.99761971e-01 -4.90078202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.328623853 meters 0.019712981761370613 Centerline is valid? [True, True] Translation: X:192.31, Y:-41.08, Z:-4.90 [[ 9.65953948e-01 2.57868586e-01 2.08988705e-02 1.92307279e+02] [-2.57803200e-01 9.66179974e-01 -5.81106209e-03 -4.10815298e+01] [-2.16905605e-02 2.25422676e-04 9.99764707e-01 -4.90172363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.358623853 meters 0.021969457243744227 Centerline is valid? [True, True] Translation: X:192.34, Y:-41.10, Z:-4.90 [[ 9.66269567e-01 2.56701191e-01 2.06790188e-02 1.92335181e+02] [-2.56636825e-01 9.66490783e-01 -5.75372248e-03 -4.10962851e+01] [-2.14630685e-02 2.52649193e-04 9.99769610e-01 -4.90373958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.388623853 meters 0.02180478682791954 Centerline is valid? [True, True] Translation: X:192.37, Y:-41.11, Z:-4.90 [[ 9.66357955e-01 2.56352589e-01 2.08722893e-02 1.92366786e+02] [-2.56286857e-01 9.66583302e-01 -5.81096410e-03 -4.11060767e+01] [-2.16644620e-02 2.66177958e-04 9.99765263e-01 -4.90379536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.418623853 meters 0.022278750908628568 Centerline is valid? [True, True] Translation: X:192.40, Y:-41.12, Z:-4.90 [[ 9.66372756e-01 2.56246892e-01 2.14761727e-02 1.92397393e+02] [-2.56177176e-01 9.66611324e-01 -5.98357825e-03 -4.11172715e+01] [-2.22923851e-02 2.80661733e-04 9.99751455e-01 -4.90323184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44862385300002 meters 0.022334132159018916 Centerline is valid? [True, True] Translation: X:192.43, Y:-41.13, Z:-4.90 [[ 9.66315542e-01 2.56422275e-01 2.19520022e-02 1.92428943e+02] [-2.56349384e-01 9.66564811e-01 -6.12034874e-03 -4.11278209e+01] [-2.27874266e-02 2.86805876e-04 9.99740292e-01 -4.90283355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.47862385300002 meters 0.021396576885714415 Centerline is valid? [True, True] Translation: X:192.46, Y:-41.14, Z:-4.90 [[ 9.66052926e-01 2.57380394e-01 2.22951968e-02 1.92459677e+02] [-2.57305357e-01 9.66310125e-01 -6.22054289e-03 -4.11369122e+01] [-2.31451202e-02 2.72700102e-04 9.99732079e-01 -4.90294542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50862385300002 meters 0.02120743760151063 Centerline is valid? [True, True] Translation: X:192.49, Y:-41.15, Z:-4.90 [[ 9.65863163e-01 2.58073822e-01 2.25000617e-02 1.92489746e+02] [-2.57997491e-01 9.66125165e-01 -6.28180350e-03 -4.11465768e+01] [-2.33590448e-02 2.62403135e-04 9.99727106e-01 -4.90353285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.53862385300002 meters 0.020537981545618977 Centerline is valid? [True, True] Translation: X:192.52, Y:-41.16, Z:-4.90 [[ 9.65588133e-01 2.59074194e-01 2.28061323e-02 1.92519333e+02] [-2.58995999e-01 9.65857392e-01 -6.36944491e-03 -4.11550033e+01] [-2.36776302e-02 2.43563407e-04 9.99719616e-01 -4.90374882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56862385300002 meters 0.01984025675616253 Centerline is valid? [True, True] Translation: X:192.55, Y:-41.16, Z:-4.90 [[ 9.65338501e-01 2.59989351e-01 2.29590246e-02 1.92550729e+02] [-2.59910275e-01 9.65611457e-01 -6.41578619e-03 -4.11632398e+01] [-2.38375333e-02 2.26119017e-04 9.99715820e-01 -4.90424046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.59862385300002 meters 0.01840762129632305 Centerline is valid? [True, True] Translation: X:192.58, Y:-41.17, Z:-4.91 [[ 9.64783034e-01 2.62039420e-01 2.30008763e-02 1.92582524e+02] [-2.61960544e-01 9.65057154e-01 -6.43142602e-03 -4.11704967e+01] [-2.38824473e-02 1.79608631e-04 9.99714758e-01 -4.90502083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.62862385300002 meters 0.017982858064534726 Centerline is valid? [True, True] Translation: X:192.61, Y:-41.18, Z:-4.91 [[ 9.64550731e-01 2.62864561e-01 2.33261548e-02 1.92614290e+02] [-2.62783581e-01 9.64832729e-01 -6.52640070e-03 -4.11796406e+01] [-2.42213970e-02 1.65314078e-04 9.99706605e-01 -4.90543567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.65862385300002 meters 0.0177876379913722 Centerline is valid? [True, True] Translation: X:192.64, Y:-41.19, Z:-4.91 [[ 9.64332163e-01 2.63670033e-01 2.32721344e-02 1.92644906e+02] [-2.63589554e-01 9.64612923e-01 -6.51579479e-03 -4.11889352e+01] [-2.41666214e-02 1.49098956e-04 9.99707933e-01 -4.90615252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.68862385300002 meters 0.017194739432809802 Centerline is valid? [True, True] Translation: X:192.68, Y:-41.20, Z:-4.91 [[ 9.64141641e-01 2.64398936e-01 2.28932024e-02 1.92676874e+02] [-2.64321166e-01 9.64413389e-01 -6.41374854e-03 -4.11974153e+01] [-2.37742992e-02 1.32604082e-04 9.99717343e-01 -4.90806272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.71862385300003 meters 0.016965311942990315 Centerline is valid? [True, True] Translation: X:192.71, Y:-41.21, Z:-4.91 [[ 9.64045874e-01 2.64754857e-01 2.28126911e-02 1.92708298e+02] [-2.64677626e-01 9.64315741e-01 -6.39571496e-03 -4.12056563e+01] [-2.36919337e-02 1.27753709e-04 9.99719299e-01 -4.90932407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.74862385300003 meters 0.016890872642473666 Centerline is valid? [True, True] Translation: X:192.74, Y:-41.22, Z:-4.91 [[ 9.63937857e-01 2.65152555e-01 2.27580763e-02 1.92739214e+02] [-2.65075692e-01 9.64206465e-01 -6.38515365e-03 -4.12154752e+01] [-2.36365241e-02 1.22278524e-04 9.99720611e-01 -4.90981343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.77862385300003 meters 0.01654405071970794 Centerline is valid? [True, True] Translation: X:192.77, Y:-41.23, Z:-4.91 [[ 9.63702903e-01 2.66029246e-01 2.24756289e-02 1.92770915e+02] [-2.65954417e-01 9.63964952e-01 -6.31020379e-03 -4.12259019e+01] [-2.33444173e-02 1.03668921e-04 9.99727477e-01 -4.91058637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.80862385300003 meters 0.016528474093663693 Centerline is valid? [True, True] Translation: X:192.80, Y:-41.24, Z:-4.91 [[ 9.63541628e-01 2.66596971e-01 2.26624513e-02 1.92802790e+02] [-2.66520938e-01 9.63808096e-01 -6.36738211e-03 -4.12356304e+01] [-2.35397788e-02 9.52199491e-05 9.99722896e-01 -4.91143547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.838623853 meters 0.016484143667673305 Centerline is valid? [True, True] Translation: X:192.83, Y:-41.25, Z:-4.91 [[ 9.63392704e-01 2.67150801e-01 2.24710307e-02 1.92833304e+02] [-2.67076089e-01 9.63654732e-01 -6.31825285e-03 -4.12451942e+01] [-2.33422414e-02 8.54836938e-05 9.99727529e-01 -4.91278743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.868623853 meters 0.016400662320344032 Centerline is valid? [True, True] Translation: X:192.87, Y:-41.25, Z:-4.91 [[ 9.63262726e-01 2.67661941e-01 2.19546611e-02 1.92865171e+02] [-2.67590663e-01 9.63512885e-01 -6.17717427e-03 -4.12542360e+01] [-2.28069933e-02 7.53794144e-05 9.99739884e-01 -4.91388744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.898623853 meters 0.016499420334171816 Centerline is valid? [True, True] Translation: X:192.90, Y:-41.26, Z:-4.92 [[ 9.63131624e-01 2.68159262e-01 2.16352837e-02 1.92895319e+02] [-2.68090068e-01 9.63374592e-01 -6.09178452e-03 -4.12633654e+01] [-2.24764511e-02 6.69856260e-05 9.99747370e-01 -4.91569741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.928623853 meters 0.016335174781954453 Centerline is valid? [True, True] Translation: X:192.93, Y:-41.27, Z:-4.92 [[ 9.63025660e-01 2.68580759e-01 2.11176172e-02 1.92927391e+02] [-2.68514852e-01 9.63257168e-01 -5.94997806e-03 -4.12728181e+01] [-2.19397458e-02 5.95877005e-05 9.99759293e-01 -4.91760292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.958623853 meters 0.0164320154121192 Centerline is valid? [True, True] Translation: X:192.96, Y:-41.28, Z:-4.92 [[ 9.63094039e-01 2.68329683e-01 2.11908787e-02 1.92958106e+02] [-2.68263161e-01 9.63327139e-01 -5.97495228e-03 -4.12836547e+01] [-2.20170056e-02 6.97088197e-05 9.99757594e-01 -4.91813493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.988623853 meters 0.01677365895499341 Centerline is valid? [True, True] Translation: X:192.99, Y:-41.30, Z:-4.92 [[ 9.63267097e-01 2.67708057e-01 2.11871882e-02 1.92988443e+02] [-2.67641311e-01 9.63500072e-01 -5.97831522e-03 -4.12955949e+01] [-2.20143005e-02 8.81475290e-05 9.99757652e-01 -4.91950832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.018623853 meters 0.017600643489880434 Centerline is valid? [True, True] Translation: X:193.02, Y:-41.31, Z:-4.92 [[ 9.63703714e-01 2.66123348e-01 2.12959052e-02 1.93016577e+02] [-2.66055435e-01 9.63938975e-01 -6.01318427e-03 -4.13098835e+01] [-2.21282017e-02 1.29036686e-04 9.99755133e-01 -4.92006645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.048623853 meters 0.018322437419436375 Centerline is valid? [True, True] Translation: X:193.05, Y:-41.32, Z:-4.92 [[ 9.63964121e-01 2.65159307e-01 2.15340590e-02 1.93046287e+02] [-2.65089547e-01 9.64204604e-01 -6.08396273e-03 -4.13214918e+01] [-2.23764582e-02 1.56267831e-04 9.99749603e-01 -4.92054153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.078623853 meters 0.021376859253819824 Centerline is valid? [True, True] Translation: X:193.08, Y:-41.33, Z:-4.92 [[ 9.64121301e-01 2.64600344e-01 2.13723049e-02 1.93077504e+02] [-2.64531404e-01 9.64358143e-01 -6.04215734e-03 -4.13315232e+01] [-2.22093131e-02 1.71726775e-04 9.99753328e-01 -4.91636826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.108623853 meters 0.018551469881026836 Centerline is valid? [True, True] Translation: X:193.11, Y:-41.34, Z:-4.92 [[ 9.64224033e-01 2.64198873e-01 2.17018144e-02 1.93108315e+02] [-2.64127587e-01 9.64468206e-01 -6.13984156e-03 -4.13433769e+01] [-2.25528492e-02 1.88134921e-04 9.99745634e-01 -4.92128146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.138623853 meters 0.027739730553459588 Centerline is valid? [True, True] Translation: X:193.14, Y:-41.35, Z:-4.91 [[ 9.64348742e-01 2.63775155e-01 2.13112966e-02 1.93138506e+02] [-2.63706211e-01 9.64584174e-01 -6.03376635e-03 -4.13548590e+01] [-2.21480971e-02 1.98733717e-04 9.99754681e-01 -4.91371458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.168623853 meters 0.019642726548807336 Centerline is valid? [True, True] Translation: X:193.17, Y:-41.37, Z:-4.92 [[ 9.64275327e-01 2.64011500e-01 2.17030412e-02 1.93168163e+02] [-2.63939959e-01 9.64519511e-01 -6.14901723e-03 -4.13672108e+01] [-2.25564180e-02 2.01045778e-04 9.99745551e-01 -4.92312018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.19862385300002 meters 0.019048672041024624 Centerline is valid? [True, True] Translation: X:193.20, Y:-41.38, Z:-4.92 [[ 9.64185602e-01 2.64366485e-01 2.13655375e-02 1.93200344e+02] [-2.64297150e-01 9.64422275e-01 -6.05743184e-03 -4.13760415e+01] [-2.22067823e-02 1.93637899e-04 9.99753380e-01 -4.92409525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22862385300002 meters 0.019192312797549148 Centerline is valid? [True, True] Translation: X:193.23, Y:-41.39, Z:-4.93 [[ 9.64027466e-01 2.64961589e-01 2.11282074e-02 1.93230400e+02] [-2.64893834e-01 9.64258950e-01 -5.99446271e-03 -4.13857901e+01] [-2.19613654e-02 1.82094856e-04 9.99758804e-01 -4.92553352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.25862385300002 meters 0.018782401870571636 Centerline is valid? [True, True] Translation: X:193.26, Y:-41.40, Z:-4.93 [[ 9.63808381e-01 2.65808068e-01 2.04811305e-02 1.93261978e+02] [-2.65744511e-01 9.64025957e-01 -5.81461554e-03 -4.13951766e+01] [-2.12899131e-02 1.61427180e-04 9.99773331e-01 -4.92731967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28862385300002 meters 0.018796558486211586 Centerline is valid? [True, True] Translation: X:193.29, Y:-41.40, Z:-4.93 [[ 9.63626401e-01 2.66445478e-01 2.07597506e-02 1.93292409e+02] [-2.66380237e-01 9.63849980e-01 -5.89795212e-03 -4.14042804e+01] [-2.15807679e-02 1.53435091e-04 9.99767096e-01 -4.92806602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.31862385300002 meters 0.018356688518007935 Centerline is valid? [True, True] Translation: X:193.32, Y:-41.41, Z:-4.93 [[ 9.63474762e-01 2.66985197e-01 2.08635289e-02 1.93323713e+02] [-2.66919344e-01 9.63700619e-01 -5.93128848e-03 -4.14131803e+01] [-2.16897619e-02 1.45767303e-04 9.99764739e-01 -4.92816584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34862385300002 meters 0.01828207911143513 Centerline is valid? [True, True] Translation: X:193.35, Y:-41.42, Z:-4.93 [[ 9.63327322e-01 2.67504133e-01 2.10240121e-02 1.93354953e+02] [-2.67437296e-01 9.63556703e-01 -5.98108506e-03 -4.14226648e+01] [-2.18577928e-02 1.39137692e-04 9.99761080e-01 -4.92852192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.37862385300002 meters 0.017818381219942076 Centerline is valid? [True, True] Translation: X:193.38, Y:-41.43, Z:-4.93 [[ 9.63083668e-01 2.68337787e-01 2.15564597e-02 1.93384869e+02] [-2.68267630e-01 9.63324875e-01 -6.13700221e-03 -4.14316095e+01] [-2.24126634e-02 1.27546239e-04 9.99748797e-01 -4.92838722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40862385300002 meters 0.017448615018541322 Centerline is valid? [True, True] Translation: X:193.42, Y:-41.44, Z:-4.93 [[ 9.62914205e-01 2.68943532e-01 2.15780057e-02 1.93416627e+02] [-2.68873312e-01 9.63155939e-01 -6.14646057e-03 -4.14408046e+01] [-2.24360352e-02 1.16764316e-04 9.99748274e-01 -4.92906482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.43862385300002 meters 0.017593410950456124 Centerline is valid? [True, True] Translation: X:193.45, Y:-41.45, Z:-4.93 [[ 9.62799066e-01 2.69373683e-01 2.13489603e-02 1.93446705e+02] [-2.69304958e-01 9.63035725e-01 -6.08542564e-03 -4.14502849e+01] [-2.21990650e-02 1.09661255e-04 9.99753564e-01 -4.93060939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46862385300003 meters 0.01722405585327116 Centerline is valid? [True, True] Translation: X:193.48, Y:-41.46, Z:-4.93 [[ 9.62587609e-01 2.70156214e-01 2.09932154e-02 1.93478316e+02] [-2.70089865e-01 9.62816499e-01 -5.98777524e-03 -4.14591156e+01] [-2.18302488e-02 9.37035342e-05 9.99761687e-01 -4.93168348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.49862385300003 meters 0.016937102248614274 Centerline is valid? [True, True] Translation: X:193.51, Y:-41.47, Z:-4.93 [[ 9.62146191e-01 2.71810778e-01 1.98395804e-02 1.93509067e+02] [-2.71751797e-01 9.62350714e-01 -5.66245319e-03 -4.14663579e+01] [-2.06317502e-02 5.66661376e-05 9.99787141e-01 -4.93490712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52862385300003 meters 0.01670151877719844 Centerline is valid? [True, True] Translation: X:193.54, Y:-41.47, Z:-4.94 [[ 9.61882480e-01 2.72759424e-01 1.96058901e-02 1.93541068e+02] [-2.72701949e-01 9.62082270e-01 -5.59925672e-03 -4.14745921e+01] [-2.03897293e-02 3.92625017e-05 9.99792107e-01 -4.93612178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.55862385300003 meters 0.01667290468404996 Centerline is valid? [True, True] Translation: X:193.57, Y:-41.48, Z:-4.94 [[ 9.61593610e-01 2.73790090e-01 1.94091902e-02 1.93572928e+02] [-2.73733898e-01 9.61789471e-01 -5.54681642e-03 -4.14825021e+01] [-2.01862182e-02 2.08299233e-05 9.99796237e-01 -4.93732859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.588623853 meters 0.016433073254315686 Centerline is valid? [True, True] Translation: X:193.61, Y:-41.49, Z:-4.94 [[ 9.61048271e-01 2.75686990e-01 1.95679173e-02 1.93605291e+02] [-2.75630190e-01 9.61247462e-01 -5.59601405e-03 -4.14885246e+01] [-2.03523591e-02 -1.54691153e-05 9.99792869e-01 -4.93809488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.618623853 meters 0.01645831884689201 Centerline is valid? [True, True] Translation: X:193.64, Y:-41.50, Z:-4.94 [[ 9.60819844e-01 2.76479262e-01 1.96072661e-02 1.93637024e+02] [-2.76422319e-01 9.61019884e-01 -5.61115036e-03 -4.14968171e+01] [-2.03943393e-02 -2.85813580e-05 9.99792013e-01 -4.93890193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.648623853 meters 0.016628762171531867 Centerline is valid? [True, True] Translation: X:193.67, Y:-41.51, Z:-4.94 [[ 9.60616310e-01 2.77204089e-01 1.93441923e-02 1.93668080e+02] [-2.77148734e-01 9.60811059e-01 -5.53966327e-03 -4.15054338e+01] [-2.01217312e-02 -3.97275338e-05 9.99797537e-01 -4.94027132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.678623853 meters 0.016692515028944716 Centerline is valid? [True, True] Translation: X:193.70, Y:-41.51, Z:-4.94 [[ 9.60399424e-01 2.77960391e-01 1.92605026e-02 1.93699531e+02] [-2.77905597e-01 9.60592535e-01 -5.51914718e-03 -4.15143888e+01] [-2.00355993e-02 -5.20157042e-05 9.99799266e-01 -4.94086070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.708623853 meters 0.017030756877070417 Centerline is valid? [True, True] Translation: X:193.73, Y:-41.52, Z:-4.94 [[ 9.60212505e-01 2.78640375e-01 1.87479798e-02 1.93731198e+02] [-2.78588517e-01 9.60395511e-01 -5.37592870e-03 -4.15212907e+01] [-1.95034264e-02 -6.09379042e-05 9.99809788e-01 -4.94334837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.738623853 meters 0.017030756877070417 Centerline is valid? [True, True] Translation: X:193.76, Y:-41.53, Z:-4.94 [[ 9.60163745e-01 2.78808412e-01 1.87470739e-02 1.93762358e+02] [-2.78756525e-01 9.60346742e-01 -5.37908560e-03 -4.15304390e+01] [-1.95034256e-02 -6.10661863e-05 9.99809788e-01 -4.94416614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.768623853 meters 0.0168625481921142 Centerline is valid? [True, True] Translation: X:193.79, Y:-41.54, Z:-4.94 [[ 9.60100436e-01 2.79039402e-01 1.85517069e-02 1.93793909e+02] [-2.78988567e-01 9.60279651e-01 -5.32643696e-03 -4.15394201e+01] [-1.93011124e-02 -6.17996669e-05 9.99813714e-01 -4.94464113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.798623853 meters 0.016774515289617025 Centerline is valid? [True, True] Translation: X:193.83, Y:-41.55, Z:-4.94 [[ 9.60050808e-01 2.79200268e-01 1.86991084e-02 1.93825337e+02] [-2.79148579e-01 9.60232892e-01 -5.37251777e-03 -4.15484782e+01] [-1.94555073e-02 -6.19395186e-05 9.99810722e-01 -4.94490042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.828623853 meters 0.01689773109200478 Centerline is valid? [True, True] Translation: X:193.86, Y:-41.56, Z:-4.95 [[ 9.59995437e-01 2.79366292e-01 1.90587475e-02 1.93856559e+02] [-2.79312549e-01 9.60184603e-01 -5.47986401e-03 -4.15568953e+01] [-1.98308052e-02 -6.27029027e-05 9.99803348e-01 -4.94614572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.858623853 meters 0.016739334588144465 Centerline is valid? [True, True] Translation: X:193.89, Y:-41.57, Z:-4.95 [[ 9.59918534e-01 2.79617037e-01 1.92540843e-02 1.93888860e+02] [-2.79562154e-01 9.60111612e-01 -5.54022437e-03 -4.15658533e+01] [-2.00352111e-02 -6.45492209e-05 9.99799273e-01 -4.94552626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.888623853 meters 0.016697603444595185 Centerline is valid? [True, True] Translation: X:193.92, Y:-41.57, Z:-4.95 [[ 9.59879683e-01 2.79712231e-01 1.98005565e-02 1.93919709e+02] [-2.79654180e-01 9.60083883e-01 -5.69882006e-03 -4.15741427e+01] [-2.06042249e-02 -6.71268031e-05 9.99787708e-01 -4.94553519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.918623853 meters 0.01647419387543352 Centerline is valid? [True, True] Translation: X:193.95, Y:-41.58, Z:-4.95 [[ 9.60012967e-01 2.79225695e-01 2.02018353e-02 1.93949974e+02] [-2.79165079e-01 9.60225499e-01 -5.81812153e-03 -4.15829790e+01] [-2.10228864e-02 -5.41748312e-05 9.99778993e-01 -4.94555668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94862385300002 meters 0.016380546888891144 Centerline is valid? [True, True] Translation: X:193.98, Y:-41.59, Z:-4.95 [[ 9.60099498e-01 2.78928313e-01 2.01977830e-02 1.93981918e+02] [-2.78867579e-01 9.60311925e-01 -5.82057625e-03 -4.15923566e+01] [-2.10196954e-02 -4.41745050e-05 9.99779061e-01 -4.94639351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.97862385300002 meters 0.0163215838290325 Centerline is valid? [True, True] Translation: X:194.01, Y:-41.60, Z:-4.95 [[ 9.60198649e-01 2.78583326e-01 2.02455943e-02 1.94013129e+02] [-2.78522143e-01 9.60412062e-01 -5.83839618e-03 -4.16009890e+01] [-2.10705928e-02 -3.28261798e-05 9.99777990e-01 -4.94734337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00862385300002 meters 0.01632319690780955 Centerline is valid? [True, True] Translation: X:194.04, Y:-41.61, Z:-4.95 [[ 9.60214746e-01 2.78510265e-01 2.04859510e-02 1.94044878e+02] [-2.78447523e-01 9.60433252e-01 -5.91149571e-03 -4.16102654e+01] [-2.13218008e-02 -2.79569577e-05 9.99772664e-01 -4.94837274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.03862385300002 meters 0.01628476722511367 Centerline is valid? [True, True] Translation: X:194.08, Y:-41.62, Z:-4.95 [[ 9.60265772e-01 2.78338112e-01 2.04338458e-02 1.94075787e+02] [-2.78275565e-01 9.60483157e-01 -5.90046045e-03 -4.16194878e+01] [-2.12686878e-02 -2.02297679e-05 9.99773796e-01 -4.94909639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06862385300002 meters 0.01624222481726902 Centerline is valid? [True, True] Translation: X:194.11, Y:-41.63, Z:-4.95 [[ 9.60361691e-01 2.77996348e-01 2.05779583e-02 1.94107556e+02] [-2.77932758e-01 9.60582131e-01 -5.94574158e-03 -4.16289907e+01] [-2.14197135e-02 -9.22626985e-06 9.99770572e-01 -4.94870908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.09862385300002 meters 0.016271690112453302 Centerline is valid? [True, True] Translation: X:194.14, Y:-41.64, Z:-4.95 [[ 9.60339103e-01 2.78054089e-01 2.08501931e-02 1.94138617e+02] [-2.77988722e-01 9.60565419e-01 -6.02885482e-03 -4.16375300e+01] [-2.17043222e-02 -6.37350567e-06 9.99764433e-01 -4.95066291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12862385300002 meters 0.016311053505767285 Centerline is valid? [True, True] Translation: X:194.17, Y:-41.65, Z:-4.95 [[ 9.60389851e-01 2.77876356e-01 2.08821538e-02 1.94170681e+02] [-2.77810658e-01 9.60616849e-01 -6.04215785e-03 -4.16468986e+01] [-2.17387216e-02 1.54218374e-06 9.99763686e-01 -4.95055724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.15862385300002 meters 0.016448352138099934 Centerline is valid? [True, True] Translation: X:194.20, Y:-41.66, Z:-4.95 [[ 9.60592726e-01 2.77229208e-01 2.01390364e-02 1.94202838e+02] [-2.77167881e-01 9.60803812e-01 -5.83090510e-03 -4.16559863e+01] [-2.09661601e-02 1.92309887e-05 9.99780186e-01 -4.95199509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18862385300002 meters 0.0167222971784733 Centerline is valid? [True, True] Translation: X:194.23, Y:-41.67, Z:-4.95 [[ 9.60712347e-01 2.76830928e-01 1.99103670e-02 1.94233766e+02] [-2.76770817e-01 9.60918642e-01 -5.76877820e-03 -4.16654839e+01] [-2.07292191e-02 3.15278991e-05 9.99785126e-01 -4.95433875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.21862385300003 meters 0.01688470180418577 Centerline is valid? [True, True] Translation: X:194.27, Y:-41.68, Z:-4.96 [[ 9.60892476e-01 2.76229238e-01 1.95718760e-02 1.94265435e+02] [-2.76170954e-01 9.61091778e-01 -5.67438095e-03 -4.16753148e+01] [-2.03777990e-02 4.72862919e-05 9.99792350e-01 -4.95614758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24862385300003 meters 0.017422353851386314 Centerline is valid? [True, True] Translation: X:194.30, Y:-41.69, Z:-4.96 [[ 9.61353860e-01 2.74614299e-01 1.96403494e-02 1.94296651e+02] [-2.74555194e-01 9.61554460e-01 -5.69791484e-03 -4.16856052e+01] [-2.04499945e-02 8.53524785e-05 9.99790873e-01 -4.95658900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.27862385300003 meters 0.017524890281289656 Centerline is valid? [True, True] Translation: X:194.33, Y:-41.70, Z:-4.96 [[ 9.61611343e-01 2.73692829e-01 1.98962531e-02 1.94328562e+02] [-2.73631896e-01 9.61817146e-01 -5.77603856e-03 -4.16954695e+01] [-2.07174177e-02 1.10054744e-04 9.99785365e-01 -4.95617840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30862385300003 meters 0.018836757371287764 Centerline is valid? [True, True] Translation: X:194.36, Y:-41.71, Z:-4.96 [[ 9.61872989e-01 2.72734727e-01 2.03990622e-02 1.94358366e+02] [-2.72670366e-01 9.62089263e-01 -5.92636044e-03 -4.17074671e+01] [-2.12420430e-02 1.38186275e-04 9.99774353e-01 -4.95769706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.338623853 meters 0.02715927339283235 Centerline is valid? [True, True] Translation: X:194.39, Y:-41.71, Z:-4.95 [[ 9.62148282e-01 2.71778284e-01 2.01803896e-02 1.94390033e+02] [-2.71715004e-01 9.62359880e-01 -5.86668982e-03 -4.17147437e+01] [-2.10152362e-02 1.61310875e-04 9.99779143e-01 -4.94971823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.368623853 meters 0.019230321921189363 Centerline is valid? [True, True] Translation: X:194.42, Y:-41.73, Z:-4.96 [[ 9.62322780e-01 2.71105139e-01 2.09014467e-02 1.94419688e+02] [-2.71037013e-01 9.62549723e-01 -6.08017488e-03 -4.17264655e+01] [-2.17670484e-02 1.86025105e-04 9.99763052e-01 -4.95695501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.398623853 meters 0.020053034598989883 Centerline is valid? [True, True] Translation: X:194.45, Y:-41.74, Z:-4.96 [[ 9.62692053e-01 2.69824834e-01 2.04590024e-02 1.94450077e+02] [-2.69759190e-01 9.62909400e-01 -5.95534829e-03 -4.17365201e+01] [-2.13070666e-02 2.14162560e-04 9.99772956e-01 -4.95875034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.428623853 meters 0.02093042120564741 Centerline is valid? [True, True] Translation: X:194.48, Y:-41.75, Z:-4.96 [[ 9.62818006e-01 2.69407708e-01 2.00243411e-02 1.94480042e+02] [-2.69344659e-01 9.63026187e-01 -5.83239312e-03 -4.17462407e+01] [-2.08552566e-02 2.22083783e-04 9.99782481e-01 -4.96069419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.458623853 meters 0.02071122175231018 Centerline is valid? [True, True] Translation: X:194.51, Y:-41.76, Z:-4.96 [[ 9.62874525e-01 2.69221063e-01 1.98158668e-02 1.94511681e+02] [-2.69159217e-01 9.63078381e-01 -5.77475198e-03 -4.17550289e+01] [-2.06389178e-02 2.26738359e-04 9.99786969e-01 -4.96190917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.488623853 meters 0.0218444740898804 Centerline is valid? [True, True] Translation: X:194.54, Y:-41.77, Z:-4.96 [[ 9.63192430e-01 2.68144335e-01 1.89462143e-02 1.94541428e+02] [-2.68087514e-01 9.63378719e-01 -5.52523100e-03 -4.17652944e+01] [-1.97339390e-02 2.42617196e-04 9.99805237e-01 -4.96416210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.518623853 meters 0.023167907610737448 Centerline is valid? [True, True] Translation: X:194.57, Y:-41.78, Z:-4.97 [[ 9.63315919e-01 2.67712465e-01 1.87743703e-02 1.94570801e+02] [-2.67656527e-01 9.63498818e-01 -5.47824369e-03 -4.17761394e+01] [-1.95556777e-02 2.52196611e-04 9.99808738e-01 -4.96581018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.548623853 meters 0.023728924058881138 Centerline is valid? [True, True] Translation: X:194.60, Y:-41.79, Z:-4.97 [[ 9.63440020e-01 2.67286413e-01 1.84743434e-02 1.94600780e+02] [-2.67232112e-01 9.63617095e-01 -5.39374822e-03 -4.17864565e+01] [-1.92438688e-02 2.59615079e-04 9.99814786e-01 -4.96680517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.578623853 meters 0.024778736595423005 Centerline is valid? [True, True] Translation: X:194.63, Y:-41.80, Z:-4.97 [[ 9.63624764e-01 2.66579753e-01 1.90407230e-02 1.94629625e+02] [-2.66521870e-01 9.63812821e-01 -5.56230206e-03 -4.17974924e+01] [-1.98344901e-02 2.85202903e-04 9.99803236e-01 -4.96621052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.608623853 meters 0.025268822219597597 Centerline is valid? [True, True] Translation: X:194.66, Y:-41.81, Z:-4.97 [[ 9.63650771e-01 2.66448171e-01 1.95592533e-02 1.94659768e+02] [-2.66387000e-01 9.63849201e-01 -5.71692694e-03 -4.18079224e+01] [-2.03754354e-02 2.98790222e-04 9.99792355e-01 -4.96642547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.638623853 meters 0.024099937616623417 Centerline is valid? [True, True] Translation: X:194.69, Y:-41.82, Z:-4.97 [[ 9.63799688e-01 2.65885432e-01 1.98770614e-02 1.94690928e+02] [-2.65822060e-01 9.64004582e-01 -5.81357692e-03 -4.18151385e+01] [-2.07073237e-02 3.19362225e-04 9.99785529e-01 -4.96567871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.668623853 meters 0.02434276912346808 Centerline is valid? [True, True] Translation: X:194.72, Y:-41.83, Z:-4.97 [[ 9.63865068e-01 2.65638507e-01 2.00078490e-02 1.94722530e+02] [-2.65574170e-01 9.64072650e-01 -5.85539659e-03 -4.18253151e+01] [-2.08444388e-02 3.30244349e-04 9.99782677e-01 -4.96580426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.69862385300002 meters 0.026991597274354445 Centerline is valid? [True, True] Translation: X:194.75, Y:-41.84, Z:-4.97 [[ 9.64022063e-01 2.65070936e-01 1.99714922e-02 1.94751008e+02] [-2.65006615e-01 9.64228852e-01 -5.84938918e-03 -4.18386867e+01] [-2.08075920e-02 3.46362698e-04 9.99783439e-01 -4.96766803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72862385300002 meters 0.02667256079756761 Centerline is valid? [True, True] Translation: X:194.78, Y:-41.85, Z:-4.97 [[ 9.64288803e-01 2.64098572e-01 1.99762131e-02 1.94781997e+02] [-2.64033977e-01 9.64495624e-01 -5.85244614e-03 -4.18487555e+01] [-2.08125928e-02 3.69049286e-04 9.99783326e-01 -4.96813629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75862385300002 meters 0.026351812181448175 Centerline is valid? [True, True] Translation: X:194.81, Y:-41.86, Z:-4.97 [[ 9.64288830e-01 2.64089540e-01 2.00939483e-02 1.94813528e+02] [-2.64024106e-01 9.64498094e-01 -5.89042627e-03 -4.18586836e+01] [-2.09361748e-02 3.74785515e-04 9.99780744e-01 -4.96907085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78862385300002 meters 0.027708061371885317 Centerline is valid? [True, True] Translation: X:194.84, Y:-41.87, Z:-4.97 [[ 9.64224950e-01 2.64353340e-01 1.96864820e-02 1.94843477e+02] [-2.64290505e-01 9.64425828e-01 -5.77504893e-03 -4.18717601e+01] [-2.05128052e-02 3.65495992e-04 9.99789523e-01 -4.97106151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.81862385300002 meters 0.0269684285700498 Centerline is valid? [True, True] Translation: X:194.87, Y:-41.88, Z:-4.97 [[ 9.64081459e-01 2.64892548e-01 1.94647880e-02 1.94874412e+02] [-2.64831152e-01 9.64277871e-01 -5.71383764e-03 -4.18804403e+01] [-2.02830173e-02 3.53722713e-04 9.99794216e-01 -4.97246147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84862385300002 meters 0.028100810583030048 Centerline is valid? [True, True] Translation: X:194.90, Y:-41.89, Z:-4.97 [[ 9.63757315e-01 2.66086692e-01 1.92278602e-02 1.94903316e+02] [-2.66026951e-01 9.63949047e-01 -5.64770586e-03 -4.18911842e+01] [-2.00374568e-02 3.27888814e-04 9.99799176e-01 -4.97497532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.87862385300002 meters 0.024265643757147296 Centerline is valid? [True, True] Translation: X:194.94, Y:-41.89, Z:-4.97 [[ 9.63397132e-01 2.67393694e-01 1.91462473e-02 1.94935806e+02] [-2.67334657e-01 9.63587319e-01 -5.62674759e-03 -4.18948750e+01] [-1.99536379e-02 3.02337043e-04 9.99800861e-01 -4.97499583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90862385300002 meters 0.022425338909829718 Centerline is valid? [True, True] Translation: X:194.97, Y:-41.90, Z:-4.98 [[ 9.62415794e-01 2.70955111e-01 1.84164798e-02 1.94966231e+02] [-2.70901078e-01 9.62591958e-01 -5.41552934e-03 -4.19013200e+01] [-1.91949207e-02 2.22946744e-04 9.99815736e-01 -4.97792731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.93862385300002 meters 0.020448944570645968 Centerline is valid? [True, True] Translation: X:195.00, Y:-41.91, Z:-4.98 [[ 9.61886498e-01 2.72827181e-01 1.84308049e-02 1.94998207e+02] [-2.72773349e-01 9.62063040e-01 -5.42275672e-03 -4.19067839e+01] [-1.92110716e-02 1.88644105e-04 9.99815433e-01 -4.97803010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96862385300003 meters 0.01912574026791038 Centerline is valid? [True, True] Translation: X:195.03, Y:-41.91, Z:-4.98 [[ 9.61289362e-01 2.74914069e-01 1.85746342e-02 1.95030496e+02] [-2.74859704e-01 9.61468789e-01 -5.46910525e-03 -4.19127991e+01] [-1.93624650e-02 1.51974247e-04 9.99812518e-01 -4.97835473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.99862385300003 meters 0.018202357784990755 Centerline is valid? [True, True] Translation: X:195.06, Y:-41.92, Z:-4.98 [[ 9.60656938e-01 2.77114288e-01 1.85988902e-02 1.95061313e+02] [-2.77060181e-01 9.60836958e-01 -5.47689008e-03 -4.19188026e+01] [-1.93882256e-02 1.08400565e-04 9.99812025e-01 -4.97932689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02862385300003 meters 0.017336951123290506 Centerline is valid? [True, True] Translation: X:195.09, Y:-41.92, Z:-4.98 [[ 9.59744544e-01 2.80279320e-01 1.82732848e-02 1.95093629e+02] [-2.80227609e-01 9.59918486e-01 -5.38392093e-03 -4.19234656e+01] [-1.90498656e-02 4.65098283e-05 9.99818534e-01 -4.98002210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.05862385300003 meters 0.016975555873769813 Centerline is valid? [True, True] Translation: X:195.13, Y:-41.93, Z:-4.98 [[ 9.59342248e-01 2.81656194e-01 1.82274485e-02 1.95126017e+02] [-2.81604931e-01 9.59515392e-01 -5.37353381e-03 -4.19307558e+01] [-1.90030065e-02 2.21186250e-05 9.99819426e-01 -4.98058230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.088623853 meters 0.017003663250190926 Centerline is valid? [True, True] Translation: X:195.16, Y:-41.94, Z:-4.98 [[ 9.58954873e-01 2.82978561e-01 1.81297055e-02 1.95157225e+02] [-2.82928011e-01 9.59126235e-01 -5.34854228e-03 -4.19375019e+01] [-1.89021990e-02 -3.90833426e-07 9.99821337e-01 -4.98234837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.118623853 meters 0.017031869512944355 Centerline is valid? [True, True] Translation: X:195.19, Y:-41.94, Z:-4.98 [[ 9.58367214e-01 2.84966036e-01 1.80731918e-02 1.95190397e+02] [-2.84916089e-01 9.58537614e-01 -5.33527762e-03 -4.19427113e+01] [-1.88442070e-02 -3.61879802e-05 9.99822432e-01 -4.98267845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.148623853 meters 0.017037047177083695 Centerline is valid? [True, True] Translation: X:195.22, Y:-41.95, Z:-4.98 [[ 9.58101330e-01 2.85838772e-01 1.83858058e-02 1.95221729e+02] [-2.85787166e-01 9.58277723e-01 -5.43155168e-03 -4.19505513e+01] [-1.91712562e-02 -5.04504435e-05 9.99816213e-01 -4.98326837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.178623853 meters 0.017051550403437483 Centerline is valid? [True, True] Translation: X:195.25, Y:-41.96, Z:-4.98 [[ 9.57898298e-01 2.86510812e-01 1.85042165e-02 1.95253369e+02] [-2.86458596e-01 9.58077007e-01 -5.47009044e-03 -4.19586835e+01] [-1.92957044e-02 -6.09015516e-05 9.99813819e-01 -4.98359561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.208623853 meters 0.0172657974691485 Centerline is valid? [True, True] Translation: X:195.29, Y:-41.97, Z:-4.98 [[ 9.57694499e-01 2.87177762e-01 1.87130874e-02 1.95285343e+02] [-2.87124410e-01 9.57877303e-01 -5.53582289e-03 -4.19650474e+01] [-1.95146069e-02 -7.13570443e-05 9.99809569e-01 -4.98434382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.238623853 meters 0.017153198383534195 Centerline is valid? [True, True] Translation: X:195.32, Y:-41.97, Z:-4.98 [[ 9.57583169e-01 2.87535214e-01 1.89202562e-02 1.95317506e+02] [-2.87480671e-01 9.57770064e-01 -5.60074565e-03 -4.19731189e+01] [-1.97316666e-02 -7.60282022e-05 9.99805309e-01 -4.98444079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.268623853 meters 0.017254027913116792 Centerline is valid? [True, True] Translation: X:195.35, Y:-41.98, Z:-4.99 [[ 9.57532396e-01 2.87726641e-01 1.85766374e-02 1.95349618e+02] [-2.87674027e-01 9.57712574e-01 -5.50270801e-03 -4.19811180e+01] [-1.93743549e-02 -7.49948859e-05 9.99812297e-01 -4.98587251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.298623853 meters 0.017355162286675507 Centerline is valid? [True, True] Translation: X:195.38, Y:-41.99, Z:-4.99 [[ 9.57502591e-01 2.87837245e-01 1.83985951e-02 1.95380551e+02] [-2.87785582e-01 9.57679338e-01 -5.45376082e-03 -4.19887037e+01] [-1.91897499e-02 -7.28602936e-05 9.99815857e-01 -4.98716607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.328623853 meters 0.01719204677941252 Centerline is valid? [True, True] Translation: X:195.41, Y:-42.00, Z:-4.99 [[ 9.57607102e-01 2.87491877e-01 1.83591420e-02 1.95413126e+02] [-2.87440307e-01 9.57783074e-01 -5.44547639e-03 -4.19959832e+01] [-1.91496057e-02 -6.25305523e-05 9.99816628e-01 -4.98845048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.358623853 meters 0.01707156477170611 Centerline is valid? [True, True] Translation: X:195.45, Y:-42.00, Z:-4.99 [[ 9.57677239e-01 2.87251489e-01 1.84631498e-02 1.95445020e+02] [-2.87199216e-01 9.57855197e-01 -5.48009495e-03 -4.20041511e+01] [-1.92591895e-02 -5.44399461e-05 9.99814523e-01 -4.98953558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.388623853 meters 0.017032484604148697 Centerline is valid? [True, True] Translation: X:195.48, Y:-42.01, Z:-4.99 [[ 9.57746188e-01 2.87008958e-01 1.86573572e-02 1.95475864e+02] [-2.86955451e-01 9.57927897e-01 -5.54198798e-03 -4.20121566e+01] [-1.94630032e-02 -4.60124870e-05 9.99810577e-01 -4.99016739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.418623853 meters 0.016754195959711313 Centerline is valid? [True, True] Translation: X:195.51, Y:-42.02, Z:-4.99 [[ 9.57871957e-01 2.86583222e-01 1.87449104e-02 1.95507352e+02] [-2.86529091e-01 9.58055351e-01 -5.56993792e-03 -4.20211603e+01] [-1.95549125e-02 -3.56748143e-05 9.99808784e-01 -4.99016022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44862385300002 meters 0.01708767276898158 Centerline is valid? [True, True] Translation: X:195.54, Y:-42.03, Z:-4.99 [[ 9.58439629e-01 2.84703972e-01 1.83609942e-02 1.95538255e+02] [-2.84651618e-01 9.58615485e-01 -5.45967615e-03 -4.20304708e+01] [-1.91555249e-02 6.28327080e-06 9.99816516e-01 -4.99167394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.47862385300002 meters 0.017192129447131645 Centerline is valid? [True, True] Translation: X:195.57, Y:-42.04, Z:-4.99 [[ 9.58700734e-01 2.83839588e-01 1.81105392e-02 1.95570004e+02] [-2.83788434e-01 9.58871778e-01 -5.38858726e-03 -4.20398828e+01] [-1.88951793e-02 2.64810047e-05 9.99821470e-01 -4.99227600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50862385300002 meters 0.02660228407460468 Centerline is valid? [True, True] Translation: X:195.60, Y:-42.05, Z:-4.99 [[ 9.58990708e-01 2.82875296e-01 1.78434554e-02 1.95601416e+02] [-2.82825405e-01 9.59156694e-01 -5.31281196e-03 -4.20478721e+01] [-1.86175329e-02 4.83548154e-05 9.99826678e-01 -4.98676224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.53862385300002 meters 0.01814888245857712 Centerline is valid? [True, True] Translation: X:195.63, Y:-42.06, Z:-4.99 [[ 9.59655369e-01 2.80532329e-01 1.90573953e-02 1.95632535e+02] [-2.80474878e-01 9.59844571e-01 -5.67817270e-03 -4.20595803e+01] [-1.98850484e-02 1.03968309e-04 9.99802267e-01 -4.99234455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56862385300002 meters 0.018714813827915285 Centerline is valid? [True, True] Translation: X:195.66, Y:-42.07, Z:-4.99 [[ 9.60012398e-01 2.79291644e-01 1.92969683e-02 1.95663371e+02] [-2.79232407e-01 9.60206311e-01 -5.75358843e-03 -4.20701852e+01] [-2.01359999e-02 1.35177316e-04 9.99797241e-01 -4.99261207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.59862385300002 meters 0.019536968716227312 Centerline is valid? [True, True] Translation: X:195.69, Y:-42.08, Z:-4.99 [[ 9.60389375e-01 2.77954984e-01 1.98311866e-02 1.95693049e+02] [-2.77892045e-01 9.60594086e-01 -5.91726581e-03 -4.20805477e+01] [-2.06944541e-02 1.71950210e-04 9.99785832e-01 -4.99223867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62862385300002 meters 0.02027641117174712 Centerline is valid? [True, True] Translation: X:195.72, Y:-42.09, Z:-4.99 [[ 9.60648581e-01 2.77044029e-01 2.00227595e-02 1.95723427e+02] [-2.76979600e-01 9.60857205e-01 -5.97773483e-03 -4.20898831e+01] [-2.08951085e-02 1.96606555e-04 9.99781654e-01 -4.99270235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.65862385300002 meters 0.02027641117174712 Centerline is valid? [True, True] Translation: X:195.75, Y:-42.10, Z:-4.99 [[ 9.60596366e-01 2.77225086e-01 2.00218066e-02 1.95754491e+02] [-2.77160631e-01 9.60804982e-01 -5.98092444e-03 -4.20993630e+01] [-2.08951139e-02 1.95997728e-04 9.99781654e-01 -4.99352007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68862385300002 meters 0.021076293526910175 Centerline is valid? [True, True] Translation: X:195.79, Y:-42.11, Z:-4.99 [[ 9.61109595e-01 2.75446845e-01 1.99344184e-02 1.95785900e+02] [-2.75382482e-01 9.61316274e-01 -5.95897119e-03 -4.21078944e+01] [-2.08046607e-02 2.37634754e-04 9.99783531e-01 -4.99394452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.71862385300003 meters 0.022486014923234016 Centerline is valid? [True, True] Translation: X:195.82, Y:-42.12, Z:-5.00 [[ 9.61230536e-01 2.75003233e-01 2.02256763e-02 1.95815914e+02] [-2.74936798e-01 9.61443268e-01 -6.04981404e-03 -4.21188650e+01] [-2.11095588e-02 2.54483310e-04 9.99777136e-01 -4.99517084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74862385300003 meters 0.023041971477643627 Centerline is valid? [True, True] Translation: X:195.85, Y:-42.13, Z:-5.00 [[ 9.61376696e-01 2.74498266e-01 2.01382747e-02 1.95846773e+02] [-2.74432208e-01 9.61587557e-01 -6.02774293e-03 -4.21284917e+01] [-2.10193193e-02 2.68340412e-04 9.99779034e-01 -4.99586767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.77862385300003 meters 0.02317784041568222 Centerline is valid? [True, True] Translation: X:195.88, Y:-42.14, Z:-5.00 [[ 9.61607855e-01 2.73692466e-01 2.00690749e-02 1.95878377e+02] [-2.73626612e-01 9.61817213e-01 -6.01051208e-03 -4.21366426e+01] [-2.09478135e-02 2.88322671e-04 9.99780529e-01 -4.99649909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80862385300003 meters 0.02425643354019962 Centerline is valid? [True, True] Translation: X:195.91, Y:-42.15, Z:-5.00 [[ 9.61631971e-01 2.73629332e-01 1.97722249e-02 1.95908467e+02] [-2.73565322e-01 9.61835176e-01 -5.92535772e-03 -4.21474553e+01] [-2.06389731e-02 2.89018356e-04 9.99786952e-01 -4.99780772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.838623853 meters 0.024776562495456667 Centerline is valid? [True, True] Translation: X:195.94, Y:-42.16, Z:-5.00 [[ 9.61635638e-01 2.73611647e-01 1.98384804e-02 1.95938951e+02] [-2.73547155e-01 9.61840205e-01 -5.94754910e-03 -4.21569054e+01] [-2.07087667e-02 2.92615318e-04 9.99785508e-01 -4.99860657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.868623853 meters 0.02393446253341486 Centerline is valid? [True, True] Translation: X:195.97, Y:-42.16, Z:-5.00 [[ 9.61630303e-01 2.73614201e-01 2.00606230e-02 1.95971241e+02] [-2.73548179e-01 9.61839477e-01 -6.01784016e-03 -4.21634427e+01] [-2.09416657e-02 2.99390549e-04 9.99780654e-01 -4.99848524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.898623853 meters 0.024836912142771256 Centerline is valid? [True, True] Translation: X:196.00, Y:-42.17, Z:-5.00 [[ 9.61667494e-01 2.73471126e-01 2.02280667e-02 1.96001854e+02] [-2.73403875e-01 9.61880163e-01 -6.07233156e-03 -4.21734311e+01] [-2.11175834e-02 3.09132067e-04 9.99776951e-01 -4.99956455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.928623853 meters 0.023717439035215393 Centerline is valid? [True, True] Translation: X:196.03, Y:-42.18, Z:-5.00 [[ 9.61720212e-01 2.73283598e-01 2.02560901e-02 1.96034457e+02] [-2.73216038e-01 9.61933456e-01 -6.08456642e-03 -4.21809272e+01] [-2.11478229e-02 3.17361822e-04 9.99776309e-01 -4.99959703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.958623853 meters 0.03378494820160111 Centerline is valid? [True, True] Translation: X:196.06, Y:-42.19, Z:-4.99 [[ 9.61775082e-01 2.73148709e-01 1.94544144e-02 1.96064540e+02] [-2.73086281e-01 9.61971770e-01 -5.84788882e-03 -4.21911499e+01] [-2.03119408e-02 3.11620075e-04 9.99793643e-01 -4.99377004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.988623853 meters 0.02494594125825175 Centerline is valid? [True, True] Translation: X:196.09, Y:-42.20, Z:-5.00 [[ 9.61948220e-01 2.72548268e-01 1.93148763e-02 1.96094318e+02] [-2.72486545e-01 9.62142056e-01 -5.80917331e-03 -4.22015255e+01] [-2.01669349e-02 3.25080018e-04 9.99796574e-01 -5.00281194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.018623853 meters 0.027555543111005578 Centerline is valid? [True, True] Translation: X:196.12, Y:-42.21, Z:-5.00 [[ 9.62027682e-01 2.72290358e-01 1.89920871e-02 1.96124012e+02] [-2.72230562e-01 9.62215076e-01 -5.71558844e-03 -4.22108981e+01] [-1.98307722e-02 3.28327759e-04 9.99803297e-01 -4.99910539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.048623853 meters 0.02688303904270635 Centerline is valid? [True, True] Translation: X:196.15, Y:-42.22, Z:-5.01 [[ 9.62023568e-01 2.72274993e-01 1.94160253e-02 1.96153959e+02] [-2.72212428e-01 9.62219420e-01 -5.84646893e-03 -4.22231466e+01] [-2.02743239e-02 3.39157514e-04 9.99794397e-01 -5.00511094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.078623853 meters 0.03392785689176397 Centerline is valid? [True, True] Translation: X:196.19, Y:-42.23, Z:-5.00 [[ 9.61935927e-01 2.72615728e-01 1.89719879e-02 1.96187413e+02] [-2.72555990e-01 9.62122943e-01 -5.71622370e-03 -4.22287713e+01] [-1.98117173e-02 3.27712010e-04 9.99803675e-01 -4.99672394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.108623853 meters 0.02677756422547436 Centerline is valid? [True, True] Translation: X:196.22, Y:-42.24, Z:-5.01 [[ 9.61815700e-01 2.72975650e-01 1.98709329e-02 1.96216321e+02] [-2.72910098e-01 9.62020883e-01 -5.99163683e-03 -4.22411753e+01] [-2.07518234e-02 3.39872124e-04 9.99784600e-01 -5.00554177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.138623853 meters 0.02558974851532366 Centerline is valid? [True, True] Translation: X:196.25, Y:-42.25, Z:-5.01 [[ 9.61639658e-01 2.73579920e-01 2.00797350e-02 1.96247953e+02] [-2.73513043e-01 9.61849217e-01 -6.05798757e-03 -4.22487414e+01] [-2.09710212e-02 3.33531677e-04 9.99780028e-01 -5.00550106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.168623853 meters 0.02366122789803125 Centerline is valid? [True, True] Translation: X:196.28, Y:-42.26, Z:-5.01 [[ 9.61443632e-01 2.74258179e-01 2.02136855e-02 1.96279536e+02] [-2.74190481e-01 9.61656043e-01 -6.10197435e-03 -4.22552068e+01] [-2.11121292e-02 3.24304217e-04 9.99777062e-01 -5.00574682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.19862385300002 meters 0.02412950934163675 Centerline is valid? [True, True] Translation: X:196.31, Y:-42.27, Z:-5.01 [[ 9.61339879e-01 2.74629634e-01 2.01047365e-02 1.96309526e+02] [-2.74562667e-01 9.61550031e-01 -6.07281337e-03 -4.22656997e+01] [-2.09994845e-02 3.18027610e-04 9.99779436e-01 -5.00657670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22862385300002 meters 0.024936963773332526 Centerline is valid? [True, True] Translation: X:196.34, Y:-42.28, Z:-5.01 [[ 9.61324044e-01 2.74699686e-01 1.99039089e-02 1.96339183e+02] [-2.74633982e-01 9.61530021e-01 -6.01615746e-03 -4.22765104e+01] [-2.07908425e-02 3.17187062e-04 9.99783797e-01 -5.00772880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.25862385300002 meters 0.02471724752674448 Centerline is valid? [True, True] Translation: X:196.37, Y:-42.29, Z:-5.01 [[ 9.61304146e-01 2.74794033e-01 1.95596009e-02 1.96370782e+02] [-2.74730525e-01 9.61503064e-01 -5.91582394e-03 -4.22868053e+01] [-2.04322493e-02 3.13286646e-04 9.99791191e-01 -5.00965562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28862385300002 meters 0.02504467514348435 Centerline is valid? [True, True] Translation: X:196.40, Y:-42.30, Z:-5.01 [[ 9.61313267e-01 2.74786612e-01 1.92125007e-02 1.96401078e+02] [-2.74725257e-01 9.61505185e-01 -5.81483866e-03 -4.22969778e+01] [-2.00707588e-02 3.11722368e-04 9.99798513e-01 -5.01089045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.31862385300002 meters 0.031568141874787126 Centerline is valid? [True, True] Translation: X:196.43, Y:-42.31, Z:-5.00 [[ 9.61359589e-01 2.74682254e-01 1.83684343e-02 1.96432275e+02] [-2.74626087e-01 9.61535006e-01 -5.56283686e-03 -4.23055019e+01] [-1.91899052e-02 3.03435323e-04 9.99815811e-01 -5.00477500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34862385300002 meters 0.0255806196312067 Centerline is valid? [True, True] Translation: X:196.46, Y:-42.32, Z:-5.01 [[ 9.61328682e-01 2.74782442e-01 1.84871239e-02 1.96463093e+02] [-2.74725504e-01 9.61506378e-01 -5.60197987e-03 -4.23176122e+01] [-1.93148133e-02 3.06459492e-04 9.99813405e-01 -5.01436980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.37862385300002 meters 0.026554180210780758 Centerline is valid? [True, True] Translation: X:196.49, Y:-42.33, Z:-5.02 [[ 9.61561002e-01 2.73979457e-01 1.83220196e-02 1.96491765e+02] [-2.73923302e-01 9.61735490e-01 -5.55628933e-03 -4.23305005e+01] [-1.91432457e-02 3.23883013e-04 9.99816699e-01 -5.01576074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.40862385300002 meters 0.025853404986716726 Centerline is valid? [True, True] Translation: X:196.52, Y:-42.34, Z:-5.02 [[ 9.61586373e-01 2.73876469e-01 1.85290964e-02 1.96523343e+02] [-2.73818995e-01 9.61764821e-01 -5.62028871e-03 -4.23405898e+01] [-1.93598979e-02 3.30774487e-04 9.99812525e-01 -5.01532566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.43862385300002 meters 0.026807973296103498 Centerline is valid? [True, True] Translation: X:196.55, Y:-42.35, Z:-5.02 [[ 9.61619186e-01 2.73746886e-01 1.87398987e-02 1.96553401e+02] [-2.73687992e-01 9.61801708e-01 -5.68832787e-03 -4.23526193e+01] [-1.95812286e-02 3.41119978e-04 9.99808211e-01 -5.01630613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.46862385300003 meters 0.0262344209217895 Centerline is valid? [True, True] Translation: X:196.58, Y:-42.36, Z:-5.01 [[ 9.61526679e-01 2.73993523e-01 1.98493228e-02 1.96583829e+02] [-2.73927412e-01 9.61731470e-01 -6.02933823e-03 -4.23635644e+01] [-2.07417180e-02 3.60095931e-04 9.99784803e-01 -5.01451309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.49862385300003 meters 0.027130220794424207 Centerline is valid? [True, True] Translation: X:196.61, Y:-42.37, Z:-5.01 [[ 9.61415198e-01 2.74362496e-01 2.01503890e-02 1.96613224e+02] [-2.74294361e-01 9.61626274e-01 -6.12484371e-03 -4.23749067e+01] [-2.10575709e-02 3.61379774e-04 9.99778199e-01 -5.01488907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.52862385300003 meters 0.026737351090556326 Centerline is valid? [True, True] Translation: X:196.64, Y:-42.38, Z:-5.02 [[ 9.61252238e-01 2.74945684e-01 1.99751298e-02 1.96643619e+02] [-2.74878818e-01 9.61459698e-01 -6.07329241e-03 -4.23847417e+01] [-2.08751078e-02 3.47225851e-04 9.99782031e-01 -5.01602558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.55862385300003 meters 0.025566679201863337 Centerline is valid? [True, True] Translation: X:196.68, Y:-42.39, Z:-5.02 [[ 9.61067754e-01 2.75587155e-01 2.00123218e-02 1.96675092e+02] [-2.75520096e-01 9.61276030e-01 -6.08857932e-03 -4.23934556e+01] [-2.09152995e-02 3.37740447e-04 9.99781194e-01 -5.01654995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.588623853 meters 0.02539893142688357 Centerline is valid? [True, True] Translation: X:196.70, Y:-42.40, Z:-5.02 [[ 9.60692524e-01 2.76890341e-01 2.00403090e-02 1.96703921e+02] [-2.76823354e-01 9.60901474e-01 -6.09823233e-03 -4.24049527e+01] [-2.09453040e-02 3.10900666e-04 9.99780575e-01 -5.01774526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.618623853 meters 0.023952440582018654 Centerline is valid? [True, True] Translation: X:196.74, Y:-42.41, Z:-5.02 [[ 9.60500236e-01 2.77570111e-01 1.98527148e-02 1.96735221e+02] [-2.77504481e-01 9.60705338e-01 -6.04284665e-03 -4.24129877e+01] [-2.07499227e-02 2.94938302e-04 9.99784654e-01 -5.01826508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.648623853 meters 0.02353784270794824 Centerline is valid? [True, True] Translation: X:196.77, Y:-42.42, Z:-5.02 [[ 9.60330207e-01 2.78157097e-01 1.98625989e-02 1.96765978e+02] [-2.78091453e-01 9.60535553e-01 -6.04944069e-03 -4.24228159e+01] [-2.07614272e-02 2.85841643e-04 9.99784417e-01 -5.01928222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.678623853 meters 0.02354570654582419 Centerline is valid? [True, True] Translation: X:196.79, Y:-42.43, Z:-5.02 [[ 9.60120097e-01 2.78915872e-01 1.93735724e-02 1.96794616e+02] [-2.78853505e-01 9.60315503e-01 -5.90395824e-03 -4.24343680e+01] [-2.02514496e-02 2.66120378e-04 9.99794883e-01 -5.02076571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.708623853 meters 0.022197457706430536 Centerline is valid? [True, True] Translation: X:196.83, Y:-42.44, Z:-5.02 [[ 9.59889879e-01 2.79721743e-01 1.91615813e-02 1.96825173e+02] [-2.79660833e-01 9.60081082e-01 -5.84243642e-03 -4.24428377e+01] [-2.00309282e-02 2.49351797e-04 9.99799330e-01 -5.02136157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.738623853 meters 0.02202494434513446 Centerline is valid? [True, True] Translation: X:196.85, Y:-42.45, Z:-5.02 [[ 9.59674216e-01 2.80477147e-01 1.89200662e-02 1.96854696e+02] [-2.80417840e-01 9.59860675e-01 -5.77231438e-03 -4.24526708e+01] [-1.97796298e-02 2.34017162e-04 9.99804337e-01 -5.02214509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.768623853 meters 0.021884578346419256 Centerline is valid? [True, True] Translation: X:196.88, Y:-42.46, Z:-5.02 [[ 9.59379097e-01 2.81463033e-01 1.92434130e-02 1.96884526e+02] [-2.81401813e-01 9.59572046e-01 -5.87432162e-03 -4.24620955e+01] [-2.01188456e-02 2.20570080e-04 9.99797571e-01 -5.02314290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.798623853 meters 0.020437998112161564 Centerline is valid? [True, True] Translation: X:196.92, Y:-42.47, Z:-5.02 [[ 9.59023025e-01 2.82654883e-01 1.95206205e-02 1.96916195e+02] [-2.82592066e-01 9.59221651e-01 -5.96220900e-03 -4.24697441e+01] [-2.04098494e-02 2.01523228e-04 9.99791677e-01 -5.02268042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.828623853 meters 0.019380892810109636 Centerline is valid? [True, True] Translation: X:196.95, Y:-42.48, Z:-5.02 [[ 9.58289237e-01 2.85124705e-01 1.96377213e-02 1.96946246e+02] [-2.85061573e-01 9.58490417e-01 -6.00169986e-03 -4.24777422e+01] [-2.05338006e-02 1.53404661e-04 9.99789148e-01 -5.02308309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.858623853 meters 0.01881295990505389 Centerline is valid? [True, True] Translation: X:196.98, Y:-42.49, Z:-5.02 [[ 9.57891360e-01 2.86461535e-01 1.95941662e-02 1.96976302e+02] [-2.86398893e-01 9.58091735e-01 -5.99173741e-03 -4.24863138e+01] [-2.04894109e-02 1.27685992e-04 9.99790062e-01 -5.02411631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.888623853 meters 0.018230081274774834 Centerline is valid? [True, True] Translation: X:197.01, Y:-42.49, Z:-5.02 [[ 9.57554584e-01 2.87607285e-01 1.92683116e-02 1.97007955e+02] [-2.87546883e-01 9.57748421e-01 -5.89504369e-03 -4.24947483e+01] [-2.01496525e-02 1.04283162e-04 9.99796970e-01 -5.02495423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.918623853 meters 0.01816924452611075 Centerline is valid? [True, True] Translation: X:197.04, Y:-42.50, Z:-5.03 [[ 9.57254307e-01 2.88624801e-01 1.89714782e-02 1.97038689e+02] [-2.88566367e-01 9.57442279e-01 -5.80819208e-03 -4.25042243e+01] [-1.98404836e-02 8.53863552e-05 9.99803155e-01 -5.02699652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.94862385300002 meters 0.017730113082894256 Centerline is valid? [True, True] Translation: X:197.07, Y:-42.51, Z:-5.03 [[ 9.56808963e-01 2.90105547e-01 1.88515201e-02 1.97070232e+02] [-2.90048066e-01 9.56994654e-01 -5.77503528e-03 -4.25134106e+01] [-1.97161737e-02 5.77585742e-05 9.99805616e-01 -5.02753849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.97862385300002 meters 0.01756642810231559 Centerline is valid? [True, True] Translation: X:197.10, Y:-42.52, Z:-5.03 [[ 9.56558923e-01 2.90933214e-01 1.87854432e-02 1.97100853e+02] [-2.90876216e-01 9.56743363e-01 -5.75878869e-03 -4.25229924e+01] [-1.96482710e-02 4.43820803e-05 9.99806953e-01 -5.02860781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00862385300002 meters 0.017561507002558274 Centerline is valid? [True, True] Translation: X:197.13, Y:-42.53, Z:-5.03 [[ 9.56339593e-01 2.91640433e-01 1.89852808e-02 1.97131306e+02] [-2.91582281e-01 9.56528022e-01 -5.82381272e-03 -4.25326935e+01] [-1.98584124e-02 3.37712020e-05 9.99802802e-01 -5.03001487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.03862385300002 meters 0.01739177232764402 Centerline is valid? [True, True] Translation: X:197.16, Y:-42.54, Z:-5.03 [[ 9.56095124e-01 2.92409566e-01 1.94617407e-02 1.97160682e+02] [-2.92348535e-01 9.56293180e-01 -5.97401555e-03 -4.25417731e+01] [-2.03579892e-02 2.21157665e-05 9.99792754e-01 -5.03025963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06862385300002 meters 0.01717953869804442 Centerline is valid? [True, True] Translation: X:197.19, Y:-42.55, Z:-5.03 [[ 9.55533551e-01 2.94230127e-01 1.96027048e-02 1.97192536e+02] [-2.94168531e-01 9.55734603e-01 -6.02022442e-03 -4.25511453e+01] [-2.05063147e-02 -1.39724761e-05 9.99789723e-01 -5.02988251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.09862385300002 meters 0.017252614905429 Centerline is valid? [True, True] Translation: X:197.22, Y:-42.56, Z:-5.03 [[ 9.55162018e-01 2.95424979e-01 1.97383336e-02 1.97223047e+02] [-2.95362697e-01 9.55365941e-01 -6.06603458e-03 -4.25597694e+01] [-2.06493898e-02 -3.59216155e-05 9.99786778e-01 -5.03094263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12862385300002 meters 0.017390147975996362 Centerline is valid? [True, True] Translation: X:197.25, Y:-42.57, Z:-5.03 [[ 9.54789472e-01 2.96638845e-01 1.95565691e-02 1.97254397e+02] [-2.96577885e-01 9.54989734e-01 -6.01380920e-03 -4.25683724e+01] [-2.04602521e-02 -5.81241855e-05 9.99790665e-01 -5.03155917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.15862385300002 meters 0.01789971111963416 Centerline is valid? [True, True] Translation: X:197.29, Y:-42.58, Z:-5.03 [[ 9.54074983e-01 2.98980348e-01 1.87530995e-02 1.97285728e+02] [-2.98924673e-01 9.54259263e-01 -5.77048277e-03 -4.25756498e+01] [-1.96205798e-02 -1.00290880e-04 9.99807493e-01 -5.03318897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18862385300002 meters 0.018584893647316886 Centerline is valid? [True, True] Translation: X:197.32, Y:-42.58, Z:-5.04 [[ 9.53786805e-01 2.99919982e-01 1.84047540e-02 1.97316918e+02] [-2.99866468e-01 9.53964355e-01 -5.66654397e-03 -4.25829181e+01] [-1.92569891e-02 -1.14293718e-04 9.99814560e-01 -5.03548627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.21862385300003 meters 0.018703417789157056 Centerline is valid? [True, True] Translation: X:197.35, Y:-42.59, Z:-5.04 [[ 9.53458072e-01 3.00939140e-01 1.87973165e-02 1.97347666e+02] [-3.00883441e-01 9.53643338e-01 -5.79129258e-03 -4.25917674e+01] [-1.96687623e-02 -1.34046619e-04 9.99806542e-01 -5.03547337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.24862385300003 meters 0.01927293222053094 Centerline is valid? [True, True] Translation: X:197.38, Y:-42.60, Z:-5.04 [[ 9.53180065e-01 3.01828328e-01 1.86393190e-02 1.97378023e+02] [-3.01773658e-01 9.53362281e-01 -5.74633824e-03 -4.25989549e+01] [-1.95044313e-02 -1.47560421e-04 9.99809760e-01 -5.03674279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.27862385300003 meters 0.020452609631481187 Centerline is valid? [True, True] Translation: X:197.41, Y:-42.60, Z:-5.04 [[ 9.52671885e-01 3.03445204e-01 1.83653930e-02 1.97405839e+02] [-3.03392380e-01 9.52848874e-01 -5.66449375e-03 -4.26041260e+01] [-1.92183075e-02 -1.75516363e-04 9.99815296e-01 -5.03818183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.30862385300003 meters 0.020869229046593014 Centerline is valid? [True, True] Translation: X:197.43, Y:-42.61, Z:-5.04 [[ 9.52483216e-01 3.04043770e-01 1.82512703e-02 1.97434997e+02] [-3.03991730e-01 9.52658045e-01 -5.62826774e-03 -4.26115029e+01] [-1.90984593e-02 -1.87404683e-04 9.99817590e-01 -5.03886116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.338623853 meters 0.02037551408357557 Centerline is valid? [True, True] Translation: X:197.47, Y:-42.62, Z:-5.04 [[ 9.52164429e-01 3.05040333e-01 1.82563822e-02 1.97465273e+02] [-3.04988479e-01 9.52339410e-01 -5.62818033e-03 -4.26212550e+01] [-1.91030943e-02 -2.09033133e-04 9.99817497e-01 -5.03871676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.368623853 meters 0.02202344803257713 Centerline is valid? [True, True] Translation: X:197.50, Y:-42.63, Z:-5.04 [[ 9.51930406e-01 3.05779363e-01 1.80964787e-02 1.97495970e+02] [-3.05728482e-01 9.52102376e-01 -5.58229425e-03 -4.26264607e+01] [-1.89366507e-02 -2.18653318e-04 9.99820662e-01 -5.04101524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.398623853 meters 0.02127536255760652 Centerline is valid? [True, True] Translation: X:197.53, Y:-42.64, Z:-5.04 [[ 9.51725451e-01 3.06415129e-01 1.81227763e-02 1.97526306e+02] [-3.06364140e-01 9.51897955e-01 -5.59438894e-03 -4.26352330e+01] [-1.89652391e-02 -2.27846450e-04 9.99820118e-01 -5.04023358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.428623853 meters 0.02147217981934127 Centerline is valid? [True, True] Translation: X:197.56, Y:-42.64, Z:-5.04 [[ 9.51755593e-01 3.06299794e-01 1.84858532e-02 1.97556073e+02] [-3.06246714e-01 9.51935073e-01 -5.70675163e-03 -4.26426746e+01] [-1.93453089e-02 -2.29799015e-04 9.99812836e-01 -5.04070177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.458623853 meters 0.02156713518848739 Centerline is valid? [True, True] Translation: X:197.58, Y:-42.65, Z:-5.04 [[ 9.51924179e-01 3.05764322e-01 1.86691566e-02 1.97583414e+02] [-3.05710046e-01 9.52107206e-01 -5.76511221e-03 -4.26497158e+01] [-1.95378042e-02 -2.19399015e-04 9.99809095e-01 -5.04159009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.488623853 meters 0.02227591991650028 Centerline is valid? [True, True] Translation: X:197.61, Y:-42.66, Z:-5.04 [[ 9.52305323e-01 3.04579171e-01 1.86037694e-02 1.97612028e+02] [-3.04525063e-01 9.52487003e-01 -5.74414696e-03 -4.26590142e+01] [-1.94693961e-02 -1.95132325e-04 9.99810434e-01 -5.03761672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.518623853 meters 0.019724072832295846 Centerline is valid? [True, True] Translation: X:197.64, Y:-42.67, Z:-5.04 [[ 9.52595030e-01 3.03656622e-01 1.88511197e-02 1.97641679e+02] [-3.03600900e-01 9.52781520e-01 -5.81977286e-03 -4.26699766e+01] [-1.97282111e-02 -1.79330205e-04 9.99805364e-01 -5.04152220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.548623853 meters 0.019724072832295846 Centerline is valid? [True, True] Translation: X:197.67, Y:-42.68, Z:-5.04 [[ 9.52587883e-01 3.03679051e-01 1.88509829e-02 1.97671118e+02] [-3.03623325e-01 9.52774371e-01 -5.82021594e-03 -4.26791112e+01] [-1.97282111e-02 -1.79330940e-04 9.99805364e-01 -5.04229770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.578623853 meters 0.01915356901195169 Centerline is valid? [True, True] Translation: X:197.70, Y:-42.69, Z:-5.04 [[ 9.52871400e-01 3.02775791e-01 1.90503250e-02 1.97699613e+02] [-3.02718688e-01 9.53061800e-01 -5.88232481e-03 -4.26881203e+01] [-1.99371625e-02 -1.61790298e-04 9.99801222e-01 -5.04241308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.608623853 meters 0.018732321409184738 Centerline is valid? [True, True] Translation: X:197.73, Y:-42.70, Z:-5.04 [[ 9.53194696e-01 3.01753069e-01 1.91038273e-02 1.97728866e+02] [-3.01695434e-01 9.53386105e-01 -5.89909165e-03 -4.26972167e+01] [-1.99933925e-02 -1.40554595e-04 9.99800102e-01 -5.04319921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.638623853 meters 0.017797141405816015 Centerline is valid? [True, True] Translation: X:197.76, Y:-42.71, Z:-5.04 [[ 9.53916295e-01 2.99468098e-01 1.90410310e-02 1.97758846e+02] [-2.99410398e-01 9.54106310e-01 -5.87911174e-03 -4.27093941e+01] [-1.99277742e-02 -9.29021661e-05 9.99801418e-01 -5.04393547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.668623853 meters 0.01742629048460006 Centerline is valid? [True, True] Translation: X:197.79, Y:-42.72, Z:-5.04 [[ 9.54322425e-01 2.98159197e-01 1.92302360e-02 1.97788145e+02] [-2.98100007e-01 9.54516155e-01 -5.94108227e-03 -4.27209356e+01] [-2.01269592e-02 -6.28254398e-05 9.99797430e-01 -5.04452268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.69862385300002 meters 0.017209851725468805 Centerline is valid? [True, True] Translation: X:197.82, Y:-42.73, Z:-5.04 [[ 9.54774388e-01 2.96699552e-01 1.93711985e-02 1.97819381e+02] [-2.96639129e-01 9.54970876e-01 -5.98769158e-03 -4.27332185e+01] [-2.02754758e-02 -2.93608888e-05 9.99794431e-01 -5.04479483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72862385300002 meters 0.017470246726105924 Centerline is valid? [True, True] Translation: X:197.85, Y:-42.75, Z:-5.05 [[ 9.55726912e-01 2.93628252e-01 1.91968361e-02 1.97848869e+02] [-2.93568211e-01 9.55919687e-01 -5.93777729e-03 -4.27470372e+01] [-2.00941328e-02 3.93127026e-05 9.99798092e-01 -5.04641761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75862385300002 meters 0.017858358025500405 Centerline is valid? [True, True] Translation: X:197.88, Y:-42.76, Z:-5.05 [[ 9.56248848e-01 2.91912285e-01 1.93741888e-02 1.97879922e+02] [-2.91850702e-01 9.56445091e-01 -5.99635406e-03 -4.27598404e+01] [-2.02807572e-02 7.96360470e-05 9.99794321e-01 -5.04701238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78862385300002 meters 0.01883103688127419 Centerline is valid? [True, True] Translation: X:197.91, Y:-42.77, Z:-5.05 [[ 9.56802692e-01 2.90066642e-01 1.97472109e-02 1.97908332e+02] [-2.90002182e-01 9.57006441e-01 -6.11610863e-03 -4.27728187e+01] [-2.06722871e-02 1.25174948e-04 9.99786298e-01 -5.04742285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.81862385300002 meters 0.01985757753359593 Centerline is valid? [True, True] Translation: X:197.94, Y:-42.79, Z:-5.05 [[ 9.57339111e-01 2.88265541e-01 2.01197700e-02 1.97937783e+02] [-2.88198157e-01 9.57550494e-01 -6.23487452e-03 -4.27860589e+01] [-2.10629952e-02 1.70408605e-04 9.99778136e-01 -5.04703564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84862385300002 meters 0.022213022536727405 Centerline is valid? [True, True] Translation: X:197.97, Y:-42.80, Z:-5.05 [[ 9.58352486e-01 2.84868527e-01 2.02592005e-02 1.97966036e+02] [-2.84799369e-01 9.58566565e-01 -6.28165629e-03 -4.28028530e+01] [-2.12092384e-02 2.50233405e-04 9.99775027e-01 -5.04661769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.87862385300002 meters 0.023749138798658736 Centerline is valid? [True, True] Translation: X:198.00, Y:-42.82, Z:-5.05 [[ 9.58821897e-01 2.83292516e-01 2.01474566e-02 1.97995028e+02] [-2.83223696e-01 9.59033507e-01 -6.25060471e-03 -4.28163037e+01] [-2.10928355e-02 2.86979560e-04 9.99777480e-01 -5.04760596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90862385300002 meters 0.02521939216297452 Centerline is valid? [True, True] Translation: X:198.02, Y:-42.83, Z:-5.05 [[ 9.59230196e-01 2.81915851e-01 2.00220834e-02 1.98024005e+02] [-2.81847517e-01 9.59439082e-01 -6.21492360e-03 -4.28298680e+01] [-2.09620548e-02 3.18367888e-04 9.99780221e-01 -5.04947831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.93862385300002 meters 0.027486698304010907 Centerline is valid? [True, True] Translation: X:198.05, Y:-42.85, Z:-5.05 [[ 9.59815056e-01 2.79994371e-01 1.89264622e-02 1.98051695e+02] [-2.79932869e-01 9.60001580e-01 -5.87839629e-03 -4.28452628e+01] [-1.98153515e-02 3.44034410e-04 9.99803597e-01 -5.05237921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96862385300003 meters 0.028418929815145707 Centerline is valid? [True, True] Translation: X:198.08, Y:-42.86, Z:-5.05 [[ 9.59950486e-01 2.79554897e-01 1.85505756e-02 1.98081105e+02] [-2.79495708e-01 9.60129647e-01 -5.76283175e-03 -4.28575518e+01] [-1.94219854e-02 3.47226874e-04 9.99811315e-01 -5.05393517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.99862385300003 meters 0.029063510967979322 Centerline is valid? [True, True] Translation: X:198.11, Y:-42.87, Z:-5.05 [[ 9.60093912e-01 2.79070891e-01 1.84151598e-02 1.98110962e+02] [-2.79012413e-01 9.60270436e-01 -5.72395647e-03 -4.28698273e+01] [-1.92809232e-02 3.57477587e-04 9.99814042e-01 -5.05474727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02862385300003 meters 0.02935576130848734 Centerline is valid? [True, True] Translation: X:198.14, Y:-42.88, Z:-5.06 [[ 9.60076773e-01 2.79125424e-01 1.84820843e-02 1.98141255e+02] [-2.79066469e-01 9.60254585e-01 -5.74788080e-03 -4.28825444e+01] [-1.93518859e-02 3.60676841e-04 9.99812670e-01 -5.05583764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.05862385300003 meters 0.029815713442316663 Centerline is valid? [True, True] Translation: X:198.17, Y:-42.90, Z:-5.06 [[ 9.60070752e-01 2.79160732e-01 1.82602798e-02 1.98170279e+02] [-2.79103120e-01 9.60244321e-01 -5.68254227e-03 -4.28971616e+01] [-1.91206726e-02 3.59141574e-04 9.99817119e-01 -5.05668800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.088623853 meters 0.029887154725300468 Centerline is valid? [True, True] Translation: X:198.20, Y:-42.91, Z:-5.06 [[ 9.59980891e-01 2.79471451e-01 1.82317655e-02 1.98199870e+02] [-2.79414011e-01 9.60153936e-01 -5.67705394e-03 -4.29088185e+01] [-1.90918759e-02 3.55652581e-04 9.99817670e-01 -5.05713721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.118623853 meters 0.03460934452010923 Centerline is valid? [True, True] Translation: X:198.23, Y:-42.92, Z:-5.05 [[ 9.59693274e-01 2.80473933e-01 1.79775643e-02 1.98230250e+02] [-2.80418197e-01 9.59861584e-01 -5.60122109e-03 -4.29189579e+01] [-1.88269698e-02 3.34218045e-04 9.99822701e-01 -5.04869195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.148623853 meters 0.02911915732495524 Centerline is valid? [True, True] Translation: X:198.26, Y:-42.93, Z:-5.06 [[ 9.59636584e-01 2.80655681e-01 1.81662985e-02 1.98260515e+02] [-2.80598744e-01 9.59808457e-01 -5.66303288e-03 -4.29326341e+01] [-1.90255293e-02 3.37012997e-04 9.99818941e-01 -5.05808526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.178623853 meters 0.027879544721394665 Centerline is valid? [True, True] Translation: X:198.29, Y:-42.94, Z:-5.06 [[ 9.59176898e-01 2.82254315e-01 1.76685976e-02 1.98289462e+02] [-2.82200653e-01 9.59339570e-01 -5.51181810e-03 -4.29449937e+01] [-1.85059193e-02 3.00718813e-04 9.99828706e-01 -5.05983469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.208623853 meters 0.02696459613992839 Centerline is valid? [True, True] Translation: X:198.32, Y:-42.96, Z:-5.06 [[ 9.58840149e-01 2.83400383e-01 1.76008881e-02 1.98319369e+02] [-2.83347300e-01 9.59001640e-01 -5.49202315e-03 -4.29551798e+01] [-1.84357220e-02 2.78808180e-04 9.99830009e-01 -5.06054393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.238623853 meters 0.025126387554310875 Centerline is valid? [True, True] Translation: X:198.35, Y:-42.97, Z:-5.06 [[ 9.58247932e-01 2.85365237e-01 1.80992312e-02 1.98348395e+02] [-2.85309400e-01 9.58418812e-01 -5.65044829e-03 -4.29659308e+01] [-1.89590851e-02 2.50649594e-04 9.99820229e-01 -5.05990334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.268623853 meters 0.024354028783455686 Centerline is valid? [True, True] Translation: X:198.38, Y:-42.98, Z:-5.06 [[ 9.57928685e-01 2.86425886e-01 1.82440949e-02 1.98378919e+02] [-2.86369290e-01 9.58102373e-01 -5.69846600e-03 -4.29765198e+01] [-1.91118988e-02 2.34175530e-04 9.99817324e-01 -5.06082633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.298623853 meters 0.022132230326642195 Centerline is valid? [True, True] Translation: X:198.41, Y:-42.99, Z:-5.06 [[ 9.57557272e-01 2.87668381e-01 1.81926918e-02 1.98409672e+02] [-2.87612272e-01 9.57730055e-01 -5.68534580e-03 -4.29850097e+01] [-1.90591820e-02 2.11602780e-04 9.99818335e-01 -5.06068447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.328623853 meters 0.021475024387610044 Centerline is valid? [True, True] Translation: X:198.44, Y:-43.00, Z:-5.06 [[ 9.57249571e-01 2.88689108e-01 1.82169617e-02 1.98440376e+02] [-2.88632972e-01 9.57422875e-01 -5.69616051e-03 -4.29960422e+01] [-1.90857553e-02 1.94631400e-04 9.99817831e-01 -5.06107371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.358623853 meters 0.021898678318667354 Centerline is valid? [True, True] Translation: X:198.47, Y:-43.01, Z:-5.06 [[ 9.56893561e-01 2.89873485e-01 1.81128708e-02 1.98469159e+02] [-2.89818139e-01 9.57064957e-01 -5.66687338e-03 -4.30082810e+01] [-1.89778702e-02 1.73156136e-04 9.99819889e-01 -5.06317756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.388623853 meters 0.020371240174676803 Centerline is valid? [True, True] Translation: X:198.50, Y:-43.02, Z:-5.06 [[ 9.56269099e-01 2.91936937e-01 1.79509392e-02 1.98498601e+02] [-2.91882877e-01 9.56437560e-01 -5.61952457e-03 -4.30184403e+01] [-1.88094992e-02 1.34205930e-04 9.99823077e-01 -5.06409319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.418623853 meters 0.019209008631543508 Centerline is valid? [True, True] Translation: X:198.53, Y:-43.03, Z:-5.06 [[ 9.55913871e-01 2.93100888e-01 1.79036316e-02 1.98529761e+02] [-2.93047295e-01 9.56081512e-01 -5.60589508e-03 -4.30272919e+01] [-1.87604240e-02 1.12142054e-04 9.99824001e-01 -5.06359778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.44862385300002 meters 0.018709187744220656 Centerline is valid? [True, True] Translation: X:198.56, Y:-43.04, Z:-5.06 [[ 9.55580749e-01 2.94190287e-01 1.78187271e-02 1.98560574e+02] [-2.94137336e-01 9.55746863e-01 -5.58221860e-03 -4.30379739e+01] [-1.86724270e-02 9.31077053e-05 9.99825651e-01 -5.06469035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.47862385300002 meters 0.01884600677277755 Centerline is valid? [True, True] Translation: X:198.59, Y:-43.05, Z:-5.07 [[ 9.55253543e-01 2.95254111e-01 1.77673701e-02 1.98590620e+02] [-2.95201582e-01 9.55418759e-01 -5.56970008e-03 -4.30496215e+01] [-1.86197555e-02 7.55199772e-05 9.99826634e-01 -5.06736279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50862385300002 meters 0.01829260117865335 Centerline is valid? [True, True] Translation: X:198.62, Y:-43.06, Z:-5.07 [[ 9.54669079e-01 2.97156680e-01 1.74601641e-02 1.98620442e+02] [-2.97106211e-01 9.54828731e-01 -5.47662027e-03 -4.30614309e+01] [-1.82988806e-02 4.08368377e-05 9.99832561e-01 -5.06869906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.53862385300002 meters 0.017857573399431365 Centerline is valid? [True, True] Translation: X:198.65, Y:-43.07, Z:-5.07 [[ 9.54354725e-01 2.98199258e-01 1.68600759e-02 1.98651508e+02] [-2.98152316e-01 9.54503642e-01 -5.29097729e-03 -4.30720692e+01] [-1.76707693e-02 2.25985118e-05 9.99843860e-01 -5.06858599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56862385300002 meters 0.018141813694791138 Centerline is valid? [True, True] Translation: X:198.68, Y:-43.08, Z:-5.07 [[ 9.54078932e-01 2.99096081e-01 1.65809065e-02 1.98681976e+02] [-2.99050752e-01 9.54223000e-01 -5.20705801e-03 -4.30825132e+01] [-1.73792930e-02 9.41178213e-06 9.99848969e-01 -5.07235058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.59862385300002 meters 0.017895073178080128 Centerline is valid? [True, True] Translation: X:198.71, Y:-43.09, Z:-5.07 [[ 9.53731104e-01 3.00225853e-01 1.61684293e-02 1.98713683e+02] [-3.00182892e-01 9.53868144e-01 -5.07884561e-03 -4.30922624e+01] [-1.69473504e-02 -9.63283086e-06 9.99856383e-01 -5.07191960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.62862385300002 meters 0.01829688426582727 Centerline is valid? [True, True] Translation: X:198.74, Y:-43.10, Z:-5.07 [[ 9.53017181e-01 3.02463284e-01 1.65594317e-02 1.98744306e+02] [-3.02418497e-01 9.53161036e-01 -5.20506624e-03 -4.31013793e+01] [-1.73581465e-02 -4.73608955e-05 9.99849335e-01 -5.07344555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.65862385300002 meters 0.018205617142264544 Centerline is valid? [True, True] Translation: X:198.78, Y:-43.11, Z:-5.07 [[ 9.52623499e-01 3.03673909e-01 1.70477510e-02 1.98775544e+02] [-3.03626581e-01 9.52776024e-01 -5.36165235e-03 -4.31121261e+01] [-1.78708824e-02 -6.85143343e-05 9.99840301e-01 -5.07174358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68862385300002 meters 0.017752921513056564 Centerline is valid? [True, True] Translation: X:198.81, Y:-43.12, Z:-5.07 [[ 9.52335206e-01 3.04564739e-01 1.72619618e-02 1.98806692e+02] [-3.04516303e-01 9.52491634e-01 -5.43217670e-03 -4.31244419e+01] [-1.80963237e-02 -8.32956695e-05 9.99836245e-01 -5.06919079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.71862385300003 meters 0.01823017304023742 Centerline is valid? [True, True] Translation: X:198.84, Y:-43.13, Z:-5.07 [[ 9.51955430e-01 3.05742946e-01 1.73813083e-02 1.98837293e+02] [-3.05693962e-01 9.52114090e-01 -5.47365195e-03 -4.31346605e+01] [-1.82225190e-02 -1.02688303e-04 9.99833951e-01 -5.07045688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74862385300003 meters 0.019014242348494175 Centerline is valid? [True, True] Translation: X:198.87, Y:-43.15, Z:-5.07 [[ 9.51405482e-01 3.07429561e-01 1.77390626e-02 1.98867101e+02] [-3.07378763e-01 9.51570831e-01 -5.59009729e-03 -4.31451582e+01] [-1.85985357e-02 -1.34161921e-04 9.99827023e-01 -5.07105377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.77862385300003 meters 0.01918623787445838 Centerline is valid? [True, True] Translation: X:198.90, Y:-43.16, Z:-5.07 [[ 9.51134099e-01 3.08281177e-01 1.75111923e-02 1.98898211e+02] [-3.08231761e-01 9.51295272e-01 -5.52151500e-03 -4.31558311e+01] [-1.83604936e-02 -1.45804433e-04 9.99831421e-01 -5.07171164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.80862385300003 meters 0.019301914529051407 Centerline is valid? [True, True] Translation: X:198.93, Y:-43.17, Z:-5.07 [[ 9.50877652e-01 3.09086269e-01 1.72443686e-02 1.98929816e+02] [-3.09038418e-01 9.51033992e-01 -5.44080853e-03 -4.31665099e+01] [-1.80816600e-02 -1.55629157e-04 9.99836501e-01 -5.07340094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.838623853 meters 0.019636753194998805 Centerline is valid? [True, True] Translation: X:198.96, Y:-43.18, Z:-5.07 [[ 9.50595852e-01 3.09983923e-01 1.66581627e-02 1.98959784e+02] [-3.09939347e-01 9.50741784e-01 -5.25935967e-03 -4.31769122e+01] [-1.74679283e-02 -1.63494588e-04 9.99847411e-01 -5.07475980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.868623853 meters 0.020050786876262456 Centerline is valid? [True, True] Translation: X:198.99, Y:-43.19, Z:-5.08 [[ 9.50376494e-01 3.10659440e-01 1.65901456e-02 1.98990473e+02] [-3.10615278e-01 9.50521269e-01 -5.24082651e-03 -4.31869175e+01] [-1.73973984e-02 -1.72394358e-04 9.99848639e-01 -5.07597587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.898623853 meters 0.020382390545546508 Centerline is valid? [True, True] Translation: X:199.02, Y:-43.20, Z:-5.08 [[ 9.50195821e-01 3.11226109e-01 1.63159480e-02 1.99020530e+02] [-3.11183413e-01 9.50335876e-01 -5.15806920e-03 -4.31968888e+01] [-1.71109565e-02 -1.76076581e-04 9.99853581e-01 -5.07686752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.928623853 meters 0.021983398394835218 Centerline is valid? [True, True] Translation: X:199.05, Y:-43.20, Z:-5.08 [[ 9.49690383e-01 3.12774452e-01 1.61343769e-02 1.99050766e+02] [-3.12732906e-01 9.49827406e-01 -5.10173942e-03 -4.32043966e+01] [-1.69205671e-02 -2.00677708e-04 9.99856817e-01 -5.07855191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.958623853 meters 0.022014256254074358 Centerline is valid? [True, True] Translation: X:199.08, Y:-43.21, Z:-5.08 [[ 9.49327131e-01 3.13871742e-01 1.62026835e-02 1.99081585e+02] [-3.13829958e-01 9.49465366e-01 -5.12600157e-03 -4.32138703e+01] [-1.69927939e-02 -2.18635117e-04 9.99855588e-01 -5.07823527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.988623853 meters 0.027465131625968576 Centerline is valid? [True, True] Translation: X:199.11, Y:-43.22, Z:-5.07 [[ 9.48919433e-01 3.15119546e-01 1.58613122e-02 1.99113099e+02] [-3.15079632e-01 9.49051957e-01 -5.02077226e-03 -4.32205665e+01] [-1.66353528e-02 -2.33268032e-04 9.99861596e-01 -5.07035228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.018623853 meters 0.023695328643989908 Centerline is valid? [True, True] Translation: X:199.14, Y:-43.23, Z:-5.08 [[ 9.48486638e-01 3.16402142e-01 1.62105778e-02 1.99143908e+02] [-3.16360586e-01 9.48625120e-01 -5.13434569e-03 -4.32290050e+01] [-1.70022792e-02 -2.58529608e-04 9.99855417e-01 -5.08021316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.048623853 meters 0.024698717464384987 Centerline is valid? [True, True] Translation: X:199.18, Y:-43.24, Z:-5.08 [[ 9.48056874e-01 3.17694624e-01 1.60713852e-02 1.99175473e+02] [-3.17653917e-01 9.48193044e-01 -5.09308661e-03 -4.32363784e+01] [-1.68568219e-02 -2.76602689e-04 9.99857875e-01 -5.08148217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.078623853 meters 0.02506423599718305 Centerline is valid? [True, True] Translation: X:199.21, Y:-43.25, Z:-5.08 [[ 9.47968113e-01 3.17951920e-01 1.62183094e-02 1.99206488e+02] [-3.17910455e-01 9.48106797e-01 -5.14247542e-03 -4.32457342e+01] [-1.70117493e-02 -2.81067405e-04 9.99855250e-01 -5.08269497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.108623853 meters 0.02509735344306753 Centerline is valid? [True, True] Translation: X:199.24, Y:-43.26, Z:-5.08 [[ 9.47948130e-01 3.17998025e-01 1.64802355e-02 1.99237535e+02] [-3.17955161e-01 9.48091333e-01 -5.22874818e-03 -4.32551693e+01] [-1.72875000e-02 -2.83393869e-04 9.99850520e-01 -5.08332129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.138623853 meters 0.024734744277977935 Centerline is valid? [True, True] Translation: X:199.27, Y:-43.27, Z:-5.08 [[ 9.48043810e-01 3.17714683e-01 1.64412716e-02 1.99268282e+02] [-3.17671924e-01 9.48186324e-01 -5.21955725e-03 -4.32652769e+01] [-1.72477189e-02 -2.74561440e-04 9.99851209e-01 -5.08393777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.168623853 meters 0.024285918334991285 Centerline is valid? [True, True] Translation: X:199.30, Y:-43.28, Z:-5.08 [[ 9.48343132e-01 3.16815747e-01 1.65253450e-02 1.99297878e+02] [-3.16772361e-01 9.48487067e-01 -5.24925617e-03 -4.32754379e+01] [-1.73371230e-02 -2.56676513e-04 9.99849668e-01 -5.08493535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.19862385300002 meters 0.023920596159109974 Centerline is valid? [True, True] Translation: X:199.33, Y:-43.29, Z:-5.09 [[ 9.48521013e-01 3.16292362e-01 1.63410393e-02 1.99328457e+02] [-3.16249818e-01 9.48661733e-01 -5.19323006e-03 -4.32858627e+01] [-1.71446977e-02 -2.41962857e-04 9.99852990e-01 -5.08616837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22862385300002 meters 0.023564894302724924 Centerline is valid? [True, True] Translation: X:199.36, Y:-43.30, Z:-5.09 [[ 9.48657658e-01 3.15901007e-01 1.59750424e-02 1.99359362e+02] [-3.15860251e-01 9.48792128e-01 -5.07937662e-03 -4.32960604e+01] [-1.67615747e-02 -2.27291378e-04 9.99859489e-01 -5.08733185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.25862385300002 meters 0.022785978383891608 Centerline is valid? [True, True] Translation: X:199.39, Y:-43.31, Z:-5.09 [[ 9.48936807e-01 3.15063129e-01 1.59424307e-02 1.99389889e+02] [-3.15022365e-01 9.49070693e-01 -5.07233076e-03 -4.33064799e+01] [-1.67285982e-02 -2.08900867e-04 9.99860045e-01 -5.08863675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28862385300002 meters 0.022678780179112058 Centerline is valid? [True, True] Translation: X:199.42, Y:-43.32, Z:-5.09 [[ 9.48943191e-01 3.15034454e-01 1.61279917e-02 1.99421462e+02] [-3.14992687e-01 9.49080212e-01 -5.13399051e-03 -4.33166123e+01] [-1.69241417e-02 -2.08334122e-04 9.99856755e-01 -5.08926211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.31862385300002 meters 0.022255690491163924 Centerline is valid? [True, True] Translation: X:199.45, Y:-43.33, Z:-5.09 [[ 9.49075531e-01 3.14629571e-01 1.62440379e-02 1.99452485e+02] [-3.14587083e-01 9.49214514e-01 -5.17434493e-03 -4.33265105e+01] [-1.70470785e-02 -1.99320333e-04 9.99854668e-01 -5.08911343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34862385300002 meters 0.02236799534663337 Centerline is valid? [True, True] Translation: X:199.48, Y:-43.34, Z:-5.09 [[ 9.49022236e-01 3.14782161e-01 1.64007898e-02 1.99483291e+02] [-3.14738825e-01 9.49163922e-01 -5.22702742e-03 -4.33355249e+01] [-1.72124130e-02 -2.01400062e-04 9.99851835e-01 -5.08972794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.37862385300002 meters 0.021872684834896843 Centerline is valid? [True, True] Translation: X:199.51, Y:-43.35, Z:-5.09 [[ 9.49303590e-01 3.13942157e-01 1.62177609e-02 1.99513198e+02] [-3.13899607e-01 9.49442094e-01 -5.17181106e-03 -4.33451746e+01] [-1.70214743e-02 -1.81129947e-04 9.99855108e-01 -5.09091844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.40862385300002 meters 0.02028990241802178 Centerline is valid? [True, True] Translation: X:199.54, Y:-43.36, Z:-5.09 [[ 9.49446108e-01 3.13511386e-01 1.62079876e-02 1.99542865e+02] [-3.13468785e-01 9.49584426e-01 -5.17100473e-03 -4.33582262e+01] [-1.70120214e-02 -1.71107858e-04 9.99855270e-01 -5.08960717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.43862385300002 meters 0.020016614159595655 Centerline is valid? [True, True] Translation: X:199.57, Y:-43.37, Z:-5.09 [[ 9.49641719e-01 3.12926296e-01 1.60542590e-02 1.99572510e+02] [-3.12884364e-01 9.49777400e-01 -5.12499567e-03 -4.33679402e+01] [-1.68517183e-02 -1.56216917e-04 9.99857988e-01 -5.09090701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.46862385300003 meters 0.020016614159595655 Centerline is valid? [True, True] Translation: X:199.60, Y:-43.38, Z:-5.09 [[ 9.49582161e-01 3.13107016e-01 1.60535528e-02 1.99603383e+02] [-3.13065073e-01 9.49717838e-01 -5.12720643e-03 -4.33779852e+01] [-1.68517098e-02 -1.57102936e-04 9.99857988e-01 -5.09172464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.49862385300003 meters 0.02021786198518496 Centerline is valid? [True, True] Translation: X:199.63, Y:-43.39, Z:-5.09 [[ 9.49683434e-01 3.12788215e-01 1.62760084e-02 1.99632818e+02] [-3.12744989e-01 9.49822884e-01 -5.20204803e-03 -4.33871082e+01] [-1.70864645e-02 -1.49941234e-04 9.99854004e-01 -5.09299355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.52862385300003 meters 0.019598634320319743 Centerline is valid? [True, True] Translation: X:199.66, Y:-43.40, Z:-5.09 [[ 9.49984467e-01 3.11843600e-01 1.68250460e-02 1.99662695e+02] [-3.11797208e-01 9.50133438e-01 -5.38057625e-03 -4.33966141e+01] [-1.76639371e-02 -1.34538506e-04 9.99843971e-01 -5.09196438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.55862385300003 meters 0.01922926014243689 Centerline is valid? [True, True] Translation: X:199.69, Y:-43.41, Z:-5.09 [[ 9.50017565e-01 3.11743489e-01 1.68114203e-02 1.99694306e+02] [-3.11697114e-01 9.50166291e-01 -5.37859126e-03 -4.34073393e+01] [-1.76503857e-02 -1.30315022e-04 9.99844211e-01 -5.09164572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.588623853 meters 0.018841745224162997 Centerline is valid? [True, True] Translation: X:199.73, Y:-43.42, Z:-5.09 [[ 9.50130750e-01 3.11391805e-01 1.69322620e-02 1.99725497e+02] [-3.11344642e-01 9.50281605e-01 -5.42077157e-03 -4.34176977e+01] [-1.77784009e-02 -1.21327282e-04 9.99841944e-01 -5.09245706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.618623853 meters 0.018824600416874792 Centerline is valid? [True, True] Translation: X:199.76, Y:-43.43, Z:-5.09 [[ 9.50226483e-01 3.11103369e-01 1.68619240e-02 1.99755431e+02] [-3.11056487e-01 9.50376074e-01 -5.40187826e-03 -4.34274524e+01] [-1.77057117e-02 -1.12003068e-04 9.99843235e-01 -5.09374803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.648623853 meters 0.018807716713242023 Centerline is valid? [True, True] Translation: X:199.79, Y:-43.44, Z:-5.09 [[ 9.50387066e-01 3.10622804e-01 1.66703011e-02 1.99785606e+02] [-3.10576843e-01 9.50533253e-01 -5.34419333e-03 -4.34371423e+01] [-1.75057038e-02 -9.83572563e-05 9.99846759e-01 -5.09498610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.678623853 meters 0.018839006551615283 Centerline is valid? [True, True] Translation: X:199.82, Y:-43.45, Z:-5.09 [[ 9.50372086e-01 3.10677953e-01 1.64957189e-02 1.99817437e+02] [-3.10632932e-01 9.50515229e-01 -5.28971550e-03 -4.34472720e+01] [-1.73228300e-02 -9.69155667e-05 9.99849944e-01 -5.09473916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.708623853 meters 0.01911609874051395 Centerline is valid? [True, True] Translation: X:199.85, Y:-43.46, Z:-5.10 [[ 9.50333152e-01 3.10801505e-01 1.64111319e-02 1.99848668e+02] [-3.10756903e-01 9.50474837e-01 -5.26612020e-03 -4.34560250e+01] [-1.72350860e-02 -9.53039094e-05 9.99851460e-01 -5.09701708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.738623853 meters 0.019206367684680266 Centerline is valid? [True, True] Translation: X:199.88, Y:-43.47, Z:-5.10 [[ 9.50246515e-01 3.11073099e-01 1.62815109e-02 1.99879972e+02] [-3.11029185e-01 9.50385984e-01 -5.22762488e-03 -4.34650901e+01] [-1.70998932e-02 -9.64927478e-05 9.99853781e-01 -5.09766912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.768623853 meters 0.01960132754012066 Centerline is valid? [True, True] Translation: X:199.91, Y:-43.47, Z:-5.10 [[ 9.50101391e-01 3.11522595e-01 1.61561069e-02 1.99911073e+02] [-3.11479362e-01 9.50238740e-01 -5.19078280e-03 -4.34727545e+01] [-1.69692048e-02 -1.00523922e-04 9.99856008e-01 -5.09944167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.798623853 meters 0.01986174368630028 Centerline is valid? [True, True] Translation: X:199.94, Y:-43.48, Z:-5.10 [[ 9.50002288e-01 3.11827261e-01 1.61062733e-02 1.99941818e+02] [-3.11784285e-01 9.50138805e-01 -5.17792323e-03 -4.34805778e+01] [-1.69178129e-02 -1.02643993e-04 9.99856878e-01 -5.10056005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.828623853 meters 0.019580415918042247 Centerline is valid? [True, True] Translation: X:199.97, Y:-43.49, Z:-5.10 [[ 9.49886066e-01 3.12184692e-01 1.60368215e-02 1.99973074e+02] [-3.12142090e-01 9.50021424e-01 -5.15840828e-03 -4.34897237e+01] [-1.68457001e-02 -1.05866840e-04 9.99858096e-01 -5.09994794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.858623853 meters 0.02129264207208112 Centerline is valid? [True, True] Translation: X:200.00, Y:-43.50, Z:-5.10 [[ 9.49828645e-01 3.12379124e-01 1.56469936e-02 2.00004810e+02] [-3.12338541e-01 9.49957511e-01 -5.03625302e-03 -4.34972106e+01] [-1.64371994e-02 -1.03581784e-04 9.99864895e-01 -5.09794854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.888623853 meters 0.019686955006578098 Centerline is valid? [True, True] Translation: X:200.04, Y:-43.51, Z:-5.10 [[ 9.49792917e-01 3.12492832e-01 1.55449356e-02 2.00035904e+02] [-3.12452745e-01 9.49920112e-01 -5.00624430e-03 -4.35072218e+01] [-1.63308625e-02 -1.02162441e-04 9.99866637e-01 -5.10311561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.918623853 meters 0.021197235495318382 Centerline is valid? [True, True] Translation: X:200.07, Y:-43.52, Z:-5.10 [[ 9.49790080e-01 3.12532358e-01 1.49106923e-02 2.00067662e+02] [-3.12495436e-01 9.49907109e-01 -4.80484381e-03 -4.35155616e+01] [-1.56654418e-02 -9.59303187e-05 9.99877285e-01 -5.09981901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.94862385300002 meters 0.019938527896350276 Centerline is valid? [True, True] Translation: X:200.10, Y:-43.52, Z:-5.11 [[ 9.49722269e-01 3.12740390e-01 1.48680838e-02 2.00098393e+02] [-3.12703654e-01 9.49838639e-01 -4.79434980e-03 -4.35237574e+01] [-1.56216673e-02 -9.60033542e-05 9.99877970e-01 -5.10670338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.97862385300002 meters 0.020190040750829627 Centerline is valid? [True, True] Translation: X:200.13, Y:-43.53, Z:-5.11 [[ 9.49576941e-01 3.13184276e-01 1.48068741e-02 2.00130249e+02] [-3.13147851e-01 9.49692371e-01 -4.77743693e-03 -4.35311136e+01] [-1.55581935e-02 -1.00196877e-04 9.99878959e-01 -5.10758934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00862385300002 meters 0.020518829651113072 Centerline is valid? [True, True] Translation: X:200.16, Y:-43.54, Z:-5.11 [[ 9.49502309e-01 3.13397456e-01 1.50797887e-02 2.00161505e+02] [-3.13359643e-01 9.49622043e-01 -4.86928898e-03 -4.35384732e+01] [-1.58461225e-02 -1.01996082e-04 9.99874437e-01 -5.10908182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.03862385300002 meters 0.02045233449876721 Centerline is valid? [True, True] Translation: X:200.19, Y:-43.54, Z:-5.11 [[ 9.49169501e-01 3.14391783e-01 1.53318405e-02 2.00193842e+02] [-3.14352803e-01 9.49293312e-01 -4.95200234e-03 -4.35445456e+01] [-1.61112825e-02 -1.19317443e-04 9.99870198e-01 -5.10840784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06862385300002 meters 0.02039673735909932 Centerline is valid? [True, True] Translation: X:200.23, Y:-43.55, Z:-5.11 [[ 9.48929213e-01 3.15104494e-01 1.55725996e-02 2.00226335e+02] [-3.15064325e-01 9.49056975e-01 -5.03290074e-03 -4.35528188e+01] [-1.63651739e-02 -1.30504040e-04 9.99866073e-01 -5.10780635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.09862385300002 meters 0.02077666273076423 Centerline is valid? [True, True] Translation: X:200.26, Y:-43.56, Z:-5.11 [[ 9.48695471e-01 3.15794735e-01 1.58299847e-02 2.00257395e+02] [-3.15753266e-01 9.48827521e-01 -5.11954662e-03 -4.35591813e+01] [-1.66366510e-02 -1.41478676e-04 9.99861591e-01 -5.10830762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.12862385300002 meters 0.020246126545268913 Centerline is valid? [True, True] Translation: X:200.29, Y:-43.57, Z:-5.11 [[ 9.48580836e-01 3.16126604e-01 1.60737895e-02 2.00289535e+02] [-3.16083846e-01 9.48717001e-01 -5.20134801e-03 -4.35682799e+01] [-1.68937619e-02 -1.46766163e-04 9.99857279e-01 -5.10730501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.15862385300002 meters 0.020696364171223038 Centerline is valid? [True, True] Translation: X:200.32, Y:-43.57, Z:-5.11 [[ 9.48473173e-01 3.16469777e-01 1.56690844e-02 2.00321177e+02] [-3.16429136e-01 9.48602582e-01 -5.07378480e-03 -4.35749773e+01] [-1.64694334e-02 -1.45806051e-04 9.99864359e-01 -5.10957020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.18862385300002 meters 0.02059219866665281 Centerline is valid? [True, True] Translation: X:200.35, Y:-43.58, Z:-5.11 [[ 9.48568847e-01 3.16184665e-01 1.56333155e-02 2.00353177e+02] [-3.16144117e-01 9.48697654e-01 -5.06543053e-03 -4.35808057e+01] [-1.64329012e-02 -1.37471116e-04 9.99864961e-01 -5.11100472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.21862385300003 meters 0.019988604715022625 Centerline is valid? [True, True] Translation: X:200.38, Y:-43.59, Z:-5.11 [[ 9.48747320e-01 3.15643625e-01 1.57360636e-02 2.00384355e+02] [-3.15602416e-01 9.48877803e-01 -5.10186267e-03 -4.35903904e+01] [-1.65419719e-02 -1.25961155e-04 9.99863164e-01 -5.11052950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.24862385300003 meters 0.02006498528460831 Centerline is valid? [True, True] Translation: X:200.42, Y:-43.60, Z:-5.11 [[ 9.48900794e-01 3.15192398e-01 1.55253243e-02 2.00415240e+02] [-3.15152180e-01 9.49027786e-01 -5.03628280e-03 -4.35983080e+01] [-1.63213622e-02 -1.13907041e-04 9.99866791e-01 -5.11287970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.27862385300003 meters 0.01938663628670438 Centerline is valid? [True, True] Translation: X:200.45, Y:-43.61, Z:-5.11 [[ 9.49393585e-01 3.13687270e-01 1.58782106e-02 2.00446623e+02] [-3.13644935e-01 9.49526350e-01 -5.15417718e-03 -4.36059734e+01] [-1.66935791e-02 -8.67775648e-05 9.99860649e-01 -5.11261939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.30862385300003 meters 0.023765817503617327 Centerline is valid? [True, True] Translation: X:200.48, Y:-43.61, Z:-5.11 [[ 9.49648378e-01 3.12926010e-01 1.56611400e-02 2.00479220e+02] [-3.12884679e-01 9.49777504e-01 -5.08626183e-03 -4.36143966e+01] [-1.64662221e-02 -6.99704683e-05 9.99864420e-01 -5.10595118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.338623853 meters 0.01875360204610178 Centerline is valid? [True, True] Translation: X:200.51, Y:-43.62, Z:-5.11 [[ 9.50005384e-01 3.11803037e-01 1.63901327e-02 2.00508828e+02] [-3.11757534e-01 9.50146759e-01 -5.32692591e-03 -4.36242955e+01] [-1.72339831e-02 -4.91390476e-05 9.99851483e-01 -5.11394163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.368623853 meters 0.018537874077526318 Centerline is valid? [True, True] Translation: X:200.54, Y:-43.63, Z:-5.11 [[ 9.50463700e-01 3.10400968e-01 1.64314780e-02 2.00539640e+02] [-3.10354977e-01 9.50605722e-01 -5.34317710e-03 -4.36347810e+01] [-1.72783844e-02 -2.10951141e-05 9.99850717e-01 -5.11465859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.398623853 meters 0.019183719998692172 Centerline is valid? [True, True] Translation: X:200.57, Y:-43.65, Z:-5.12 [[ 9.51706899e-01 3.06578094e-01 1.62434730e-02 2.00569079e+02] [-3.06532533e-01 9.51845507e-01 -5.28551647e-03 -4.36479297e+01] [-1.70817003e-02 5.11095743e-05 9.99854096e-01 -5.11633913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.428623853 meters 0.019921735244573816 Centerline is valid? [True, True] Translation: X:200.60, Y:-43.66, Z:-5.12 [[ 9.52416148e-01 3.04377521e-01 1.60563547e-02 2.00598553e+02] [-3.04332637e-01 9.52551477e-01 -5.22781710e-03 -4.36598167e+01] [-1.68857344e-02 9.25846739e-05 9.99857422e-01 -5.11753870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.458623853 meters 0.02106439580239972 Centerline is valid? [True, True] Translation: X:200.63, Y:-43.67, Z:-5.12 [[ 9.53097522e-01 3.02233659e-01 1.61223161e-02 2.00627247e+02] [-3.02188046e-01 9.53233863e-01 -5.25234673e-03 -4.36713371e+01] [-1.69557737e-02 1.34027435e-04 9.99856232e-01 -5.11825697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.488623853 meters 0.02199925247809296 Centerline is valid? [True, True] Translation: X:200.66, Y:-43.68, Z:-5.12 [[ 9.53731752e-01 3.00232938e-01 1.59977596e-02 2.00657709e+02] [-3.00187703e-01 9.53865899e-01 -5.21429673e-03 -4.36826284e+01] [-1.68252210e-02 1.70709632e-04 9.99858431e-01 -5.11853349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.518623853 meters 0.02595723265441734 Centerline is valid? [True, True] Translation: X:200.69, Y:-43.70, Z:-5.12 [[ 9.55045578e-01 2.95996475e-01 1.65538769e-02 2.00685205e+02] [-2.95947335e-01 9.55188997e-01 -5.39949511e-03 -4.36973150e+01] [-1.74103126e-02 2.57688181e-04 9.99848396e-01 -5.11937379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.548623853 meters 0.027144543810291803 Centerline is valid? [True, True] Translation: X:200.72, Y:-43.71, Z:-5.12 [[ 9.55572878e-01 2.94263333e-01 1.70166292e-02 2.00715050e+02] [-2.94211115e-01 9.55724334e-01 -5.55138413e-03 -4.37085900e+01] [-1.78967754e-02 2.98270660e-04 9.99839795e-01 -5.11893460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.578623853 meters 0.029310638588855204 Centerline is valid? [True, True] Translation: X:200.74, Y:-43.72, Z:-5.12 [[ 9.56437632e-01 2.91410692e-01 1.75175590e-02 2.00744589e+02] [-2.91354799e-01 9.56597969e-01 -5.71895856e-03 -4.37208513e+01] [-1.84238271e-02 3.66002290e-04 9.99830200e-01 -5.11883570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.608623853 meters 0.030680943709090632 Centerline is valid? [True, True] Translation: X:200.77, Y:-43.73, Z:-5.12 [[ 9.56775022e-01 2.90312793e-01 1.73216538e-02 2.00774671e+02] [-2.90257962e-01 9.56931730e-01 -5.65503495e-03 -4.37325790e+01] [-1.82173692e-02 3.82848241e-04 9.99833977e-01 -5.11969945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.638623853 meters 0.03400335065870268 Centerline is valid? [True, True] Translation: X:200.80, Y:-43.75, Z:-5.12 [[ 9.57122715e-01 2.89162845e-01 1.73481064e-02 2.00802995e+02] [-2.89107599e-01 9.57279835e-01 -5.66694695e-03 -4.37473092e+01] [-1.82456629e-02 4.08494269e-04 9.99833451e-01 -5.12138212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.668623853 meters 0.03257214535963533 Centerline is valid? [True, True] Translation: X:200.83, Y:-43.76, Z:-5.12 [[ 9.57396620e-01 2.88261742e-01 1.72301890e-02 2.00833522e+02] [-2.88207045e-01 9.57551559e-01 -5.63131820e-03 -4.37557198e+01] [-1.81220879e-02 4.25543162e-04 9.99835691e-01 -5.12141990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.69862385300002 meters 0.03764549193006343 Centerline is valid? [True, True] Translation: X:200.86, Y:-43.77, Z:-5.12 [[ 9.57911822e-01 2.86566898e-01 1.68628087e-02 2.00860389e+02] [-2.86514187e-01 9.58060128e-01 -5.51462174e-03 -4.37718930e+01] [-1.77358927e-02 4.51087437e-04 9.99842605e-01 -5.12392128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72862385300002 meters 0.03777712395526822 Centerline is valid? [True, True] Translation: X:200.89, Y:-43.78, Z:-5.13 [[ 9.57951103e-01 2.86472444e-01 1.62241193e-02 2.00891008e+02] [-2.86423624e-01 9.58088382e-01 -5.30654217e-03 -4.37823601e+01] [-1.70643183e-02 4.36436889e-04 9.99854299e-01 -5.12556913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.75862385300002 meters 0.03920904433262714 Centerline is valid? [True, True] Translation: X:200.92, Y:-43.79, Z:-5.12 [[ 9.57913734e-01 2.86627697e-01 1.56793107e-02 2.00923638e+02] [-2.86582084e-01 9.58041954e-01 -5.13064533e-03 -4.37890557e+01] [-1.64920226e-02 4.21306081e-04 9.99863909e-01 -5.11725775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78862385300002 meters 0.03579840955461626 Centerline is valid? [True, True] Translation: X:200.95, Y:-43.80, Z:-5.13 [[ 9.57812110e-01 2.86970948e-01 1.56088825e-02 2.00952921e+02] [-2.86925734e-01 9.57939195e-01 -5.11093007e-03 -4.38006233e+01] [-1.64190488e-02 4.16720653e-04 9.99865111e-01 -5.12751774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.81862385300002 meters 0.03505166173425401 Centerline is valid? [True, True] Translation: X:200.98, Y:-43.81, Z:-5.13 [[ 9.57369830e-01 2.88441218e-01 1.56420257e-02 2.00982967e+02] [-2.88395955e-01 9.57497523e-01 -5.12506002e-03 -4.38100313e+01] [-1.64554794e-02 3.95480898e-04 9.99864521e-01 -5.12836493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84862385300002 meters 0.03421608109269298 Centerline is valid? [True, True] Translation: X:201.01, Y:-43.82, Z:-5.13 [[ 9.56990114e-01 2.89678564e-01 1.60078495e-02 2.01012944e+02] [-2.89631285e-01 9.57123911e-01 -5.24769047e-03 -4.38188387e+01] [-1.68416389e-02 3.85613895e-04 9.99858095e-01 -5.12839205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.87862385300002 meters 0.03261511028765443 Centerline is valid? [True, True] Translation: X:201.04, Y:-43.83, Z:-5.13 [[ 9.56534211e-01 2.91182290e-01 1.59742970e-02 2.01043929e+02] [-2.91135375e-01 9.56667520e-01 -5.23919438e-03 -4.38265766e+01] [-1.68076517e-02 3.60785719e-04 9.99858676e-01 -5.12920935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.90862385300002 meters 0.027983415935157987 Centerline is valid? [True, True] Translation: X:201.08, Y:-43.83, Z:-5.13 [[ 9.55511194e-01 2.94506793e-01 1.62513971e-02 2.01076160e+02] [-2.94458651e-01 9.55649335e-01 -5.33394106e-03 -4.38307189e+01] [-1.71015187e-02 3.11275936e-04 9.99853710e-01 -5.12813072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.93862385300002 meters 0.02789757582492287 Centerline is valid? [True, True] Translation: X:201.11, Y:-43.84, Z:-5.13 [[ 9.54978919e-01 2.96236217e-01 1.61049405e-02 2.01105101e+02] [-2.96189184e-01 9.55114667e-01 -5.28588953e-03 -4.38411211e+01] [-1.69479368e-02 2.77803887e-04 9.99856335e-01 -5.12921131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.96862385300003 meters 0.02673576388527816 Centerline is valid? [True, True] Translation: X:201.14, Y:-43.85, Z:-5.13 [[ 9.54444441e-01 2.97971448e-01 1.57741863e-02 2.01135388e+02] [-2.97926519e-01 9.54574752e-01 -5.18001308e-03 -4.38493884e+01] [-1.66011360e-02 2.44486270e-04 9.99862162e-01 -5.13116169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.99862385300003 meters 0.02390054667096873 Centerline is valid? [True, True] Translation: X:201.17, Y:-43.85, Z:-5.13 [[ 9.53982601e-01 2.99447594e-01 1.57586668e-02 2.01167650e+02] [-2.99402917e-01 9.54112724e-01 -5.17724914e-03 -4.38545658e+01] [-1.65858593e-02 2.20814808e-04 9.99862421e-01 -5.13031328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.02862385300003 meters 0.022178297631260134 Centerline is valid? [True, True] Translation: X:201.20, Y:-43.86, Z:-5.13 [[ 9.53040245e-01 3.02417099e-01 1.60682809e-02 2.01198027e+02] [-3.02371015e-01 9.53175675e-01 -5.28218398e-03 -4.38613026e+01] [-1.69133173e-02 1.75551496e-04 9.99856944e-01 -5.13089352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.05862385300003 meters 0.02086612537774877 Centerline is valid? [True, True] Translation: X:201.23, Y:-43.87, Z:-5.13 [[ 9.52518546e-01 3.04031207e-01 1.65361580e-02 2.01229459e+02] [-3.03982594e-01 9.52662060e-01 -5.43887880e-03 -4.38690102e+01] [-1.74069592e-02 1.53928742e-04 9.99848476e-01 -5.13028847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.08862385300003 meters 0.020378315656947348 Centerline is valid? [True, True] Translation: X:201.26, Y:-43.88, Z:-5.13 [[ 9.52068032e-01 3.05410754e-01 1.70508997e-02 2.01259156e+02] [-3.05359218e-01 9.52220695e-01 -5.61206886e-03 -4.38771723e+01] [-1.79502058e-02 1.36421949e-04 9.99838873e-01 -5.13076370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.118623853 meters 0.0194253785065586 Centerline is valid? [True, True] Translation: X:201.29, Y:-43.88, Z:-5.13 [[ 9.51448989e-01 3.07316724e-01 1.73566205e-02 2.01289409e+02] [-3.07263612e-01 9.51607283e-01 -5.71418352e-03 -4.38846921e+01] [-1.82727506e-02 1.03696222e-04 9.99833034e-01 -5.13078959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.148623853 meters 0.01815235258863593 Centerline is valid? [True, True] Translation: X:201.32, Y:-43.89, Z:-5.13 [[ 9.50324428e-01 3.10760724e-01 1.76423765e-02 2.01321339e+02] [-3.10706388e-01 9.50488175e-01 -5.81115436e-03 -4.38893051e+01] [-1.85747488e-02 4.08828679e-05 9.99827474e-01 -5.13025139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.178623853 meters 0.018128301846179477 Centerline is valid? [True, True] Translation: X:201.35, Y:-43.90, Z:-5.13 [[ 9.49664777e-01 3.12789554e-01 1.73062370e-02 2.01352776e+02] [-3.12737541e-01 9.49822455e-01 -5.70398185e-03 -4.38966796e+01] [-1.82219985e-02 4.56064088e-06 9.99833966e-01 -5.13238267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.208623853 meters 0.017990022559138195 Centerline is valid? [True, True] Translation: X:201.39, Y:-43.90, Z:-5.13 [[ 9.48921642e-01 3.15041897e-01 1.72139446e-02 2.01385056e+02] [-3.14990776e-01 9.49077764e-01 -5.67531935e-03 -4.39034800e+01] [-1.81253354e-02 -3.68004120e-05 9.99835722e-01 -5.13288737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.238623853 meters 0.01842777960764551 Centerline is valid? [True, True] Translation: X:201.42, Y:-43.91, Z:-5.13 [[ 9.48187606e-01 3.17262295e-01 1.68790003e-02 2.01416161e+02] [-3.17213427e-01 9.48337825e-01 -5.56871261e-03 -4.39095689e+01] [-1.77737370e-02 -7.40612627e-05 9.99842032e-01 -5.13395808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.268623853 meters 0.019787170518662175 Centerline is valid? [True, True] Translation: X:201.45, Y:-43.91, Z:-5.14 [[ 9.47064792e-01 3.20623810e-01 1.63906025e-02 2.01445807e+02] [-3.20578158e-01 9.47206607e-01 -5.41190488e-03 -4.39117535e+01] [-1.72604725e-02 -1.29044596e-04 9.99851019e-01 -5.13682329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.298623853 meters 0.020362973543836954 Centerline is valid? [True, True] Translation: X:201.47, Y:-43.92, Z:-5.14 [[ 9.46639361e-01 3.21896587e-01 1.60158451e-02 2.01474878e+02] [-3.21853193e-01 9.46774823e-01 -5.28745154e-03 -4.39184607e+01] [-1.68654115e-02 -1.49441130e-04 9.99857758e-01 -5.13804800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.328623853 meters 0.02185432524829253 Centerline is valid? [True, True] Translation: X:201.50, Y:-43.92, Z:-5.14 [[ 9.45811950e-01 3.24322834e-01 1.59516170e-02 2.01503478e+02] [-3.24280134e-01 9.45946437e-01 -5.26614173e-03 -4.39222395e+01] [-1.67973053e-02 -1.92012719e-04 9.99858897e-01 -5.13877316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.358623853 meters 0.02185432524829253 Centerline is valid? [True, True] Translation: X:201.53, Y:-43.93, Z:-5.14 [[ 9.45827276e-01 3.24278119e-01 1.59519586e-02 2.01530409e+02] [-3.24235430e-01 9.45961767e-01 -5.26510684e-03 -4.39310369e+01] [-1.67973019e-02 -1.92308485e-04 9.99858897e-01 -5.13948563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.388623853 meters 0.02539292233883908 Centerline is valid? [True, True] Translation: X:201.56, Y:-43.94, Z:-5.13 [[ 9.45635347e-01 3.24833592e-01 1.60289902e-02 2.01557873e+02] [-3.24790581e-01 9.45771165e-01 -5.28985604e-03 -4.39366225e+01] [-1.68780797e-02 -2.03790200e-04 9.99857534e-01 -5.13371282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.418623853 meters 0.02311928389686266 Centerline is valid? [True, True] Translation: X:201.58, Y:-43.94, Z:-5.14 [[ 9.45468984e-01 3.25302615e-01 1.63282002e-02 2.01584352e+02] [-3.25258075e-01 9.45609942e-01 -5.38728538e-03 -4.39432607e+01] [-1.71926065e-02 -2.17367737e-04 9.99852173e-01 -5.14081779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.44862385300002 meters 0.022669022984598608 Centerline is valid? [True, True] Translation: X:201.61, Y:-43.95, Z:-5.14 [[ 9.45420653e-01 3.25432475e-01 1.65376088e-02 2.01611737e+02] [-3.25386826e-01 9.45565257e-01 -5.45519822e-03 -4.39514806e+01] [-1.74126870e-02 -2.23662970e-04 9.99848363e-01 -5.14051561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.47862385300002 meters 0.02192910073872722 Centerline is valid? [True, True] Translation: X:201.64, Y:-43.96, Z:-5.14 [[ 9.45623332e-01 3.24865517e-01 1.60907050e-02 2.01639100e+02] [-3.24822233e-01 9.45760198e-01 -5.30699108e-03 -4.39605920e+01] [-1.69420067e-02 -2.08204134e-04 9.99856452e-01 -5.14215836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50862385300002 meters 0.02158964034165457 Centerline is valid? [True, True] Translation: X:201.67, Y:-43.97, Z:-5.14 [[ 9.45963517e-01 3.23891562e-01 1.57251468e-02 2.01665129e+02] [-3.23850100e-01 9.46094193e-01 -5.18572207e-03 -4.39693736e+01] [-1.65570817e-02 -1.87086464e-04 9.99862905e-01 -5.14296954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.53862385300002 meters 0.0210587423525617 Centerline is valid? [True, True] Translation: X:201.69, Y:-43.98, Z:-5.14 [[ 9.46286468e-01 3.22948022e-01 1.57001668e-02 2.01692852e+02] [-3.22906580e-01 9.46416687e-01 -5.17633817e-03 -4.39787805e+01] [-1.65305880e-02 -1.71388398e-04 9.99863346e-01 -5.14385579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56862385300002 meters 0.021151606077491725 Centerline is valid? [True, True] Translation: X:201.72, Y:-43.99, Z:-5.15 [[ 9.46637911e-01 3.21921655e-01 1.55920783e-02 2.01719493e+02] [-3.21880654e-01 9.46766299e-01 -5.14003669e-03 -4.39861253e+01] [-1.64167434e-02 -1.53034778e-04 9.99865224e-01 -5.14532844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.59862385300002 meters 0.01971861876771198 Centerline is valid? [True, True] Translation: X:201.75, Y:-44.00, Z:-5.15 [[ 9.47284593e-01 3.20018722e-01 1.54892289e-02 2.01746136e+02] [-3.19978026e-01 9.47411211e-01 -5.10488404e-03 -4.39963811e+01] [-1.63083276e-02 -1.20434886e-04 9.99867003e-01 -5.14623520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.62862385300002 meters 0.01937055763742102 Centerline is valid? [True, True] Translation: X:201.77, Y:-44.01, Z:-5.15 [[ 9.47597319e-01 3.19095574e-01 1.54057265e-02 2.01773558e+02] [-3.19055206e-01 9.47722535e-01 -5.07656195e-03 -4.40057783e+01] [-1.62202627e-02 -1.04740773e-04 9.99868437e-01 -5.14685829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.65862385300002 meters 0.01924146224831757 Centerline is valid? [True, True] Translation: X:201.80, Y:-44.01, Z:-5.15 [[ 9.47965202e-01 3.17994040e-01 1.55488510e-02 2.01799829e+02] [-3.17952783e-01 9.48092708e-01 -5.12300687e-03 -4.40142370e+01] [-1.63708379e-02 -8.73682020e-05 9.99865985e-01 -5.14812330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.68862385300002 meters 0.024600158580612624 Centerline is valid? [True, True] Translation: X:201.83, Y:-44.02, Z:-5.14 [[ 9.48759934e-01 3.15601602e-01 1.58182211e-02 2.01827718e+02] [-3.15558592e-01 9.48891789e-01 -5.21038855e-03 -4.40245701e+01] [-1.66541871e-02 -4.81676863e-05 9.99861308e-01 -5.13787481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.71862385300003 meters 0.018124383068394728 Centerline is valid? [True, True] Translation: X:201.85, Y:-44.04, Z:-5.15 [[ 9.49216057e-01 3.14207296e-01 1.62065805e-02 2.01854261e+02] [-3.14161951e-01 9.49354399e-01 -5.33796601e-03 -4.40357019e+01] [-1.70630164e-02 -2.46079156e-05 9.99854416e-01 -5.14782708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.74862385300003 meters 0.01813428251430266 Centerline is valid? [True, True] Translation: X:201.88, Y:-44.05, Z:-5.15 [[ 9.49669118e-01 3.12832658e-01 1.62571449e-02 2.01879965e+02] [-3.12786836e-01 9.49808259e-01 -5.35414746e-03 -4.40459786e+01] [-1.71161227e-02 -3.52434517e-07 9.99853508e-01 -5.14921767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.77862385300003 meters 0.017971743583101673 Centerline is valid? [True, True] Translation: X:201.91, Y:-44.06, Z:-5.15 [[ 9.50058143e-01 3.11646765e-01 1.63039292e-02 2.01907809e+02] [-3.11600527e-01 9.50198029e-01 -5.36824685e-03 -4.40569511e+01] [-1.71649582e-02 1.98336937e-05 9.99852671e-01 -5.14783720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.80862385300003 meters 0.018594776073597236 Centerline is valid? [True, True] Translation: X:201.93, Y:-44.07, Z:-5.15 [[ 9.50887722e-01 3.09074376e-01 1.68988184e-02 2.01934700e+02] [-3.09024305e-01 9.51037868e-01 -5.56355830e-03 -4.40692250e+01] [-1.77909695e-02 6.81736750e-05 9.99841726e-01 -5.14847417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.83862385300003 meters 0.019017686123857572 Centerline is valid? [True, True] Translation: X:201.96, Y:-44.08, Z:-5.15 [[ 9.51357822e-01 3.07615527e-01 1.70582164e-02 2.01962123e+02] [-3.07564275e-01 9.51510735e-01 -5.61589560e-03 -4.40798507e+01] [-1.79586127e-02 9.62282287e-05 9.99838726e-01 -5.14844005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.868623853 meters 0.019603584116991046 Centerline is valid? [True, True] Translation: X:201.99, Y:-44.09, Z:-5.15 [[ 9.51781644e-01 3.06308104e-01 1.69424846e-02 2.01990231e+02] [-3.06257349e-01 9.51932419e-01 -5.57718496e-03 -4.40909980e+01] [-1.78364374e-02 1.19501827e-04 9.99840911e-01 -5.14921537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.898623853 meters 0.02170486084753325 Centerline is valid? [True, True] Translation: X:202.02, Y:-44.11, Z:-5.15 [[ 9.52688094e-01 3.03512832e-01 1.62897355e-02 2.02017721e+02] [-3.03465516e-01 9.52827337e-01 -5.36162467e-03 -4.41054520e+01] [-1.71486272e-02 1.64583015e-04 9.99852938e-01 -5.15147613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.928623853 meters 0.02178288789341408 Centerline is valid? [True, True] Translation: X:202.05, Y:-44.12, Z:-5.15 [[ 9.53154066e-01 3.02038603e-01 1.64319476e-02 2.02047825e+02] [-3.01990225e-01 9.53295675e-01 -5.40919121e-03 -4.41164668e+01] [-1.72982891e-02 1.93505049e-04 9.99850355e-01 -5.15096330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.958623853 meters 0.022926953833782775 Centerline is valid? [True, True] Translation: X:202.08, Y:-44.13, Z:-5.15 [[ 9.53516324e-01 3.00877573e-01 1.67124296e-02 2.02076480e+02] [-3.00827292e-01 9.53662748e-01 -5.50488418e-03 -4.41294744e+01] [-1.75943177e-02 2.21441998e-04 9.99845183e-01 -5.15192208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.988623853 meters 0.024933180036457493 Centerline is valid? [True, True] Translation: X:202.10, Y:-44.14, Z:-5.15 [[ 9.54358265e-01 2.98178386e-01 1.70279877e-02 2.02104975e+02] [-2.98125703e-01 9.54510121e-01 -5.61189138e-03 -4.41441265e+01] [-1.79267313e-02 2.79274127e-04 9.99839264e-01 -5.15170631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.018623853 meters 0.026513355148299222 Centerline is valid? [True, True] Translation: X:202.13, Y:-44.16, Z:-5.15 [[ 9.54749196e-01 2.96929032e-01 1.69447005e-02 2.02133728e+02] [-2.96876604e-01 9.54899501e-01 -5.58790458e-03 -4.41573963e+01] [-1.78396971e-02 3.04562278e-04 9.99840814e-01 -5.15279617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.048623853 meters 0.027991491313025054 Centerline is valid? [True, True] Translation: X:202.16, Y:-44.17, Z:-5.15 [[ 9.55154052e-01 2.95613370e-01 1.71310569e-02 2.02162331e+02] [-2.95559548e-01 9.55307607e-01 -5.65064390e-03 -4.41707967e+01] [-1.80358349e-02 3.33987974e-04 9.99837285e-01 -5.15391439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.078623853 meters 0.0300668687171646 Centerline is valid? [True, True] Translation: X:202.19, Y:-44.19, Z:-5.16 [[ 9.55716648e-01 2.93821889e-01 1.65646202e-02 2.02190248e+02] [-2.93771251e-01 9.55860120e-01 -5.46651260e-03 -4.41870792e+01] [-1.74396409e-02 3.58227898e-04 9.99847854e-01 -5.15577455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.108623853 meters 0.030689009651947867 Centerline is valid? [True, True] Translation: X:202.22, Y:-44.20, Z:-5.16 [[ 9.55771005e-01 2.93671762e-01 1.60836160e-02 2.02218489e+02] [-2.93623946e-01 9.55906257e-01 -5.31101142e-03 -4.41991744e+01] [-1.69341233e-02 3.53575925e-04 9.99856545e-01 -5.15782599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.138623853 meters 0.030433565776551347 Centerline is valid? [True, True] Translation: X:202.25, Y:-44.21, Z:-5.16 [[ 9.55714116e-01 2.93884413e-01 1.55717784e-02 2.02249279e+02] [-2.93839615e-01 9.55840905e-01 -5.14236598e-03 -4.42103327e+01] [-1.63954040e-02 3.39026391e-04 9.99865529e-01 -5.15932881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.168623853 meters 0.031037293232804374 Centerline is valid? [True, True] Translation: X:202.28, Y:-44.22, Z:-5.16 [[ 9.55487610e-01 2.94646335e-01 1.50653074e-02 2.02278608e+02] [-2.94604445e-01 9.55606318e-01 -4.97846558e-03 -4.42222097e+01] [-1.58633895e-02 3.18555668e-04 9.99874118e-01 -5.16161754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.19862385300002 meters 0.028132137456648037 Centerline is valid? [True, True] Translation: X:202.31, Y:-44.23, Z:-5.16 [[ 9.54659376e-01 2.97307170e-01 1.52945066e-02 2.02309969e+02] [-2.97264296e-01 9.54781843e-01 -5.05679006e-03 -4.42295675e+01] [-1.61063372e-02 2.81001303e-04 9.99870245e-01 -5.16169911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22862385300002 meters 0.02679561890888428 Centerline is valid? [True, True] Translation: X:202.34, Y:-44.24, Z:-5.16 [[ 9.54056694e-01 2.99213340e-01 1.57226223e-02 2.02339990e+02] [-2.99168239e-01 9.54186203e-01 -5.20139434e-03 -4.42381885e+01] [-1.65586358e-02 2.58715862e-04 9.99862863e-01 -5.16236688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.25862385300002 meters 0.024992822839941854 Centerline is valid? [True, True] Translation: X:202.37, Y:-44.25, Z:-5.16 [[ 9.53410443e-01 3.01259040e-01 1.58592979e-02 2.02370776e+02] [-3.01213391e-01 9.53542311e-01 -5.24917942e-03 -4.42465666e+01] [-1.67038743e-02 2.27589582e-04 9.99860455e-01 -5.16238502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28862385300002 meters 0.023473135832827192 Centerline is valid? [True, True] Translation: X:202.40, Y:-44.26, Z:-5.16 [[ 9.52744659e-01 3.03351133e-01 1.59908103e-02 2.02400747e+02] [-3.03304968e-01 9.52878823e-01 -5.29570368e-03 -4.42552539e+01] [-1.68437623e-02 1.95361181e-04 9.99858115e-01 -5.16322683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.31862385300002 meters 0.02106712845651461 Centerline is valid? [True, True] Translation: X:202.43, Y:-44.26, Z:-5.16 [[ 9.51636713e-01 3.06819155e-01 1.57978583e-02 2.02429728e+02] [-3.06774508e-01 9.51767822e-01 -5.23578418e-03 -4.42614054e+01] [-1.66423320e-02 1.36184240e-04 9.99861498e-01 -5.16402769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34862385300002 meters 0.019871800896577644 Centerline is valid? [True, True] Translation: X:202.46, Y:-44.27, Z:-5.16 [[ 9.51164577e-01 3.08289113e-01 1.56131368e-02 2.02461017e+02] [-3.08245732e-01 9.51292705e-01 -5.17276267e-03 -4.42691710e+01] [-1.64473696e-02 1.07465828e-04 9.99864727e-01 -5.16428524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.37862385300002 meters 0.028900550287085172 Centerline is valid? [True, True] Translation: X:202.49, Y:-44.28, Z:-5.16 [[ 9.50603475e-01 3.10035744e-01 1.51944513e-02 2.02490758e+02] [-3.09994815e-01 9.50724898e-01 -5.03816722e-03 -4.42765354e+01] [-1.60077550e-02 7.90981540e-05 9.99871865e-01 -5.15723913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.40862385300002 meters 0.019019956969262095 Centerline is valid? [True, True] Translation: X:202.52, Y:-44.29, Z:-5.17 [[ 9.50276247e-01 3.11021552e-01 1.55128361e-02 2.02518878e+02] [-3.10979013e-01 9.50402857e-01 -5.14426184e-03 -4.42854974e+01] [-1.63434200e-02 6.43033725e-05 9.99866435e-01 -5.16736694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.43862385300002 meters 0.018208664985157386 Centerline is valid? [True, True] Translation: X:202.55, Y:-44.29, Z:-5.17 [[ 9.49386010e-01 3.13718888e-01 1.57055017e-02 2.02548079e+02] [-3.13675661e-01 9.49515908e-01 -5.20775364e-03 -4.42921252e+01] [-1.65463944e-02 1.77348229e-05 9.99863099e-01 -5.16750211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.46862385300003 meters 0.018105503689234543 Centerline is valid? [True, True] Translation: X:202.58, Y:-44.30, Z:-5.17 [[ 9.48927965e-01 3.15092051e-01 1.58970936e-02 2.02576763e+02] [-3.15047962e-01 9.49061115e-01 -5.27087200e-03 -4.43000970e+01] [-1.67481233e-02 -6.66910732e-06 9.99859740e-01 -5.16797319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.49862385300003 meters 0.018115595756255 Centerline is valid? [True, True] Translation: X:202.61, Y:-44.31, Z:-5.17 [[ 9.48434899e-01 3.16579383e-01 1.57713704e-02 2.02606211e+02] [-3.16536205e-01 9.48566019e-01 -5.22858624e-03 -4.43084562e+01] [-1.66154486e-02 -3.32360543e-05 9.99861953e-01 -5.16803330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.52862385300003 meters 0.01840946810046628 Centerline is valid? [True, True] Translation: X:202.64, Y:-44.32, Z:-5.17 [[ 9.47958255e-01 3.18010652e-01 1.56323927e-02 2.02635186e+02] [-3.17968426e-01 9.48087138e-01 -5.18251183e-03 -4.43164872e+01] [-1.64689644e-02 -5.78024374e-05 9.99864376e-01 -5.16884182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.55862385300003 meters 0.019224052527820983 Centerline is valid? [True, True] Translation: X:202.66, Y:-44.32, Z:-5.17 [[ 9.47054024e-01 3.20700935e-01 1.54785815e-02 2.02664877e+02] [-3.20659891e-01 9.47180500e-01 -5.13173911e-03 -4.43222503e+01] [-1.63067641e-02 -1.03326086e-04 9.99867031e-01 -5.16965513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.58862385300003 meters 0.01970509340169061 Centerline is valid? [True, True] Translation: X:202.69, Y:-44.33, Z:-5.17 [[ 9.46762543e-01 3.21569890e-01 1.52804903e-02 2.02693498e+02] [-3.21530009e-01 9.46885839e-01 -5.06567272e-03 -4.43300958e+01] [-1.60978477e-02 -1.17147005e-04 9.99870414e-01 -5.17092030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.618623853 meters 0.02001389342023745 Centerline is valid? [True, True] Translation: X:202.72, Y:-44.34, Z:-5.17 [[ 9.46561464e-01 3.22166657e-01 1.51670811e-02 2.02720821e+02] [-3.22127447e-01 9.46682961e-01 -5.02779554e-03 -4.43374155e+01] [-1.59782053e-02 -1.26615591e-04 9.99872332e-01 -5.17227416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.648623853 meters 0.02005642835456915 Centerline is valid? [True, True] Translation: X:202.75, Y:-44.35, Z:-5.17 [[ 9.46534437e-01 3.22210433e-01 1.59058571e-02 2.02748086e+02] [-3.22167326e-01 9.46668062e-01 -5.27213182e-03 -4.43459293e+01] [-1.67563028e-02 -1.34093116e-04 9.99859594e-01 -5.17154508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.678623853 meters 0.019935227072967143 Centerline is valid? [True, True] Translation: X:202.78, Y:-44.36, Z:-5.17 [[ 9.46651822e-01 3.21830629e-01 1.65943785e-02 2.02775380e+02] [-3.21783669e-01 9.46797248e-01 -5.49925279e-03 -4.43562875e+01] [-1.74813398e-02 -1.33922311e-04 9.99847181e-01 -5.17162912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.708623853 meters 0.01955724873364165 Centerline is valid? [True, True] Translation: X:202.80, Y:-44.37, Z:-5.17 [[ 9.46922901e-01 3.21010582e-01 1.70066198e-02 2.02802027e+02] [-3.20961135e-01 9.47075599e-01 -5.63550132e-03 -4.43673097e+01] [-1.79156102e-02 -1.22078727e-04 9.99839495e-01 -5.17145896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.738623853 meters 0.019151140426916215 Centerline is valid? [True, True] Translation: X:202.83, Y:-44.38, Z:-5.17 [[ 9.47269396e-01 3.19981849e-01 1.70969855e-02 2.02829486e+02] [-3.19931720e-01 9.47423667e-01 -5.66470190e-03 -4.43786910e+01] [-1.80106905e-02 -1.03869231e-04 9.99837789e-01 -5.17235200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.768623853 meters 0.01841174052524708 Centerline is valid? [True, True] Translation: X:202.86, Y:-44.39, Z:-5.17 [[ 9.48009186e-01 3.17812889e-01 1.65393576e-02 2.02858105e+02] [-3.17765680e-01 9.48153449e-01 -5.47803175e-03 -4.43933117e+01] [-1.74228380e-02 -6.24157962e-05 9.99848209e-01 -5.17396536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.798623853 meters 0.018261727077563607 Centerline is valid? [True, True] Translation: X:202.89, Y:-44.41, Z:-5.17 [[ 9.48381342e-01 3.16702716e-01 1.64990721e-02 2.02888831e+02] [-3.16655521e-01 9.48524848e-01 -5.46743900e-03 -4.44068204e+01] [-1.73813326e-02 -3.93051316e-05 9.99848932e-01 -5.17441992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.828623853 meters 0.018411550640146247 Centerline is valid? [True, True] Translation: X:202.92, Y:-44.42, Z:-5.18 [[ 9.48684978e-01 3.15796316e-01 1.64164143e-02 2.02917973e+02] [-3.15749395e-01 9.48827006e-01 -5.44363687e-03 -4.44191950e+01] [-1.72954176e-02 -1.91763329e-05 9.99850423e-01 -5.17675546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.858623853 meters 0.0183064829152431 Centerline is valid? [True, True] Translation: X:202.95, Y:-44.43, Z:-5.18 [[ 9.49000065e-01 3.14847054e-01 1.64380634e-02 2.02948246e+02] [-3.14799811e-01 9.49142420e-01 -5.45403445e-03 -4.44316765e+01] [-1.73192500e-02 1.17977821e-06 9.99850011e-01 -5.17673371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.888623853 meters 0.01863254445732659 Centerline is valid? [True, True] Translation: X:202.98, Y:-44.45, Z:-5.18 [[ 9.49621881e-01 3.12938008e-01 1.69731184e-02 2.02978747e+02] [-3.12887269e-01 9.49773553e-01 -5.63522716e-03 -4.44458982e+01] [-1.78840957e-02 4.06623649e-05 9.99840066e-01 -5.17647505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.918623853 meters 0.02637784525410115 Centerline is valid? [True, True] Translation: X:203.01, Y:-44.46, Z:-5.17 [[ 9.49872023e-01 3.12189050e-01 1.67671164e-02 2.03009579e+02] [-3.12139356e-01 9.50019997e-01 -5.57031762e-03 -4.44575181e+01] [-1.76680880e-02 5.74119600e-05 9.99843905e-01 -5.16680925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.94862385300002 meters 0.019100981996161344 Centerline is valid? [True, True] Translation: X:203.04, Y:-44.47, Z:-5.18 [[ 9.50180661e-01 3.11213599e-01 1.74013282e-02 2.03037964e+02] [-3.11159831e-01 9.50339986e-01 -5.78537160e-03 -4.44721162e+01] [-1.83376643e-02 8.25538626e-05 9.99831847e-01 -5.17644358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.97862385300002 meters 0.019263820122998033 Centerline is valid? [True, True] Translation: X:203.07, Y:-44.48, Z:-5.18 [[ 9.50250007e-01 3.11005278e-01 1.73389987e-02 2.03069135e+02] [-3.10951828e-01 9.50408180e-01 -5.76641020e-03 -4.44837370e+01] [-1.82725102e-02 8.79379987e-05 9.99833040e-01 -5.17718728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00862385300002 meters 0.01936229951984663 Centerline is valid? [True, True] Translation: X:203.10, Y:-44.50, Z:-5.18 [[ 9.50300243e-01 3.10848270e-01 1.74011558e-02 2.03099350e+02] [-3.10794341e-01 9.50459544e-01 -5.79080044e-03 -4.44951626e+01] [-1.83391549e-02 9.48183164e-05 9.99831819e-01 -5.17806892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.03862385300002 meters 0.019508304669907245 Centerline is valid? [True, True] Translation: X:203.13, Y:-44.51, Z:-5.18 [[ 9.50333000e-01 3.10731842e-01 1.76893123e-02 2.03130497e+02] [-3.10676028e-01 9.50497613e-01 -5.89013603e-03 -4.45068930e+01] [-1.86439020e-02 1.01945342e-04 9.99826182e-01 -5.17845863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06862385300002 meters 0.019910263207884357 Centerline is valid? [True, True] Translation: X:203.16, Y:-44.52, Z:-5.18 [[ 9.50618105e-01 3.09871713e-01 1.74567763e-02 2.03160334e+02] [-3.09817144e-01 9.50778369e-01 -5.81639459e-03 -4.45198231e+01] [-1.83998615e-02 1.20761410e-04 9.99830701e-01 -5.17961281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.09862385300002 meters 0.0197290346661604 Centerline is valid? [True, True] Translation: X:203.19, Y:-44.53, Z:-5.18 [[ 9.50816833e-01 3.09261434e-01 1.74561147e-02 2.03191367e+02] [-3.09206713e-01 9.50977049e-01 -5.81903827e-03 -4.45305611e+01] [-1.83999685e-02 1.35291693e-04 9.99830697e-01 -5.17855704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12862385300002 meters 0.02090032586767164 Centerline is valid? [True, True] Translation: X:203.22, Y:-44.54, Z:-5.18 [[ 9.51032699e-01 3.08597141e-01 1.74530714e-02 2.03219609e+02] [-3.08542242e-01 9.51192820e-01 -5.82268703e-03 -4.45445087e+01] [-1.83981008e-02 1.52555965e-04 9.99830729e-01 -5.18104364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.15862385300002 meters 0.021201653265862763 Centerline is valid? [True, True] Translation: X:203.25, Y:-44.56, Z:-5.18 [[ 9.51267810e-01 3.07886746e-01 1.71844189e-02 2.03249974e+02] [-3.07833385e-01 9.51423000e-01 -5.73438429e-03 -4.45562036e+01] [-1.81151923e-02 1.64997367e-04 9.99835893e-01 -5.18212741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18862385300002 meters 0.022128780933364983 Centerline is valid? [True, True] Translation: X:203.28, Y:-44.57, Z:-5.18 [[ 9.51746195e-01 3.06448637e-01 1.63833446e-02 2.03279404e+02] [-3.06399874e-01 9.51887177e-01 -5.46983821e-03 -4.45695805e+01] [-1.72713201e-02 1.86042975e-04 9.99850822e-01 -5.18415450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.21862385300003 meters 0.023451191817939317 Centerline is valid? [True, True] Translation: X:203.31, Y:-44.58, Z:-5.19 [[ 9.51941438e-01 3.05822123e-01 1.67429986e-02 2.03307937e+02] [-3.05771044e-01 9.52088644e-01 -5.59302653e-03 -4.45836510e+01] [-1.76512901e-02 2.04709551e-04 9.99844183e-01 -5.18534490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.24862385300003 meters 0.02307229794744496 Centerline is valid? [True, True] Translation: X:203.34, Y:-44.59, Z:-5.18 [[ 9.52086571e-01 3.05361540e-01 1.68965054e-02 2.03338805e+02] [-3.05309387e-01 9.52236464e-01 -5.64761327e-03 -4.45949759e+01] [-1.78140324e-02 2.18355034e-04 9.99841294e-01 -5.18416621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.27862385300003 meters 0.02307229794744496 Centerline is valid? [True, True] Translation: X:203.37, Y:-44.61, Z:-5.18 [[ 9.52028528e-01 3.05542512e-01 1.68954305e-02 2.03369539e+02] [-3.05490331e-01 9.52178411e-01 -5.65082690e-03 -4.46054526e+01] [-1.78140320e-02 2.18357774e-04 9.99841294e-01 -5.18498408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.30862385300003 meters 0.023842232675590536 Centerline is valid? [True, True] Translation: X:203.40, Y:-44.62, Z:-5.19 [[ 9.52269243e-01 3.04796818e-01 1.67984999e-02 2.03397937e+02] [-3.04745042e-01 9.52417369e-01 -5.62270809e-03 -4.46188039e+01] [-1.77129666e-02 2.35072408e-04 9.99843085e-01 -5.18590513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.33862385300003 meters 0.02357417199569743 Centerline is valid? [True, True] Translation: X:203.43, Y:-44.63, Z:-5.19 [[ 9.52289655e-01 3.04725956e-01 1.69264352e-02 2.03429210e+02] [-3.04673360e-01 9.52440043e-01 -5.66646969e-03 -4.46301480e+01] [-1.78481351e-02 2.39086574e-04 9.99840681e-01 -5.18627424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.368623853 meters 0.02408105988126917 Centerline is valid? [True, True] Translation: X:203.46, Y:-44.64, Z:-5.19 [[ 9.52339906e-01 3.04554805e-01 1.71777173e-02 2.03458929e+02] [-3.04500530e-01 9.52494781e-01 -5.75489182e-03 -4.46426199e+01] [-1.81143660e-02 2.49989100e-04 9.99835890e-01 -5.18671199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.398623853 meters 0.023479894742735676 Centerline is valid? [True, True] Translation: X:203.49, Y:-44.65, Z:-5.19 [[ 9.52392382e-01 3.04383874e-01 1.72976216e-02 2.03490075e+02] [-3.04328779e-01 9.52549417e-01 -5.79682482e-03 -4.46533654e+01] [-1.82412994e-02 2.56687739e-04 9.99833581e-01 -5.18655849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.428623853 meters 0.02378637103955786 Centerline is valid? [True, True] Translation: X:203.52, Y:-44.67, Z:-5.19 [[ 9.52624367e-01 3.03642541e-01 1.75505643e-02 2.03519493e+02] [-3.03585621e-01 9.52785983e-01 -5.88566254e-03 -4.46672846e+01] [-1.85090692e-02 2.78726570e-04 9.99828654e-01 -5.18669988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.458623853 meters 0.02616365125720123 Centerline is valid? [True, True] Translation: X:203.55, Y:-44.68, Z:-5.19 [[ 9.52717109e-01 3.03332738e-01 1.78706620e-02 2.03547436e+02] [-3.03273603e-01 9.52884654e-01 -5.99648163e-03 -4.46830751e+01] [-1.88476088e-02 2.93250601e-04 9.99822325e-01 -5.18817555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.488623853 meters 0.02652782040364731 Centerline is valid? [True, True] Translation: X:203.58, Y:-44.70, Z:-5.19 [[ 9.52798821e-01 3.03065945e-01 1.80399308e-02 2.03577849e+02] [-3.03005564e-01 9.52969538e-01 -6.05707826e-03 -4.46960495e+01] [-1.90271986e-02 3.04977636e-04 9.99818920e-01 -5.18866540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.518623853 meters 0.0258646275972006 Centerline is valid? [True, True] Translation: X:203.61, Y:-44.71, Z:-5.19 [[ 9.52815066e-01 3.03010412e-01 1.81146185e-02 2.03608411e+02] [-3.02949450e-01 9.52987195e-01 -6.08585452e-03 -4.47077577e+01] [-1.91070768e-02 3.10880161e-04 9.99817395e-01 -5.18916222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.548623853 meters 0.02612188035032394 Centerline is valid? [True, True] Translation: X:203.64, Y:-44.72, Z:-5.19 [[ 9.52815265e-01 3.03042977e-01 1.75506308e-02 2.03637703e+02] [-3.02985692e-01 9.52976842e-01 -5.89993646e-03 -4.47226504e+01] [-1.85132790e-02 3.03959511e-04 9.99828568e-01 -5.19085217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.578623853 meters 0.025512154971276048 Centerline is valid? [True, True] Translation: X:203.67, Y:-44.73, Z:-5.19 [[ 9.52634721e-01 3.03641204e-01 1.70031991e-02 2.03668597e+02] [-3.03587470e-01 9.52786407e-01 -5.71933068e-03 -4.47340902e+01] [-1.79370414e-02 2.86474788e-04 9.99839077e-01 -5.19206683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.608623853 meters 0.025253217310869287 Centerline is valid? [True, True] Translation: X:203.70, Y:-44.75, Z:-5.19 [[ 9.52407963e-01 3.04377223e-01 1.65402254e-02 2.03699727e+02] [-3.04326427e-01 9.52551539e-01 -5.56698858e-03 -4.47458457e+01] [-1.74498817e-02 2.68416544e-04 9.99847703e-01 -5.19369161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.638623853 meters 0.02322412668204461 Centerline is valid? [True, True] Translation: X:203.73, Y:-44.76, Z:-5.19 [[ 9.51574551e-01 3.06978495e-01 1.64340359e-02 2.03730833e+02] [-3.06928674e-01 9.51716425e-01 -5.53489917e-03 -4.47553028e+01] [-1.73396369e-02 2.22792359e-04 9.99849632e-01 -5.19434301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.668623853 meters 0.021820719573331517 Centerline is valid? [True, True] Translation: X:203.76, Y:-44.76, Z:-5.20 [[ 9.50883017e-01 3.09099423e-01 1.67043405e-02 2.03761123e+02] [-3.09048220e-01 9.51029710e-01 -5.62915677e-03 -4.47642774e+01] [-1.76262932e-02 1.90222884e-04 9.99844627e-01 -5.19500725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.69862385300002 meters 0.02043418826272281 Centerline is valid? [True, True] Translation: X:203.79, Y:-44.77, Z:-5.20 [[ 9.50039081e-01 3.11671300e-01 1.69335710e-02 2.03792306e+02] [-3.11619032e-01 9.50189970e-01 -5.70961639e-03 -4.47726171e+01] [-1.78696329e-02 1.47535691e-04 9.99840314e-01 -5.19513123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72862385300002 meters 0.018140344068506568 Centerline is valid? [True, True] Translation: X:203.82, Y:-44.78, Z:-5.20 [[ 9.48135087e-01 3.17412602e-01 1.70028244e-02 2.03824500e+02] [-3.17360771e-01 9.48287529e-01 -5.73611046e-03 -4.47765827e+01] [-1.79442801e-02 4.25781393e-05 9.99838988e-01 -5.19558453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.75862385300002 meters 0.018012285138712905 Centerline is valid? [True, True] Translation: X:203.86, Y:-44.78, Z:-5.20 [[ 9.47065969e-01 3.20608202e-01 1.66262256e-02 2.03856114e+02] [-3.20559082e-01 9.47211898e-01 -5.61196755e-03 -4.47829641e+01] [-1.75478015e-02 -1.47841283e-05 9.99846025e-01 -5.19755910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78862385300002 meters 0.018277108737080713 Centerline is valid? [True, True] Translation: X:203.89, Y:-44.79, Z:-5.20 [[ 9.45914426e-01 3.23984684e-01 1.67279133e-02 2.03889098e+02] [-3.23935431e-01 9.46062323e-01 -5.64952560e-03 -4.47894033e+01] [-1.76560083e-02 -7.47960315e-05 9.99844118e-01 -5.19776799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.81862385300002 meters 0.01913306168066605 Centerline is valid? [True, True] Translation: X:203.92, Y:-44.80, Z:-5.20 [[ 9.44890533e-01 3.26969684e-01 1.65138157e-02 2.03920599e+02] [-3.26922077e-01 9.45034820e-01 -5.58077417e-03 -4.47959223e+01] [-1.74308748e-02 -1.25510255e-04 9.99848063e-01 -5.19849701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84862385300002 meters 0.021240596502598897 Centerline is valid? [True, True] Translation: X:203.95, Y:-44.80, Z:-5.20 [[ 9.43184238e-01 3.31902809e-01 1.56210672e-02 2.03953250e+02] [-3.31860841e-01 9.43313566e-01 -5.28183643e-03 -4.47985398e+01] [-1.64886209e-02 -2.02275627e-04 9.99864033e-01 -5.20091047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.87862385300002 meters 0.02384917419184397 Centerline is valid? [True, True] Translation: X:203.98, Y:-44.80, Z:-5.20 [[ 9.42418321e-01 3.34088421e-01 1.52523611e-02 2.03984275e+02] [-3.34048654e-01 9.42541709e-01 -5.15980190e-03 -4.48026691e+01] [-1.60998166e-02 -2.32338859e-04 9.99870363e-01 -5.20416658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.90862385300002 meters 0.02428302280842102 Centerline is valid? [True, True] Translation: X:204.02, Y:-44.81, Z:-5.20 [[ 9.41816088e-01 3.35776963e-01 1.53716219e-02 2.04015528e+02] [-3.35736753e-01 9.41941486e-01 -5.20282855e-03 -4.48109372e+01] [-1.62261584e-02 -2.60710800e-04 9.99868313e-01 -5.20389095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.93862385300002 meters 0.026168232766087363 Centerline is valid? [True, True] Translation: X:204.05, Y:-44.82, Z:-5.21 [[ 9.41351658e-01 3.37068985e-01 1.55420345e-02 2.04046196e+02] [-3.37028005e-01 9.41479909e-01 -5.26353869e-03 -4.48169727e+01] [-1.64066889e-02 -2.83260027e-04 9.99865361e-01 -5.20542101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.96862385300003 meters 0.025598950077039103 Centerline is valid? [True, True] Translation: X:204.08, Y:-44.83, Z:-5.20 [[ 9.40981872e-01 3.38076890e-01 1.60353681e-02 2.04077342e+02] [-3.38033367e-01 9.41118442e-01 -5.43335257e-03 -4.48254329e+01] [-1.69280715e-02 -3.07803177e-04 9.99856663e-01 -5.20417696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.99862385300003 meters 0.025466727820739953 Centerline is valid? [True, True] Translation: X:204.11, Y:-44.83, Z:-5.21 [[ 9.40950026e-01 3.38168590e-01 1.59704035e-02 2.04108646e+02] [-3.38125386e-01 9.41085496e-01 -5.41405876e-03 -4.48348087e+01] [-1.68603798e-02 -3.05640137e-04 9.99857807e-01 -5.20520665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.02862385300003 meters 0.026342337744222063 Centerline is valid? [True, True] Translation: X:204.14, Y:-44.84, Z:-5.21 [[ 9.41415053e-01 3.36874278e-01 1.59191458e-02 2.04139664e+02] [-3.36831103e-01 9.41549597e-01 -5.40036782e-03 -4.48410212e+01] [-1.68079103e-02 -2.78075875e-04 9.99858698e-01 -5.20771798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.05862385300003 meters 0.023661300253024896 Centerline is valid? [True, True] Translation: X:204.17, Y:-44.85, Z:-5.21 [[ 9.41830297e-01 3.35711026e-01 1.59310283e-02 2.04168806e+02] [-3.35667577e-01 9.41964990e-01 -5.40704043e-03 -4.48542274e+01] [-1.68216740e-02 -2.55015183e-04 9.99858473e-01 -5.20705816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.08862385300003 meters 0.022824802379166415 Centerline is valid? [True, True] Translation: X:204.20, Y:-44.86, Z:-5.21 [[ 9.42323289e-01 3.34319728e-01 1.60355457e-02 2.04198247e+02] [-3.34275453e-01 9.42459690e-01 -5.44559532e-03 -4.48644684e+01] [-1.69334254e-02 -2.28778009e-04 9.99856593e-01 -5.20832937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.118623853 meters 0.021294278495631463 Centerline is valid? [True, True] Translation: X:204.23, Y:-44.88, Z:-5.21 [[ 9.42850421e-01 3.32813589e-01 1.63767508e-02 2.04228551e+02] [-3.32767134e-01 9.42992616e-01 -5.56422163e-03 -4.48765706e+01] [-1.72950036e-02 -2.03415710e-04 9.99850410e-01 -5.20809240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.148623853 meters 0.019849195374172717 Centerline is valid? [True, True] Translation: X:204.26, Y:-44.89, Z:-5.21 [[ 9.43456743e-01 3.31069521e-01 1.68031759e-02 2.04258118e+02] [-3.31020283e-01 9.43606349e-01 -5.71226886e-03 -4.48887710e+01] [-1.77467416e-02 -1.72913473e-04 9.99842499e-01 -5.20733394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.178623853 meters 0.01834498117587144 Centerline is valid? [True, True] Translation: X:204.29, Y:-44.90, Z:-5.21 [[ 9.44720236e-01 3.27441859e-01 1.68968700e-02 2.04287050e+02] [-3.27391430e-01 9.44871324e-01 -5.74744411e-03 -4.49012913e+01] [-1.78473217e-02 -1.02163672e-04 9.99840719e-01 -5.20825528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.208623853 meters 0.017673988321497098 Centerline is valid? [True, True] Translation: X:204.32, Y:-44.91, Z:-5.21 [[ 9.45429120e-01 3.25385864e-01 1.69652098e-02 2.04317015e+02] [-3.25334644e-01 9.45581321e-01 -5.77357629e-03 -4.49138827e+01] [-1.79206256e-02 -6.08633282e-05 9.99839411e-01 -5.20918550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.238623853 meters 0.017512274963735145 Centerline is valid? [True, True] Translation: X:204.35, Y:-44.93, Z:-5.21 [[ 9.46140761e-01 3.23306154e-01 1.70526158e-02 2.04345940e+02] [-3.23253997e-01 9.46294421e-01 -5.80713703e-03 -4.49257303e+01] [-1.80142783e-02 -1.79571733e-05 9.99837730e-01 -5.21116566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.268623853 meters 0.018383926862885668 Centerline is valid? [True, True] Translation: X:204.37, Y:-44.94, Z:-5.21 [[ 9.47720655e-01 3.18648691e-01 1.69874236e-02 2.04373306e+02] [-3.18596158e-01 9.47872885e-01 -5.78633067e-03 -4.49407355e+01] [-1.79457249e-02 7.16972010e-05 9.99838960e-01 -5.21281250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.298623853 meters 0.019104565316974458 Centerline is valid? [True, True] Translation: X:204.40, Y:-44.95, Z:-5.21 [[ 9.48442925e-01 3.16496896e-01 1.69036188e-02 2.04402650e+02] [-3.16444489e-01 9.48593539e-01 -5.76055307e-03 -4.49527804e+01] [-1.78578608e-02 1.14498783e-04 9.99840529e-01 -5.21280440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.328623853 meters 0.020355646400643516 Centerline is valid? [True, True] Translation: X:204.43, Y:-44.97, Z:-5.21 [[ 9.49182140e-01 3.14261084e-01 1.71241395e-02 2.04432481e+02] [-3.14206883e-01 9.49336582e-01 -5.83860905e-03 -4.49657424e+01] [-1.80914196e-02 1.61380947e-04 9.99836324e-01 -5.21346655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.358623853 meters 0.023443841890845554 Centerline is valid? [True, True] Translation: X:204.46, Y:-44.98, Z:-5.21 [[ 9.50684798e-01 3.09682029e-01 1.71888127e-02 2.04461169e+02] [-3.09626594e-01 9.50840143e-01 -5.86475203e-03 -4.49814017e+01] [-1.81600215e-02 2.53417043e-04 9.99835061e-01 -5.21325525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.388623853 meters 0.02511657016074752 Centerline is valid? [True, True] Translation: X:204.49, Y:-44.99, Z:-5.21 [[ 9.51268135e-01 3.07882641e-01 1.72398967e-02 2.04491146e+02] [-3.07826580e-01 9.51424299e-01 -5.88223555e-03 -4.49942855e+01] [-1.82134948e-02 2.88684814e-04 9.99834079e-01 -5.21374838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.418623853 meters 0.02658062703653573 Centerline is valid? [True, True] Translation: X:204.52, Y:-45.01, Z:-5.21 [[ 9.51836397e-01 3.06096004e-01 1.76836037e-02 2.04520444e+02] [-3.06036637e-01 9.52000590e-01 -6.03760691e-03 -4.50064543e+01] [-1.86828885e-02 3.34983402e-04 9.99825403e-01 -5.21431440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.44862385300002 meters 0.030375150850496847 Centerline is valid? [True, True] Translation: X:204.55, Y:-45.02, Z:-5.22 [[ 9.52293030e-01 3.04679414e-01 1.75624719e-02 2.04548282e+02] [-3.04620585e-01 9.52454893e-01 -5.99797482e-03 -4.50216811e+01] [-1.85549218e-02 3.61939145e-04 9.99827777e-01 -5.21675695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.47862385300002 meters 0.03109615365402014 Centerline is valid? [True, True] Translation: X:204.58, Y:-45.03, Z:-5.22 [[ 9.53328547e-01 3.01425457e-01 1.75321375e-02 2.04578259e+02] [-3.01366243e-01 9.53489650e-01 -5.98961718e-03 -4.50330087e+01] [-1.85221348e-02 4.26478619e-04 9.99828360e-01 -5.21603118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50862385300002 meters 0.03304596624543482 Centerline is valid? [True, True] Translation: X:204.61, Y:-45.05, Z:-5.21 [[ 9.53574319e-01 3.00664001e-01 1.72388415e-02 2.04607204e+02] [-3.00606625e-01 9.53730030e-01 -5.88953735e-03 -4.50451527e+01] [-1.82119727e-02 4.34001590e-04 9.99834054e-01 -5.21374384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.53862385300002 meters 0.033545061457352136 Centerline is valid? [True, True] Translation: X:204.64, Y:-45.06, Z:-5.22 [[ 9.53944520e-01 2.99488381e-01 1.72209825e-02 2.04636912e+02] [-2.99430880e-01 9.54099837e-01 -5.88631790e-03 -4.50569155e+01] [-1.81934204e-02 4.58726756e-04 9.99834381e-01 -5.21850931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56862385300002 meters 0.03655706761511071 Centerline is valid? [True, True] Translation: X:204.66, Y:-45.07, Z:-5.22 [[ 9.54319013e-01 2.98297874e-01 1.71347558e-02 2.04664986e+02] [-2.98240697e-01 9.54472706e-01 -5.86012828e-03 -4.50718391e+01] [-1.81027205e-02 4.82150329e-04 9.99836016e-01 -5.22027406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.59862385300002 meters 0.035297005162212236 Centerline is valid? [True, True] Translation: X:204.70, Y:-45.08, Z:-5.22 [[ 9.54419457e-01 2.97984159e-01 1.69982992e-02 2.04695747e+02] [-2.97927788e-01 9.54570691e-01 -5.81626536e-03 -4.50808611e+01] [-1.79592332e-02 4.86891134e-04 9.99838601e-01 -5.22096635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62862385300002 meters 0.03670596434553598 Centerline is valid? [True, True] Translation: X:204.72, Y:-45.09, Z:-5.22 [[ 9.54397837e-01 2.98057627e-01 1.69239296e-02 2.04724964e+02] [-2.98001705e-01 9.54547754e-01 -5.79389747e-03 -4.50940959e+01] [-1.78816143e-02 4.86323338e-04 9.99839993e-01 -5.22229297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.65862385300002 meters 0.035744296491446156 Centerline is valid? [True, True] Translation: X:204.76, Y:-45.10, Z:-5.22 [[ 9.54204607e-01 2.98675836e-01 1.69207649e-02 2.04755071e+02] [-2.98619969e-01 9.54354503e-01 -5.79630400e-03 -4.51048466e+01] [-1.78796241e-02 4.77981687e-04 9.99840032e-01 -5.22320994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68862385300002 meters 0.040260026855763645 Centerline is valid? [True, True] Translation: X:204.78, Y:-45.12, Z:-5.22 [[ 9.53836113e-01 2.99876095e-01 1.64619938e-02 2.04784060e+02] [-2.99823343e-01 9.53978055e-01 -5.64216159e-03 -4.51162095e+01] [-1.73963302e-02 4.46007474e-04 9.99848573e-01 -5.21648027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.71862385300003 meters 0.03432411365298825 Centerline is valid? [True, True] Translation: X:204.82, Y:-45.12, Z:-5.23 [[ 9.53657860e-01 3.00434092e-01 1.66145584e-02 2.04815435e+02] [-3.00380379e-01 9.53802474e-01 -5.69806443e-03 -4.51246128e+01] [-1.75588997e-02 4.43316590e-04 9.99845732e-01 -5.22514445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74862385300003 meters 0.03348958149059414 Centerline is valid? [True, True] Translation: X:204.85, Y:-45.13, Z:-5.23 [[ 9.53255139e-01 3.01704832e-01 1.66983244e-02 2.04845623e+02] [-3.01650766e-01 9.53401288e-01 -5.72707356e-03 -4.51340871e+01] [-1.76480898e-02 4.22299951e-04 9.99844171e-01 -5.22633401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.77862385300003 meters 0.030935666807638488 Centerline is valid? [True, True] Translation: X:204.88, Y:-45.14, Z:-5.23 [[ 9.52293650e-01 3.04741791e-01 1.64086931e-02 2.04875744e+02] [-3.04689964e-01 9.52434937e-01 -5.63181809e-03 -4.51408328e+01] [-1.73444629e-02 3.63580503e-04 9.99849507e-01 -5.22811665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80862385300003 meters 0.029020655329050814 Centerline is valid? [True, True] Translation: X:204.91, Y:-45.15, Z:-5.23 [[ 9.51664883e-01 3.06704946e-01 1.63102988e-02 2.04907276e+02] [-3.06654040e-01 9.51804586e-01 -5.59731401e-03 -4.51487901e+01] [-1.72409411e-02 3.25148170e-04 9.99851311e-01 -5.22911529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.83862385300003 meters 0.027500808275413263 Centerline is valid? [True, True] Translation: X:204.94, Y:-45.16, Z:-5.23 [[ 9.51035249e-01 3.08641522e-01 1.65035223e-02 2.04937641e+02] [-3.08589638e-01 9.51178387e-01 -5.66675764e-03 -4.51567535e+01] [-1.74467904e-02 2.96470292e-04 9.99847749e-01 -5.22990581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.868623853 meters 0.025690449194983436 Centerline is valid? [True, True] Translation: X:204.97, Y:-45.16, Z:-5.23 [[ 9.50386646e-01 3.10639163e-01 1.63869958e-02 2.04969126e+02] [-3.10588261e-01 9.50527876e-01 -5.62936861e-03 -4.51646741e+01] [-1.73249987e-02 2.60468220e-04 9.99849877e-01 -5.23040407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.898623853 meters 0.02257220235136489 Centerline is valid? [True, True] Translation: X:205.00, Y:-45.17, Z:-5.23 [[ 9.49120795e-01 3.14468200e-01 1.67172722e-02 2.04999968e+02] [-3.14415762e-01 9.49267988e-01 -5.74600496e-03 -4.51707179e+01] [-1.76761071e-02 1.97478939e-04 9.99843746e-01 -5.23060708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.928623853 meters 0.021368497434067355 Centerline is valid? [True, True] Translation: X:205.03, Y:-45.18, Z:-5.23 [[ 9.48542083e-01 3.16218209e-01 1.65517756e-02 2.05031283e+02] [-3.16167025e-01 9.48686469e-01 -5.69170815e-03 -4.51789917e+01] [-1.75022673e-02 1.65699046e-04 9.99846810e-01 -5.23175051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.958623853 meters 0.020334186794037878 Centerline is valid? [True, True] Translation: X:205.06, Y:-45.19, Z:-5.23 [[ 9.47950058e-01 3.17991499e-01 1.64952807e-02 2.05061475e+02] [-3.17940880e-01 9.48093555e-01 -5.67528149e-03 -4.51871051e+01] [-1.74437606e-02 1.35359350e-04 9.99847837e-01 -5.23253893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.988623853 meters 0.0220898343695542 Centerline is valid? [True, True] Translation: X:205.09, Y:-45.20, Z:-5.23 [[ 9.47333356e-01 3.19828975e-01 1.63993749e-02 2.05093107e+02] [-3.19779174e-01 9.47475285e-01 -5.64484263e-03 -4.51954682e+01] [-1.73433866e-02 1.03369156e-04 9.99849587e-01 -5.22690278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.018623853 meters 0.018678424330680916 Centerline is valid? [True, True] Translation: X:205.12, Y:-45.20, Z:-5.23 [[ 9.46920208e-01 3.21008147e-01 1.72014113e-02 2.05121919e+02] [-3.20953477e-01 9.47076429e-01 -5.92484159e-03 -4.52049073e+01] [-1.81929736e-02 8.94994612e-05 9.99834490e-01 -5.23325017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.048623853 meters 0.0186974485518258 Centerline is valid? [True, True] Translation: X:205.15, Y:-45.22, Z:-5.23 [[ 9.46773281e-01 3.21461407e-01 1.68201806e-02 2.05150865e+02] [-3.21409199e-01 9.46922678e-01 -5.79394430e-03 -4.52153099e+01] [-1.77899399e-02 7.93908975e-05 9.99841743e-01 -5.23447545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.078623853 meters 0.0187827599892847 Centerline is valid? [True, True] Translation: X:205.18, Y:-45.23, Z:-5.24 [[ 9.46813236e-01 3.21341862e-01 1.68553585e-02 2.05178689e+02] [-3.21289350e-01 9.46963252e-01 -5.80979087e-03 -4.52262159e+01] [-1.78283341e-02 8.53397256e-05 9.99841059e-01 -5.23590121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.108623853 meters 0.01901844236387644 Centerline is valid? [True, True] Translation: X:205.21, Y:-45.24, Z:-5.24 [[ 9.46903639e-01 3.21066522e-01 1.70231250e-02 2.05208157e+02] [-3.21012911e-01 9.47056641e-01 -5.86774662e-03 -4.52380604e+01] [-1.80058005e-02 9.15477339e-05 9.99837878e-01 -5.23654354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.138623853 meters 0.019481205865327766 Centerline is valid? [True, True] Translation: X:205.24, Y:-45.25, Z:-5.24 [[ 9.47177053e-01 3.20248384e-01 1.72221696e-02 2.05236079e+02] [-3.20193385e-01 9.47333606e-01 -5.93590821e-03 -4.52520471e+01] [-1.82161050e-02 1.07931282e-04 9.99834067e-01 -5.23722002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.168623853 meters 0.019481205865327766 Centerline is valid? [True, True] Translation: X:205.27, Y:-45.26, Z:-5.24 [[ 9.47170129e-01 3.20268922e-01 1.72210635e-02 2.05265203e+02] [-3.20213869e-01 9.47326662e-01 -5.93911534e-03 -4.52621384e+01] [-1.82160866e-02 1.10929285e-04 9.99834067e-01 -5.23799617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.19862385300002 meters 0.019822767776209102 Centerline is valid? [True, True] Translation: X:205.30, Y:-45.27, Z:-5.24 [[ 9.47308877e-01 3.19871872e-01 1.69669525e-02 2.05295241e+02] [-3.19818378e-01 9.47460803e-01 -5.85089749e-03 -4.52748997e+01] [-1.79470600e-02 1.16263893e-04 9.99838932e-01 -5.23923550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22862385300002 meters 0.020214676212063874 Centerline is valid? [True, True] Translation: X:205.32, Y:-45.29, Z:-5.24 [[ 9.47488216e-01 3.19334651e-01 1.70722213e-02 2.05324373e+02] [-3.19280334e-01 9.47642002e-01 -5.89107038e-03 -4.52874371e+01] [-1.80595768e-02 1.30895254e-04 9.99836904e-01 -5.23971258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.25862385300002 meters 0.02108863513685925 Centerline is valid? [True, True] Translation: X:205.35, Y:-45.30, Z:-5.24 [[ 9.47824556e-01 3.18304416e-01 1.76326460e-02 2.05351536e+02] [-3.18246303e-01 9.47988541e-01 -6.08408939e-03 -4.53036680e+01] [-1.86521389e-02 1.55124926e-04 9.99826022e-01 -5.23906663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28862385300002 meters 0.02145132383322923 Centerline is valid? [True, True] Translation: X:205.38, Y:-45.32, Z:-5.24 [[ 9.47960777e-01 3.17887855e-01 1.78234782e-02 2.05381564e+02] [-3.17828355e-01 9.48128305e-01 -6.15253391e-03 -4.53174347e+01] [-1.88547600e-02 1.67554086e-04 9.99822219e-01 -5.23908730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.31862385300002 meters 0.021939616026156968 Centerline is valid? [True, True] Translation: X:205.41, Y:-45.33, Z:-5.24 [[ 9.48025377e-01 3.17683571e-01 1.80286962e-02 2.05411109e+02] [-3.17622586e-01 9.48196771e-01 -6.22696755e-03 -4.53305230e+01] [-1.90729568e-02 1.77002145e-04 9.99818079e-01 -5.23953540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34862385300002 meters 0.022316920372536606 Centerline is valid? [True, True] Translation: X:205.44, Y:-45.34, Z:-5.24 [[ 9.48124891e-01 3.17390792e-01 1.79520666e-02 2.05441118e+02] [-3.17330213e-01 9.48294812e-01 -6.20363269e-03 -4.53443844e+01] [-1.89928275e-02 1.85085463e-04 9.99819603e-01 -5.24093804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.37862385300002 meters 0.02264545379149784 Centerline is valid? [True, True] Translation: X:205.47, Y:-45.36, Z:-5.24 [[ 9.48093928e-01 3.17491728e-01 1.78018574e-02 2.05471052e+02] [-3.17432112e-01 9.48261023e-01 -6.15513599e-03 -4.53565223e+01] [-1.88350122e-02 1.84765867e-04 9.99822588e-01 -5.24271745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40862385300002 meters 0.02283322091983343 Centerline is valid? [True, True] Translation: X:205.50, Y:-45.37, Z:-5.24 [[ 9.48091122e-01 3.17521249e-01 1.74207007e-02 2.05501275e+02] [-3.17464110e-01 9.48251139e-01 -6.02629789e-03 -4.53689831e+01] [-1.84326769e-02 1.83032306e-04 9.99830087e-01 -5.24481189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.43862385300002 meters 0.02341430150126517 Centerline is valid? [True, True] Translation: X:205.53, Y:-45.38, Z:-5.25 [[ 9.48151857e-01 3.17388269e-01 1.65148979e-02 2.05530301e+02] [-3.17336845e-01 9.48295658e-01 -5.71597691e-03 -4.53838077e+01] [-1.74751900e-02 1.78828539e-04 9.99847281e-01 -5.24804283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.46862385300003 meters 0.02379091537209213 Centerline is valid? [True, True] Translation: X:205.56, Y:-45.40, Z:-5.25 [[ 9.48197509e-01 3.17272800e-01 1.61076090e-02 2.05560195e+02] [-3.17223824e-01 9.48334297e-01 -5.57736353e-03 -4.53970363e+01] [-1.70449438e-02 1.78724872e-04 9.99854708e-01 -5.24929333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.49862385300003 meters 0.024088646480184005 Centerline is valid? [True, True] Translation: X:205.59, Y:-45.41, Z:-5.25 [[ 9.48208649e-01 3.17253620e-01 1.58271778e-02 2.05590112e+02] [-3.17206284e-01 9.48340713e-01 -5.48313223e-03 -4.54103830e+01] [-1.67491006e-02 1.78673152e-04 9.99859708e-01 -5.25069675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.52862385300003 meters 0.02198747546558025 Centerline is valid? [True, True] Translation: X:205.62, Y:-45.42, Z:-5.25 [[ 9.48103075e-01 3.17554459e-01 1.61159914e-02 2.05621129e+02] [-3.17505373e-01 9.48240019e-01 -5.58612506e-03 -4.54221932e+01] [-1.70557270e-02 1.79308480e-04 9.99854524e-01 -5.24813408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.55862385300003 meters 0.030933825204064246 Centerline is valid? [True, True] Translation: X:205.65, Y:-45.43, Z:-5.24 [[ 9.47856025e-01 3.18320487e-01 1.55249037e-02 2.05652212e+02] [-3.18274990e-01 9.47983144e-01 -5.38422143e-03 -4.54335139e+01] [-1.64312550e-02 1.62278144e-04 9.99864985e-01 -5.23893882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.58862385300003 meters 0.021405583328365365 Centerline is valid? [True, True] Translation: X:205.68, Y:-45.45, Z:-5.25 [[ 9.47742062e-01 3.18615022e-01 1.64149587e-02 2.05682256e+02] [-3.18564136e-01 9.47884191e-01 -5.69672615e-03 -4.54454095e+01] [-1.73745423e-02 1.69809862e-04 9.99849037e-01 -5.24921438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.618623853 meters 0.020655459447965558 Centerline is valid? [True, True] Translation: X:205.71, Y:-45.46, Z:-5.25 [[ 9.47238358e-01 3.20112408e-01 1.63566189e-02 2.05711716e+02] [-3.20062054e-01 9.47379557e-01 -5.67945802e-03 -4.54554352e+01] [-1.73139913e-02 1.44667471e-04 9.99850091e-01 -5.25095038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.648623853 meters 0.01997608965568916 Centerline is valid? [True, True] Translation: X:205.74, Y:-45.47, Z:-5.25 [[ 9.46892032e-01 3.21131200e-01 1.64387219e-02 2.05741948e+02] [-3.21080447e-01 9.47034707e-01 -5.71058626e-03 -4.54657577e+01] [-1.74018876e-02 1.29156438e-04 9.99848567e-01 -5.25151616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.678623853 meters 0.019011124106436798 Centerline is valid? [True, True] Translation: X:205.77, Y:-45.48, Z:-5.25 [[ 9.46439788e-01 3.22462674e-01 1.64180274e-02 2.05772990e+02] [-3.22412200e-01 9.46582174e-01 -5.70621123e-03 -4.54753145e+01] [-1.73810522e-02 1.07213026e-04 9.99848932e-01 -5.25178545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.708623853 meters 0.018910584853820505 Centerline is valid? [True, True] Translation: X:205.80, Y:-45.49, Z:-5.25 [[ 9.45998334e-01 3.23777663e-01 1.59742560e-02 2.05803263e+02] [-3.23730023e-01 9.46133193e-01 -5.55466136e-03 -4.54861145e+01] [-1.69122491e-02 8.33541366e-05 9.99856974e-01 -5.25382870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.738623853 meters 0.01781292201392197 Centerline is valid? [True, True] Translation: X:205.83, Y:-45.49, Z:-5.25 [[ 9.44932224e-01 3.26875107e-01 1.59923752e-02 2.05834343e+02] [-3.26827746e-01 9.45067544e-01 -5.56423961e-03 -4.54938539e+01] [-1.69326861e-02 3.10773817e-05 9.99856631e-01 -5.25470711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.768623853 meters 0.017471687927796315 Centerline is valid? [True, True] Translation: X:205.87, Y:-45.50, Z:-5.25 [[ 9.44355808e-01 3.28526302e-01 1.62042451e-02 2.05865769e+02] [-3.28477877e-01 9.44494822e-01 -5.64051656e-03 -4.55025801e+01] [-1.71578836e-02 3.91854564e-06 9.99852793e-01 -5.25389032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.798623853 meters 0.017467924532998908 Centerline is valid? [True, True] Translation: X:205.90, Y:-45.51, Z:-5.25 [[ 9.43226722e-01 3.31753032e-01 1.62257747e-02 2.05898455e+02] [-3.31704896e-01 9.43366272e-01 -5.65145643e-03 -4.55099834e+01] [-1.71817364e-02 -5.15641737e-05 9.99852382e-01 -5.25435016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.828623853 meters 0.023047549779350262 Centerline is valid? [True, True] Translation: X:205.93, Y:-45.52, Z:-5.25 [[ 9.42490216e-01 3.33859702e-01 1.58079620e-02 2.05929264e+02] [-3.33814250e-01 9.42622773e-01 -5.50948125e-03 -4.55163974e+01] [-1.67403387e-02 -8.42908074e-05 9.99859867e-01 -5.25009809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.858623853 meters 0.018526748366712666 Centerline is valid? [True, True] Translation: X:205.96, Y:-45.53, Z:-5.26 [[ 9.41923021e-01 3.35417236e-01 1.66223056e-02 2.05960878e+02] [-3.35367173e-01 9.42069671e-01 -5.79607802e-03 -4.55265514e+01] [-1.76034744e-02 -1.15116325e-04 9.99845040e-01 -5.25547048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.888623853 meters 0.018708280407365666 Centerline is valid? [True, True] Translation: X:205.99, Y:-45.54, Z:-5.25 [[ 9.41351017e-01 3.36995499e-01 1.70966925e-02 2.05992781e+02] [-3.36942732e-01 9.41506247e-01 -5.96513400e-03 -4.55364797e+01] [-1.81068661e-02 -1.45321309e-04 9.99836047e-01 -5.25484982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.918623853 meters 0.02082161693022596 Centerline is valid? [True, True] Translation: X:206.02, Y:-45.54, Z:-5.26 [[ 9.40821567e-01 3.38459788e-01 1.73133277e-02 2.06023632e+02] [-3.38405848e-01 9.40980841e-01 -6.04478846e-03 -4.55416971e+01] [-1.83374275e-02 -1.71864006e-04 9.99831840e-01 -5.25746048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.94862385300002 meters 0.020929650305372433 Centerline is valid? [True, True] Translation: X:206.05, Y:-45.55, Z:-5.26 [[ 9.40111736e-01 3.40416040e-01 1.75169528e-02 2.06054506e+02] [-3.40361107e-01 9.40274894e-01 -6.11894171e-03 -4.55508730e+01] [-1.85537368e-02 -2.09600518e-04 9.99827843e-01 -5.25613023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.97862385300002 meters 0.020850310475935413 Centerline is valid? [True, True] Translation: X:206.09, Y:-45.56, Z:-5.26 [[ 9.39829267e-01 3.41187018e-01 1.76739501e-02 2.06086254e+02] [-3.41131175e-01 9.39995409e-01 -6.17682383e-03 -4.55612095e+01] [-1.87208840e-02 -2.23975547e-04 9.99824724e-01 -5.25630838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00862385300002 meters 0.021436726921156696 Centerline is valid? [True, True] Translation: X:206.12, Y:-45.57, Z:-5.26 [[ 9.39514591e-01 3.42073540e-01 1.72634227e-02 2.06116418e+02] [-3.42020341e-01 9.39673155e-01 -6.03717062e-03 -4.55685311e+01] [-1.82871312e-02 -2.32431817e-04 9.99832749e-01 -5.25795511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.03862385300002 meters 0.02222167264048187 Centerline is valid? [True, True] Translation: X:206.15, Y:-45.58, Z:-5.26 [[ 9.39445655e-01 3.42275619e-01 1.70077170e-02 2.06146842e+02] [-3.42223969e-01 9.39599568e-01 -5.95044837e-03 -4.55772455e+01] [-1.80171370e-02 -2.30325558e-04 9.99837652e-01 -5.26018536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06862385300002 meters 0.021736462604343056 Centerline is valid? [True, True] Translation: X:206.18, Y:-45.59, Z:-5.26 [[ 9.39403585e-01 3.42399201e-01 1.68431487e-02 2.06177491e+02] [-3.42348509e-01 9.39554541e-01 -5.89604254e-03 -4.55883762e+01] [-1.78438571e-02 -2.27463331e-04 9.99840760e-01 -5.26127683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.09862385300002 meters 0.0217045298756835 Centerline is valid? [True, True] Translation: X:206.21, Y:-45.60, Z:-5.26 [[ 9.39469844e-01 3.42232458e-01 1.65335053e-02 2.06208014e+02] [-3.42183526e-01 9.39615292e-01 -5.79109860e-03 -4.55990366e+01] [-1.75170364e-02 -2.16930649e-04 9.99846541e-01 -5.26254389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.12862385300002 meters 0.021164054628558523 Centerline is valid? [True, True] Translation: X:206.24, Y:-45.61, Z:-5.26 [[ 9.39764552e-01 3.41450670e-01 1.59382415e-02 2.06237797e+02] [-3.41405032e-01 9.39899677e-01 -5.58575505e-03 -4.56088146e+01] [-1.68876079e-02 -1.92101267e-04 9.99857376e-01 -5.26439071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.15862385300002 meters 0.020670546642993663 Centerline is valid? [True, True] Translation: X:206.27, Y:-45.62, Z:-5.27 [[ 9.39944965e-01 3.40951226e-01 1.59913450e-02 2.06268368e+02] [-3.40905168e-01 9.40080969e-01 -5.60695467e-03 -4.56193035e+01] [-1.69448572e-02 -1.81303344e-04 9.99856409e-01 -5.26536786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.18862385300002 meters 0.019978347484804832 Centerline is valid? [True, True] Translation: X:206.30, Y:-45.63, Z:-5.27 [[ 9.40149812e-01 3.40380876e-01 1.60994045e-02 2.06298093e+02] [-3.40334060e-01 9.40287632e-01 -5.64775373e-03 -4.56303707e+01] [-1.70604583e-02 -1.69441082e-04 9.99854445e-01 -5.26506653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.21862385300003 meters 0.019381294056238597 Centerline is valid? [True, True] Translation: X:206.33, Y:-45.64, Z:-5.27 [[ 9.40668765e-01 3.38916780e-01 1.66640868e-02 2.06326668e+02] [-3.38866325e-01 9.40816345e-01 -5.84962161e-03 -4.56420790e+01] [-1.76603801e-02 -1.44341509e-04 9.99844033e-01 -5.26571742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.24862385300003 meters 0.018836118558239908 Centerline is valid? [True, True] Translation: X:206.36, Y:-45.65, Z:-5.27 [[ 9.40922982e-01 3.38192411e-01 1.70245544e-02 2.06356052e+02] [-3.38139606e-01 9.41076977e-01 -5.97751342e-03 -4.56540877e+01] [-1.80429658e-02 -1.32296371e-04 9.99837204e-01 -5.26548227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.27862385300003 meters 0.018380673381721592 Centerline is valid? [True, True] Translation: X:206.39, Y:-45.67, Z:-5.27 [[ 9.41184997e-01 3.37445466e-01 1.73597125e-02 2.06385548e+02] [-3.37390376e-01 9.41345072e-01 -6.09836389e-03 -4.56656194e+01] [-1.83993451e-02 -1.17311352e-04 9.99830711e-01 -5.26535357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.30862385300003 meters 0.017581467566548173 Centerline is valid? [True, True] Translation: X:206.42, Y:-45.68, Z:-5.27 [[ 9.41723638e-01 3.35917789e-01 1.77715817e-02 2.06415746e+02] [-3.35859721e-01 9.41891306e-01 -6.24629579e-03 -4.56778323e+01] [-1.88371402e-02 -8.64740810e-05 9.99822562e-01 -5.26555276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.33862385300003 meters 0.01737674871914936 Centerline is valid? [True, True] Translation: X:206.45, Y:-45.69, Z:-5.27 [[ 9.41918021e-01 3.35367094e-01 1.78704833e-02 2.06446033e+02] [-3.35308220e-01 9.42087526e-01 -6.28416139e-03 -4.56885817e+01] [-1.89430603e-02 -7.29550708e-05 9.99820561e-01 -5.26624986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.368623853 meters 0.016912388011142174 Centerline is valid? [True, True] Translation: X:206.48, Y:-45.70, Z:-5.27 [[ 9.42072100e-01 3.34924827e-01 1.80421192e-02 2.06476857e+02] [-3.34864672e-01 9.42244850e-01 -6.34782328e-03 -4.57000691e+01] [-1.91261375e-02 -6.15611166e-05 9.99817077e-01 -5.26594427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.398623853 meters 0.016952551727517175 Centerline is valid? [True, True] Translation: X:206.51, Y:-45.71, Z:-5.27 [[ 9.42189553e-01 3.34601835e-01 1.79013499e-02 2.06507124e+02] [-3.34542476e-01 9.42359597e-01 -6.30253181e-03 -4.57110361e+01] [-1.89783476e-02 -5.05823015e-05 9.99819894e-01 -5.26742189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.428623853 meters 0.02214883094259741 Centerline is valid? [True, True] Translation: X:206.54, Y:-45.72, Z:-5.26 [[ 9.42139080e-01 3.34783704e-01 1.71413567e-02 2.06538349e+02] [-3.34729279e-01 9.42295001e-01 -6.03658978e-03 -4.57223034e+01] [-1.81731666e-02 -5.04068331e-05 9.99834853e-01 -5.26231206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.458623853 meters 0.016965361861849604 Centerline is valid? [True, True] Translation: X:206.57, Y:-45.73, Z:-5.27 [[ 9.42218167e-01 3.34541015e-01 1.75281026e-02 2.06568363e+02] [-3.34483993e-01 9.42381190e-01 -6.17666222e-03 -4.57331084e+01] [-1.85845011e-02 -4.31064002e-05 9.99827292e-01 -5.26946760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.488623853 meters 0.01705437930038745 Centerline is valid? [True, True] Translation: X:206.60, Y:-45.74, Z:-5.27 [[ 9.42215026e-01 3.34556895e-01 1.73933575e-02 2.06598785e+02] [-3.34500687e-01 9.42375553e-01 -6.13257501e-03 -4.57432989e+01] [-1.84427701e-02 -3.98856923e-05 9.99829917e-01 -5.27129807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.518623853 meters 0.016962157993514197 Centerline is valid? [True, True] Translation: X:206.63, Y:-45.75, Z:-5.27 [[ 9.42382554e-01 3.34137165e-01 1.63547123e-02 2.06630123e+02] [-3.34087358e-01 9.42524458e-01 -5.76914244e-03 -4.57536549e+01] [-1.73424012e-02 -2.71634347e-05 9.99849609e-01 -5.27272768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.548623853 meters 0.01691774746582051 Centerline is valid? [True, True] Translation: X:206.66, Y:-45.76, Z:-5.27 [[ 9.42513655e-01 3.33780162e-01 1.60877097e-02 2.06660941e+02] [-3.33731859e-01 9.42650944e-01 -5.67829035e-03 -4.57643179e+01] [-1.70603954e-02 -1.71150635e-05 9.99854461e-01 -5.27423989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.578623853 meters 0.017100575846233777 Centerline is valid? [True, True] Translation: X:206.69, Y:-45.78, Z:-5.28 [[ 9.42688054e-01 3.33297195e-01 1.58811880e-02 2.06692043e+02] [-3.33249999e-01 9.42821818e-01 -5.60875868e-03 -4.57753786e+01] [-1.68425141e-02 -5.09608774e-06 9.99858155e-01 -5.27592994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.608623853 meters 0.017266558172902687 Centerline is valid? [True, True] Translation: X:206.72, Y:-45.79, Z:-5.28 [[ 9.43013988e-01 3.32373354e-01 1.58925258e-02 2.06721944e+02] [-3.32325900e-01 9.43147896e-01 -5.61630056e-03 -4.57871159e+01] [-1.68557109e-02 1.47520539e-05 9.99857932e-01 -5.27719104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.638623853 meters 0.017101362884051594 Centerline is valid? [True, True] Translation: X:206.75, Y:-45.80, Z:-5.28 [[ 9.43136782e-01 3.32010203e-01 1.61936800e-02 2.06752936e+02] [-3.31960825e-01 9.43275795e-01 -5.72589824e-03 -4.57984184e+01] [-1.71761630e-02 2.46378440e-05 9.99852479e-01 -5.27715486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.668623853 meters 0.01730678159827001 Centerline is valid? [True, True] Translation: X:206.78, Y:-45.81, Z:-5.28 [[ 9.43311366e-01 3.31522305e-01 1.60195912e-02 2.06783100e+02] [-3.31473852e-01 9.43447381e-01 -5.66793113e-03 -4.58098810e+01] [-1.69926869e-02 3.65482552e-05 9.99855613e-01 -5.27839534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.69862385300002 meters 0.017407710092690074 Centerline is valid? [True, True] Translation: X:206.81, Y:-45.82, Z:-5.28 [[ 9.43478560e-01 3.31041110e-01 1.61242305e-02 2.06814015e+02] [-3.30991895e-01 9.43616332e-01 -5.70822799e-03 -4.58212681e+01] [-1.71047454e-02 4.86010945e-05 9.99853702e-01 -5.27864759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72862385300002 meters 0.01819718024317259 Centerline is valid? [True, True] Translation: X:206.84, Y:-45.83, Z:-5.28 [[ 9.43880078e-01 3.29912233e-01 1.57580581e-02 2.06842790e+02] [-3.29865010e-01 9.44011607e-01 -5.58224206e-03 -4.58328350e+01] [-1.67174397e-02 7.09350696e-05 9.99860251e-01 -5.28123925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.75862385300002 meters 0.018471346139722854 Centerline is valid? [True, True] Translation: X:206.87, Y:-45.84, Z:-5.28 [[ 9.43975019e-01 3.29659991e-01 1.53444864e-02 2.06872557e+02] [-3.29615128e-01 9.44099722e-01 -5.43897343e-03 -4.58434555e+01] [-1.62797373e-02 7.64801784e-05 9.99867473e-01 -5.28325204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78862385300002 meters 0.018303999591904416 Centerline is valid? [True, True] Translation: X:206.90, Y:-45.85, Z:-5.28 [[ 9.43998321e-01 3.29606857e-01 1.50495656e-02 2.06903580e+02] [-3.29563690e-01 9.44118273e-01 -5.33486037e-03 -4.58537412e+01] [-1.59669764e-02 7.63088689e-05 9.99872517e-01 -5.28405219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.81862385300002 meters 0.018336592368143195 Centerline is valid? [True, True] Translation: X:206.93, Y:-45.86, Z:-5.28 [[ 9.43934238e-01 3.29797245e-01 1.48973589e-02 2.06934589e+02] [-3.29754920e-01 9.44051784e-01 -5.28406866e-03 -4.58645453e+01] [-1.58065496e-02 7.53359144e-05 9.99875066e-01 -5.28493764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84862385300002 meters 0.01811887212645617 Centerline is valid? [True, True] Translation: X:206.97, Y:-45.87, Z:-5.28 [[ 9.43615456e-01 3.30697127e-01 1.51420714e-02 2.06965039e+02] [-3.30653456e-01 9.43736937e-01 -5.37454810e-03 -4.58730268e+01] [-1.60674797e-02 6.47284208e-05 9.99870908e-01 -5.28493777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.87862385300002 meters 0.017986006774078935 Centerline is valid? [True, True] Translation: X:207.00, Y:-45.88, Z:-5.29 [[ 9.43446594e-01 3.31176369e-01 1.51900096e-02 2.06996327e+02] [-3.31132426e-01 9.43568868e-01 -5.39512820e-03 -4.58824754e+01] [-1.61195592e-02 6.01105764e-05 9.99870070e-01 -5.28570687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90862385300002 meters 0.017690052632791605 Centerline is valid? [True, True] Translation: X:207.03, Y:-45.89, Z:-5.29 [[ 9.43113503e-01 3.32119046e-01 1.52924660e-02 2.07028459e+02] [-3.32074635e-01 9.43237477e-01 -5.43131622e-03 -4.58916967e+01] [-1.62282706e-02 4.41075941e-05 9.99868312e-01 -5.28690773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.93862385300002 meters 0.01740698523074884 Centerline is valid? [True, True] Translation: X:207.06, Y:-45.90, Z:-5.29 [[ 9.42595691e-01 3.33570909e-01 1.56145019e-02 2.07058871e+02] [-3.33524736e-01 9.42725012e-01 -5.54998868e-03 -4.58981301e+01] [-1.65714963e-02 2.35727949e-05 9.99862683e-01 -5.28669507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.96862385300003 meters 0.017286875175615588 Centerline is valid? [True, True] Translation: X:207.09, Y:-45.91, Z:-5.29 [[ 9.42343509e-01 3.34269072e-01 1.59027768e-02 2.07090327e+02] [-3.34221263e-01 9.42477685e-01 -5.65333985e-03 -4.59074885e+01] [-1.68777489e-02 1.23419841e-05 9.99857561e-01 -5.28733397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.99862385300003 meters 0.01715241058152019 Centerline is valid? [True, True] Translation: X:207.12, Y:-45.92, Z:-5.29 [[ 9.42157484e-01 3.34770861e-01 1.63629397e-02 2.07121633e+02] [-3.34720259e-01 9.42299565e-01 -5.82048042e-03 -4.59172028e+01] [-1.73673182e-02 6.80179091e-06 9.99849177e-01 -5.28754066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.02862385300003 meters 0.01716305928130471 Centerline is valid? [True, True] Translation: X:207.15, Y:-45.93, Z:-5.29 [[ 9.42033089e-01 3.35098512e-01 1.68120853e-02 2.07151438e+02] [-3.35045067e-01 9.42183097e-01 -5.98462397e-03 -4.59259858e+01] [-1.78455012e-02 4.90756200e-06 9.99840756e-01 -5.28755084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.05862385300003 meters 0.017077019145123176 Centerline is valid? [True, True] Translation: X:207.18, Y:-45.94, Z:-5.29 [[ 9.42088413e-01 3.34940816e-01 1.68544686e-02 2.07181767e+02] [-3.34887056e-01 9.42239168e-01 -6.00081252e-03 -4.59370168e+01] [-1.78908575e-02 8.95258933e-06 9.99839946e-01 -5.28849237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.08862385300003 meters 0.017077019145123176 Centerline is valid? [True, True] Translation: X:207.21, Y:-45.95, Z:-5.29 [[ 9.42035149e-01 3.35090646e-01 1.68534043e-02 2.07211523e+02] [-3.35036857e-01 9.42185894e-01 -6.00379960e-03 -4.59477723e+01] [-1.78908569e-02 9.27863555e-06 9.99839946e-01 -5.28928921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.118623853 meters 0.01718833013866087 Centerline is valid? [True, True] Translation: X:207.24, Y:-45.96, Z:-5.29 [[ 9.42214060e-01 3.34573544e-01 1.71233530e-02 2.07241947e+02] [-3.34517876e-01 9.42369642e-01 -6.10309994e-03 -4.59593920e+01] [-1.81784639e-02 2.23588755e-05 9.99834758e-01 -5.28975191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.148623853 meters 0.01716756848674834 Centerline is valid? [True, True] Translation: X:207.27, Y:-45.97, Z:-5.29 [[ 9.42633889e-01 3.33366768e-01 1.75485113e-02 2.07273056e+02] [-3.33308035e-01 9.42797219e-01 -6.25766638e-03 -4.59709585e+01] [-1.86307857e-02 4.96285701e-05 9.99826431e-01 -5.28868328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.178623853 meters 0.017598788076376947 Centerline is valid? [True, True] Translation: X:207.30, Y:-45.98, Z:-5.29 [[ 9.42799482e-01 3.32898375e-01 1.75444807e-02 2.07302412e+02] [-3.32839515e-01 9.42962708e-01 -6.26010810e-03 -4.59824872e+01] [-1.86277709e-02 6.25302201e-05 9.99826486e-01 -5.29109991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.208623853 meters 0.017578122717440456 Centerline is valid? [True, True] Translation: X:207.33, Y:-45.99, Z:-5.29 [[ 9.42961789e-01 3.32432605e-01 1.76529749e-02 2.07333039e+02] [-3.32372867e-01 9.43127010e-01 -6.30234184e-03 -4.59936904e+01] [-1.87441013e-02 7.54976597e-05 9.99824311e-01 -5.29123290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.238623853 meters 0.01864331847418745 Centerline is valid? [True, True] Translation: X:207.36, Y:-46.01, Z:-5.29 [[ 9.43444815e-01 3.31085612e-01 1.71522372e-02 2.07361407e+02] [-3.31028924e-01 9.43600714e-01 -6.12737006e-03 -4.60080439e+01] [-1.82135474e-02 1.02948868e-04 9.99834114e-01 -5.29403055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.268623853 meters 0.018686772563038533 Centerline is valid? [True, True] Translation: X:207.39, Y:-46.02, Z:-5.29 [[ 9.43610440e-01 3.30607837e-01 1.72567768e-02 2.07392505e+02] [-3.30550324e-01 9.43768216e-01 -6.16748661e-03 -4.60200510e+01] [-1.83254169e-02 1.15471566e-04 9.99832069e-01 -5.29395199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.298623853 meters 0.01952749300771926 Centerline is valid? [True, True] Translation: X:207.42, Y:-46.03, Z:-5.30 [[ 9.43885172e-01 3.29828719e-01 1.71405587e-02 2.07421263e+02] [-3.29771772e-01 9.44040782e-01 -6.13025063e-03 -4.60331865e+01] [-1.82033192e-02 1.33780244e-04 9.99834297e-01 -5.29602070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.328623853 meters 0.019597922085691052 Centerline is valid? [True, True] Translation: X:207.45, Y:-46.05, Z:-5.30 [[ 9.44065466e-01 3.29305511e-01 1.72706657e-02 2.07451756e+02] [-3.29247589e-01 9.44223416e-01 -6.17785781e-03 -4.60455037e+01] [-1.83417695e-02 1.45977185e-04 9.99831765e-01 -5.29586586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.358623853 meters 0.019745939327035385 Centerline is valid? [True, True] Translation: X:207.48, Y:-46.06, Z:-5.30 [[ 9.44072450e-01 3.29282332e-01 1.73307298e-02 2.07481866e+02] [-3.29223934e-01 9.44231499e-01 -6.20308399e-03 -4.60566907e+01] [-1.84067869e-02 1.50469663e-04 9.99830569e-01 -5.29665038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.388623853 meters 0.019901494770048593 Centerline is valid? [True, True] Translation: X:207.51, Y:-46.07, Z:-5.30 [[ 9.44063090e-01 3.29306878e-01 1.73741680e-02 2.07512404e+02] [-3.29248129e-01 9.44222938e-01 -6.22198105e-03 -4.60681629e+01] [-1.84540291e-02 1.53530348e-04 9.99829698e-01 -5.29776797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.418623853 meters 0.02022409130894134 Centerline is valid? [True, True] Translation: X:207.54, Y:-46.08, Z:-5.30 [[ 9.44104295e-01 3.29205849e-01 1.70466715e-02 2.07543057e+02] [-3.29149215e-01 9.44258166e-01 -6.10814611e-03 -4.60797263e+01] [-1.81072962e-02 1.55828438e-04 9.99836037e-01 -5.29889398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.44862385300002 meters 0.019743287695479672 Centerline is valid? [True, True] Translation: X:207.57, Y:-46.09, Z:-5.30 [[ 9.44041010e-01 3.29390219e-01 1.69898502e-02 2.07573875e+02] [-3.29333929e-01 9.44193868e-01 -6.09123359e-03 -4.60909699e+01] [-1.80481051e-02 1.55040192e-04 9.99837108e-01 -5.29974927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.47862385300002 meters 0.019760989072257727 Centerline is valid? [True, True] Translation: X:207.60, Y:-46.10, Z:-5.30 [[ 9.44078194e-01 3.29287299e-01 1.69185591e-02 2.07604152e+02] [-3.29231401e-01 9.44229765e-01 -6.06926049e-03 -4.61031653e+01] [-1.79735375e-02 1.59735561e-04 9.99838450e-01 -5.30040806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50862385300002 meters 0.020158756043956918 Centerline is valid? [True, True] Translation: X:207.63, Y:-46.12, Z:-5.30 [[ 9.44044924e-01 3.29394181e-01 1.66929432e-02 2.07633774e+02] [-3.29339715e-01 9.44192485e-01 -5.99199465e-03 -4.61159808e+01] [-1.77350797e-02 1.59062957e-04 9.99842708e-01 -5.30229992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.53862385300002 meters 0.021245598774399552 Centerline is valid? [True, True] Translation: X:207.66, Y:-46.13, Z:-5.30 [[ 9.43887268e-01 3.29834467e-01 1.69129990e-02 2.07662788e+02] [-3.29778562e-01 9.44038770e-01 -6.07454433e-03 -4.61297205e+01] [-1.79701209e-02 1.56140564e-04 9.99838512e-01 -5.30450241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56862385300002 meters 0.019844718633185265 Centerline is valid? [True, True] Translation: X:207.70, Y:-46.14, Z:-5.30 [[ 9.43725963e-01 3.30277367e-01 1.72675231e-02 2.07695189e+02] [-3.30219104e-01 9.43883911e-01 -6.20532422e-03 -4.61386283e+01] [-1.83480154e-02 1.54059569e-04 9.99831649e-01 -5.30293682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.59862385300002 meters 0.019641854560779295 Centerline is valid? [True, True] Translation: X:207.73, Y:-46.15, Z:-5.30 [[ 9.43429919e-01 3.31124541e-01 1.72199482e-02 2.07726364e+02] [-3.31066674e-01 9.43587049e-01 -6.19185551e-03 -4.61494590e+01] [-1.82987954e-02 1.40630765e-04 9.99832553e-01 -5.30329667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.62862385300002 meters 0.02037529930496065 Centerline is valid? [True, True] Translation: X:207.76, Y:-46.16, Z:-5.30 [[ 9.43077413e-01 3.32120162e-01 1.73548565e-02 2.07757178e+02] [-3.32061483e-01 9.43237076e-01 -6.24418908e-03 -4.61593328e+01] [-1.84435652e-02 1.25874317e-04 9.99829895e-01 -5.30017662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.65862385300002 meters 0.01802630503721873 Centerline is valid? [True, True] Translation: X:207.79, Y:-46.17, Z:-5.31 [[ 9.42214329e-01 3.34577350e-01 1.70339554e-02 2.07787403e+02] [-3.34521156e-01 9.42368288e-01 -6.13235500e-03 -4.61667292e+01] [-1.81040064e-02 7.97743080e-05 9.99836106e-01 -5.30552473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68862385300002 meters 0.01752271240119453 Centerline is valid? [True, True] Translation: X:207.82, Y:-46.18, Z:-5.31 [[ 9.41557095e-01 3.36427443e-01 1.69355596e-02 2.07818946e+02] [-3.36372176e-01 9.41709389e-01 -6.09800109e-03 -4.61758843e+01] [-1.79999104e-02 4.49651489e-05 9.99837987e-01 -5.30650136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.71862385300003 meters 0.017155129318841274 Centerline is valid? [True, True] Translation: X:207.85, Y:-46.18, Z:-5.31 [[ 9.40915010e-01 3.38195964e-01 1.73906253e-02 2.07849732e+02] [-3.38137915e-01 9.41075709e-01 -6.26582157e-03 -4.61843478e+01] [-1.84849706e-02 1.51757808e-05 9.99829138e-01 -5.30655409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.74862385300003 meters 0.017272823749059557 Centerline is valid? [True, True] Translation: X:207.88, Y:-46.19, Z:-5.31 [[ 9.39788358e-01 3.41304207e-01 1.75863611e-02 2.07880500e+02] [-3.41245313e-01 9.39952890e-01 -6.34035364e-03 -4.61890770e+01] [-1.86943403e-02 -4.26727675e-05 9.99825245e-01 -5.30698831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.77862385300003 meters 0.017516018869230123 Centerline is valid? [True, True] Translation: X:207.91, Y:-46.20, Z:-5.31 [[ 9.39376130e-01 3.42432956e-01 1.76679851e-02 2.07909861e+02] [-3.42373686e-01 9.39542264e-01 -6.37122994e-03 -4.61968413e+01] [-1.87815378e-02 -6.40718511e-05 9.99823609e-01 -5.30795359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.80862385300003 meters 0.017718095709495212 Centerline is valid? [True, True] Translation: X:207.94, Y:-46.21, Z:-5.31 [[ 9.39061915e-01 3.43288585e-01 1.77670077e-02 2.07939069e+02] [-3.43228796e-01 9.39229972e-01 -6.40724510e-03 -4.62050818e+01] [-1.88868402e-02 -8.13488086e-05 9.99821624e-01 -5.30871288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.83862385300003 meters 0.0183574368719623 Centerline is valid? [True, True] Translation: X:207.97, Y:-46.21, Z:-5.31 [[ 9.38658575e-01 3.44395904e-01 1.76505256e-02 2.07966942e+02] [-3.44337088e-01 9.38824505e-01 -6.36546905e-03 -4.62124115e+01] [-1.87629875e-02 -1.02728488e-04 9.99823954e-01 -5.31024222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.868623853 meters 0.01840313221987382 Centerline is valid? [True, True] Translation: X:207.99, Y:-46.22, Z:-5.31 [[ 9.38598472e-01 3.44568105e-01 1.74850964e-02 2.07994964e+02] [-3.44510430e-01 9.38761317e-01 -6.30506620e-03 -4.62217125e+01] [-1.85868568e-02 -1.05872576e-04 9.99827244e-01 -5.31143704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.898623853 meters 0.018452560530954513 Centerline is valid? [True, True] Translation: X:208.02, Y:-46.23, Z:-5.31 [[ 9.38624877e-01 3.44492938e-01 1.75486815e-02 2.08022073e+02] [-3.44434836e-01 9.38788903e-01 -6.32762408e-03 -4.62307322e+01] [-1.86543293e-02 -1.05111873e-04 9.99825987e-01 -5.31218600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.928623853 meters 0.018368428537365117 Centerline is valid? [True, True] Translation: X:208.05, Y:-46.24, Z:-5.31 [[ 9.38709671e-01 3.44245629e-01 1.78633571e-02 2.08049385e+02] [-3.44185392e-01 9.38879618e-01 -6.44046999e-03 -4.62403417e+01] [-1.89886455e-02 -1.02575111e-04 9.99819694e-01 -5.31221053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.958623853 meters 0.018018235510844926 Centerline is valid? [True, True] Translation: X:208.08, Y:-46.25, Z:-5.31 [[ 9.39019298e-01 3.43390814e-01 1.80417922e-02 2.08076180e+02] [-3.43329226e-01 9.39192601e-01 -6.50394861e-03 -4.62494869e+01] [-1.91781139e-02 -8.69412907e-05 9.99816079e-01 -5.31269028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.988623853 meters 0.01784295528115263 Centerline is valid? [True, True] Translation: X:208.10, Y:-46.26, Z:-5.31 [[ 9.39327924e-01 3.42545951e-01 1.80366949e-02 2.08101971e+02] [-3.42484264e-01 9.39501073e-01 -6.50097331e-03 -4.62593271e+01] [-1.91723763e-02 -7.07384282e-05 9.99816191e-01 -5.31384926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.018623853 meters 0.017445657004181093 Centerline is valid? [True, True] Translation: X:208.13, Y:-46.27, Z:-5.31 [[ 9.39698968e-01 3.41531283e-01 1.79508611e-02 2.08129031e+02] [-3.41470018e-01 9.39870406e-01 -6.46885839e-03 -4.62704610e+01] [-1.90808006e-02 -5.09013194e-05 9.99817944e-01 -5.31476915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.048623853 meters 0.017397209390130147 Centerline is valid? [True, True] Translation: X:208.16, Y:-46.28, Z:-5.32 [[ 9.40220896e-01 3.40100557e-01 1.77841833e-02 2.08155542e+02] [-3.40040186e-01 9.40389074e-01 -6.40792353e-03 -4.62824533e+01] [-1.89033901e-02 -2.24734062e-05 9.99821315e-01 -5.31624123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.078623853 meters 0.01743159228031374 Centerline is valid? [True, True] Translation: X:208.18, Y:-46.30, Z:-5.32 [[ 9.41385411e-01 3.36815206e-01 1.86822340e-02 2.08181213e+02] [-3.36747957e-01 9.41570770e-01 -6.73040146e-03 -4.62978239e+01] [-1.98575470e-02 4.46976165e-05 9.99802818e-01 -5.31558820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.108623853 meters 0.017937026161015 Centerline is valid? [True, True] Translation: X:208.21, Y:-46.31, Z:-5.32 [[ 9.42000563e-01 3.35066990e-01 1.91063111e-02 2.08207903e+02] [-3.34996303e-01 9.42194303e-01 -6.88269618e-03 -4.63108562e+01] [-2.03080218e-02 8.29600795e-05 9.99793767e-01 -5.31508279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.138623853 meters 0.018624961268613915 Centerline is valid? [True, True] Translation: X:208.24, Y:-46.32, Z:-5.32 [[ 9.42499636e-01 3.33647414e-01 1.93349290e-02 2.08235310e+02] [-3.33574739e-01 9.42697931e-01 -6.96446230e-03 -4.63238834e+01] [-2.05506724e-02 1.14359277e-04 9.99788806e-01 -5.31507998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.168623853 meters 0.020185870420017633 Centerline is valid? [True, True] Translation: X:208.26, Y:-46.34, Z:-5.32 [[ 9.43274759e-01 3.31476033e-01 1.88777018e-02 2.08262325e+02] [-3.31406325e-01 9.43463626e-01 -6.79951811e-03 -4.63386705e+01] [-2.00643023e-02 1.57624034e-04 9.99798679e-01 -5.31736551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.19862385300002 meters 0.022516926346075074 Centerline is valid? [True, True] Translation: X:208.29, Y:-46.35, Z:-5.32 [[ 9.43658349e-01 3.30426206e-01 1.80953856e-02 2.08289156e+02] [-3.30361938e-01 9.43831814e-01 -6.51899233e-03 -4.63505871e+01] [-1.92330465e-02 1.73674881e-04 9.99815013e-01 -5.31529453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22862385300002 meters 0.021482817760511957 Centerline is valid? [True, True] Translation: X:208.32, Y:-46.36, Z:-5.32 [[ 9.43793264e-01 3.30047441e-01 1.79711376e-02 2.08318033e+02] [-3.29983993e-01 9.43964329e-01 -6.47380794e-03 -4.63621664e+01] [-1.91007766e-02 1.79748604e-04 9.99817547e-01 -5.32062303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.25862385300002 meters 0.021854902503903116 Centerline is valid? [True, True] Translation: X:208.35, Y:-46.37, Z:-5.32 [[ 9.43952336e-01 3.29565339e-01 1.84573768e-02 2.08346648e+02] [-3.29498309e-01 9.44132750e-01 -6.64943540e-03 -4.63744378e+01] [-1.96176373e-02 1.95075624e-04 9.99807537e-01 -5.32058083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28862385300002 meters 0.02155661074507625 Centerline is valid? [True, True] Translation: X:208.38, Y:-46.38, Z:-5.32 [[ 9.43751558e-01 3.30147088e-01 1.83274909e-02 2.08375170e+02] [-3.30081098e-01 9.43929482e-01 -6.60315108e-03 -4.63842810e+01] [-1.94798701e-02 1.82175798e-04 9.99810233e-01 -5.32105455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.31862385300002 meters 0.020890137835029722 Centerline is valid? [True, True] Translation: X:208.40, Y:-46.39, Z:-5.32 [[ 9.43496352e-01 3.30872846e-01 1.83791640e-02 2.08404660e+02] [-3.30806616e-01 9.43675332e-01 -6.62205631e-03 -4.63936179e+01] [-1.95350223e-02 1.67936927e-04 9.99809159e-01 -5.32142200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34862385300002 meters 0.019340359856024184 Centerline is valid? [True, True] Translation: X:208.43, Y:-46.40, Z:-5.32 [[ 9.42676721e-01 3.33189654e-01 1.85810052e-02 2.08433582e+02] [-3.33122408e-01 9.42859820e-01 -6.69490282e-03 -4.63994934e+01] [-1.97499556e-02 1.21379841e-04 9.99804943e-01 -5.32242253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.37862385300002 meters 0.01840366240378195 Centerline is valid? [True, True] Translation: X:208.46, Y:-46.41, Z:-5.32 [[ 9.42129301e-01 3.34724130e-01 1.87653146e-02 2.08461530e+02] [-3.34655854e-01 9.42316162e-01 -6.76096928e-03 -4.64059513e+01] [-1.99459188e-02 8.97848780e-05 9.99801056e-01 -5.32291494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.40862385300002 meters 0.017763209863583228 Centerline is valid? [True, True] Translation: X:208.49, Y:-46.41, Z:-5.32 [[ 9.41481181e-01 3.36552192e-01 1.85959235e-02 2.08488512e+02] [-3.36485516e-01 9.41664813e-01 -6.69911422e-03 -4.64117208e+01] [-1.97657284e-02 4.98310513e-05 9.99804638e-01 -5.32384811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.43862385300002 meters 0.01745203074264421 Centerline is valid? [True, True] Translation: X:208.52, Y:-46.41, Z:-5.32 [[ 9.40087901e-01 3.40400174e-01 1.90383794e-02 2.08518290e+02] [-3.40331099e-01 9.40280661e-01 -6.85728367e-03 -4.64135710e+01] [-2.02356405e-02 -3.29031749e-05 9.99795238e-01 -5.32333316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.46862385300003 meters 0.01805454707526372 Centerline is valid? [True, True] Translation: X:208.55, Y:-46.42, Z:-5.32 [[ 9.39353431e-01 3.42424689e-01 1.89858837e-02 2.08546039e+02] [-3.42356423e-01 9.39545276e-01 -6.83764055e-03 -4.64182666e+01] [-2.01794743e-02 -7.69781273e-05 9.99796371e-01 -5.32383123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.49862385300003 meters 0.01894999225683756 Centerline is valid? [True, True] Translation: X:208.58, Y:-46.42, Z:-5.32 [[ 9.38691122e-01 3.44211221e-01 1.94322675e-02 2.08575081e+02] [-3.44140126e-01 9.38892231e-01 -6.99661449e-03 -4.64236865e+01] [-2.06531182e-02 -1.19763085e-04 9.99786694e-01 -5.32418004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.52862385300003 meters 0.022080253864790216 Centerline is valid? [True, True] Translation: X:208.61, Y:-46.42, Z:-5.33 [[ 9.37275619e-01 3.48065061e-01 1.91083353e-02 2.08605008e+02] [-3.47997133e-01 9.37470358e-01 -6.87915904e-03 -4.64237411e+01] [-2.03078929e-02 -2.01977861e-04 9.99793753e-01 -5.32521233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.55862385300003 meters 0.023700021626753186 Centerline is valid? [True, True] Translation: X:208.63, Y:-46.43, Z:-5.33 [[ 9.36726953e-01 3.49537036e-01 1.91435707e-02 2.08633959e+02] [-3.49469188e-01 9.36922518e-01 -6.89067376e-03 -4.64296271e+01] [-2.03445882e-02 -2.35408295e-04 9.99793000e-01 -5.32671474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.58862385300003 meters 0.02538967857179088 Centerline is valid? [True, True] Translation: X:208.66, Y:-46.44, Z:-5.33 [[ 9.36149393e-01 3.51115893e-01 1.84917453e-02 2.08662739e+02] [-3.51052911e-01 9.36331972e-01 -6.65522912e-03 -4.64350987e+01] [-1.96511690e-02 -2.61292304e-04 9.99806863e-01 -5.32860109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.618623853 meters 0.028250770575307 Centerline is valid? [True, True] Translation: X:208.69, Y:-46.44, Z:-5.33 [[ 9.35395989e-01 3.53155922e-01 1.77549619e-02 2.08693089e+02] [-3.53098229e-01 9.35564434e-01 -6.38995902e-03 -4.64362928e+01] [-1.88675628e-02 -2.92103572e-04 9.99821949e-01 -5.33121490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.648623853 meters 0.029240442744788795 Centerline is valid? [True, True] Translation: X:208.72, Y:-46.44, Z:-5.33 [[ 9.35215030e-01 3.53624241e-01 1.79650863e-02 2.08721765e+02] [-3.53565317e-01 9.35387514e-01 -6.46263301e-03 -4.64426749e+01] [-1.90896611e-02 -3.07879898e-04 9.99817728e-01 -5.33231208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.678623853 meters 0.03400946560496197 Centerline is valid? [True, True] Translation: X:208.75, Y:-46.45, Z:-5.33 [[ 9.35120151e-01 3.53907511e-01 1.73140423e-02 2.08749544e+02] [-3.53852878e-01 9.35280376e-01 -6.22576596e-03 -4.64503316e+01] [-1.83968293e-02 -3.04784491e-04 9.99830718e-01 -5.32561780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.708623853 meters 0.026111467872044793 Centerline is valid? [True, True] Translation: X:208.77, Y:-46.46, Z:-5.33 [[ 9.35094022e-01 3.53948643e-01 1.78753737e-02 2.08774654e+02] [-3.53890484e-01 9.35264806e-01 -6.42407957e-03 -4.64639158e+01] [-1.89920022e-02 -3.18806262e-04 9.99819585e-01 -5.33089003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.738623853 meters 0.03006020134772467 Centerline is valid? [True, True] Translation: X:208.80, Y:-46.47, Z:-5.33 [[ 9.35159597e-01 3.53760404e-01 1.81687948e-02 2.08803609e+02] [-3.53700313e-01 9.35336022e-01 -6.52804821e-03 -4.64658912e+01] [-1.93032932e-02 -3.21541467e-04 9.99813622e-01 -5.33346145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.768623853 meters 0.02420977569818979 Centerline is valid? [True, True] Translation: X:208.83, Y:-46.48, Z:-5.33 [[ 9.35323398e-01 3.53289293e-01 1.88896099e-02 2.08828979e+02] [-3.53224269e-01 9.35514067e-01 -6.78574199e-03 -4.64811483e+01] [-2.00688258e-02 -3.25405401e-04 9.99798548e-01 -5.33008855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.798623853 meters 0.029004356091402943 Centerline is valid? [True, True] Translation: X:208.86, Y:-46.48, Z:-5.33 [[ 9.35526610e-01 3.52740269e-01 1.90857292e-02 2.08858320e+02] [-3.52673793e-01 9.35721220e-01 -6.85522322e-03 -4.64818888e+01] [-2.02770351e-02 -3.17792758e-04 9.99794349e-01 -5.33307344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.828623853 meters 0.02771759249420748 Centerline is valid? [True, True] Translation: X:208.89, Y:-46.49, Z:-5.33 [[ 9.36042212e-01 3.51378201e-01 1.89298198e-02 2.08886460e+02] [-3.51312545e-01 9.36233559e-01 -6.79838525e-03 -4.64903613e+01] [-2.01115369e-02 -2.86707599e-04 9.99797701e-01 -5.33436280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.858623853 meters 0.022814359699799454 Centerline is valid? [True, True] Translation: X:208.91, Y:-46.51, Z:-5.33 [[ 9.36459641e-01 3.50273196e-01 1.87624024e-02 2.08911084e+02] [-3.50208540e-01 9.36647542e-01 -6.73498518e-03 -4.65058562e+01] [-1.99328429e-02 -2.63711750e-04 9.99801286e-01 -5.33322628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.888623853 meters 0.020908603546359674 Centerline is valid? [True, True] Translation: X:208.94, Y:-46.52, Z:-5.33 [[ 9.37002182e-01 3.48827168e-01 1.86149811e-02 2.08937128e+02] [-3.48763257e-01 9.37187043e-01 -6.68113010e-03 -4.65175572e+01] [-1.97762788e-02 -2.31987963e-04 9.99804403e-01 -5.33356221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.918623853 meters 0.020155794304692137 Centerline is valid? [True, True] Translation: X:208.96, Y:-46.53, Z:-5.33 [[ 9.37569799e-01 3.47307772e-01 1.84440677e-02 2.08964023e+02] [-3.47244755e-01 9.37751178e-01 -6.61879248e-03 -4.65280280e+01] [-1.95947043e-02 -1.99025833e-04 9.99807986e-01 -5.33455878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.94862385300002 meters 0.01868408366436894 Centerline is valid? [True, True] Translation: X:208.99, Y:-46.54, Z:-5.34 [[ 9.38750050e-01 3.44126283e-01 1.80400891e-02 2.08990070e+02] [-3.44065428e-01 9.38923364e-01 -6.47279177e-03 -4.65398083e+01] [-1.91657189e-02 -1.30637364e-04 9.99816312e-01 -5.33624184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.97862385300002 meters 0.01868408366436894 Centerline is valid? [True, True] Translation: X:209.02, Y:-46.55, Z:-5.34 [[ 9.38766458e-01 3.44081510e-01 1.80402984e-02 2.09016765e+02] [-3.44020658e-01 9.38939773e-01 -6.47220839e-03 -4.65492946e+01] [-1.91657209e-02 -1.30343157e-04 9.99816312e-01 -5.33695436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00862385300002 meters 0.01816944736317038 Centerline is valid? [True, True] Translation: X:209.04, Y:-46.56, Z:-5.34 [[ 9.39363254e-01 3.42448913e-01 1.80393849e-02 2.09042438e+02] [-3.42387783e-01 9.39536445e-01 -6.47100485e-03 -4.65591780e+01] [-1.91646482e-02 -9.78408371e-05 9.99816336e-01 -5.33812354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.03862385300002 meters 0.02279413188691678 Centerline is valid? [True, True] Translation: X:209.07, Y:-46.57, Z:-5.33 [[ 9.39942309e-01 3.40874967e-01 1.76836597e-02 2.09069635e+02] [-3.40815971e-01 9.40108639e-01 -6.34207650e-03 -4.65692414e+01] [-1.87864163e-02 -6.56876006e-05 9.99823518e-01 -5.33147637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06862385300002 meters 0.017614547472705265 Centerline is valid? [True, True] Translation: X:209.10, Y:-46.58, Z:-5.34 [[ 9.40264254e-01 3.39958745e-01 1.81984921e-02 2.09095622e+02] [-3.39896109e-01 9.40440349e-01 -6.52581622e-03 -4.65778829e+01] [-1.93331045e-02 -4.96049194e-05 9.99813097e-01 -5.34003872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.09862385300002 meters 0.017197055103331253 Centerline is valid? [True, True] Translation: X:209.12, Y:-46.59, Z:-5.34 [[ 9.40729700e-01 3.38651485e-01 1.85149340e-02 2.09123277e+02] [-3.38586426e-01 9.40911883e-01 -6.63785329e-03 -4.65872612e+01] [-1.96688403e-02 -2.44795943e-05 9.99806549e-01 -5.33935827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.12862385300002 meters 0.017305729094318836 Centerline is valid? [True, True] Translation: X:209.15, Y:-46.60, Z:-5.34 [[ 9.40844136e-01 3.38317696e-01 1.88002386e-02 2.09149705e+02] [-3.38250568e-01 9.41031953e-01 -6.73920559e-03 -4.65956675e+01] [-1.99716177e-02 -1.86493222e-05 9.99800547e-01 -5.34015198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.15862385300002 meters 0.017260928634235298 Centerline is valid? [True, True] Translation: X:209.18, Y:-46.60, Z:-5.34 [[ 9.40783114e-01 3.38497571e-01 1.86152258e-02 2.09177474e+02] [-3.38431822e-01 9.40967265e-01 -6.67147351e-03 -4.66042570e+01] [-1.97745957e-02 -2.35751570e-05 9.99804463e-01 -5.34008973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.18862385300002 meters 0.017331299863937815 Centerline is valid? [True, True] Translation: X:209.21, Y:-46.61, Z:-5.34 [[ 9.40590680e-01 3.39028071e-01 1.86852555e-02 2.09205243e+02] [-3.38961949e-01 9.40776257e-01 -6.69562583e-03 -4.66091702e+01] [-1.98486498e-02 -3.57473634e-05 9.99802996e-01 -5.34146062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.21862385300003 meters 0.0173246493515686 Centerline is valid? [True, True] Translation: X:209.23, Y:-46.62, Z:-5.34 [[ 9.40367746e-01 3.39644312e-01 1.87147718e-02 2.09233615e+02] [-3.39578129e-01 9.40553953e-01 -6.70487969e-03 -4.66159428e+01] [-1.98795269e-02 -5.00745986e-05 9.99802381e-01 -5.34196871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24862385300003 meters 0.0173874660469892 Centerline is valid? [True, True] Translation: X:209.26, Y:-46.62, Z:-5.34 [[ 9.40198166e-01 3.40113076e-01 1.87217563e-02 2.09262048e+02] [-3.40046956e-01 9.40384545e-01 -6.70640633e-03 -4.66226908e+01] [-1.98865867e-02 -6.09253049e-05 9.99802240e-01 -5.34264814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.27862385300003 meters 0.017671298776688764 Centerline is valid? [True, True] Translation: X:209.29, Y:-46.63, Z:-5.34 [[ 9.40007943e-01 3.40644915e-01 1.86040156e-02 2.09289235e+02] [-3.40579747e-01 9.40192021e-01 -6.66330359e-03 -4.66286492e+01] [-1.97611675e-02 -7.25926178e-05 9.99804726e-01 -5.34373653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30862385300003 meters 0.017830534334050064 Centerline is valid? [True, True] Translation: X:209.32, Y:-46.63, Z:-5.34 [[ 9.39774401e-01 3.41296845e-01 1.84537060e-02 2.09317654e+02] [-3.41232876e-01 9.39955561e-01 -6.60816733e-03 -4.66341210e+01] [-1.96010103e-02 -8.68246946e-05 9.99807878e-01 -5.34425946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.33862385300003 meters 0.017944548389559997 Centerline is valid? [True, True] Translation: X:209.34, Y:-46.64, Z:-5.34 [[ 9.39705072e-01 3.41477155e-01 1.86475141e-02 2.09344234e+02] [-3.41411887e-01 9.39890070e-01 -6.67676343e-03 -4.66411855e+01] [-1.98065756e-02 -9.22945374e-05 9.99803826e-01 -5.34495578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.368623853 meters 0.02588007514679318 Centerline is valid? [True, True] Translation: X:209.37, Y:-46.65, Z:-5.34 [[ 9.39712731e-01 3.41495256e-01 1.79157486e-02 2.09371783e+02] [-3.41435046e-01 9.39883494e-01 -6.41302109e-03 -4.66481837e+01] [-1.90287327e-02 -9.06668993e-05 9.99818933e-01 -5.33793242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.398623853 meters 0.017970395319648738 Centerline is valid? [True, True] Translation: X:209.40, Y:-46.66, Z:-5.35 [[ 9.39665317e-01 3.41583922e-01 1.86953456e-02 2.09400073e+02] [-3.41518403e-01 9.39851273e-01 -6.69072771e-03 -4.66555258e+01] [-1.98562894e-02 -9.77597965e-05 9.99802840e-01 -5.34651528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.428623853 meters 0.018126098225271756 Centerline is valid? [True, True] Translation: X:209.43, Y:-46.66, Z:-5.35 [[ 9.39690183e-01 3.41532884e-01 1.83752440e-02 2.09428919e+02] [-3.41469598e-01 9.39869821e-01 -6.57524466e-03 -4.66605899e+01] [-1.95159996e-02 -9.58943341e-05 9.99809540e-01 -5.34847513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.458623853 meters 0.01827558785095189 Centerline is valid? [True, True] Translation: X:209.45, Y:-46.67, Z:-5.35 [[ 9.39724053e-01 3.41442131e-01 1.83296031e-02 2.09454999e+02] [-3.41379156e-01 9.39902794e-01 -6.55818199e-03 -4.66669632e+01] [-1.94672848e-02 -9.44630829e-05 9.99810490e-01 -5.34977923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.488623853 meters 0.017774661029290123 Centerline is valid? [True, True] Translation: X:209.48, Y:-46.68, Z:-5.35 [[ 9.39869997e-01 3.41056840e-01 1.80172319e-02 2.09481733e+02] [-3.40995953e-01 9.40042671e-01 -6.44481255e-03 -4.66752950e+01] [-1.91350142e-02 -8.65172107e-05 9.99816905e-01 -5.34908328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.518623853 meters 0.017740318112821785 Centerline is valid? [True, True] Translation: X:209.51, Y:-46.68, Z:-5.35 [[ 9.40244861e-01 3.40024874e-01 1.79634777e-02 2.09508757e+02] [-3.39964191e-01 9.40416440e-01 -6.42402606e-03 -4.66817741e+01] [-1.90774784e-02 -6.67816840e-05 9.99818006e-01 -5.35208173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.548623853 meters 0.01734159847206482 Centerline is valid? [True, True] Translation: X:209.54, Y:-46.69, Z:-5.35 [[ 9.40650367e-01 3.38890840e-01 1.81627434e-02 2.09535603e+02] [-3.38828618e-01 9.40825699e-01 -6.49394208e-03 -4.66916246e+01] [-1.92887132e-02 -4.55282209e-05 9.99813954e-01 -5.35164636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.578623853 meters 0.017078543485384866 Centerline is valid? [True, True] Translation: X:209.56, Y:-46.70, Z:-5.35 [[ 9.41059327e-01 3.37731621e-01 1.85659606e-02 2.09563303e+02] [-3.37666400e-01 9.41242451e-01 -6.63710522e-03 -4.67010664e+01] [-1.97166305e-02 -2.31912941e-05 9.99805608e-01 -5.35038100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.608623853 meters 0.017061833925857934 Centerline is valid? [True, True] Translation: X:209.59, Y:-46.71, Z:-5.35 [[ 9.42061960e-01 3.34871691e-01 1.94991034e-02 2.09590142e+02] [-3.34799157e-01 9.42263737e-01 -6.96960486e-03 -4.67093706e+01] [-2.07072214e-02 3.75162219e-05 9.99785582e-01 -5.35039069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.638623853 meters 0.017460766518993903 Centerline is valid? [True, True] Translation: X:209.62, Y:-46.72, Z:-5.35 [[ 9.42628416e-01 3.33293781e-01 1.91552809e-02 2.09616445e+02] [-3.33223480e-01 9.42823022e-01 -6.84555034e-03 -4.67192319e+01] [-2.03416192e-02 6.98209162e-05 9.99793085e-01 -5.35229338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.668623853 meters 0.022859538599072457 Centerline is valid? [True, True] Translation: X:209.64, Y:-46.73, Z:-5.35 [[ 9.43249207e-01 3.31568647e-01 1.85247247e-02 2.09643943e+02] [-3.31502604e-01 9.43431090e-01 -6.61830370e-03 -4.67295175e+01] [-1.96712233e-02 1.01715232e-04 9.99806498e-01 -5.34615303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.69862385300002 meters 0.020452974096210854 Centerline is valid? [True, True] Translation: X:209.67, Y:-46.74, Z:-5.36 [[ 9.44414699e-01 3.28236123e-01 1.84911712e-02 2.09668430e+02] [-3.28169698e-01 9.44595691e-01 -6.60537864e-03 -4.67427589e+01] [-1.96348045e-02 1.69974613e-04 9.99807204e-01 -5.35666072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72862385300002 meters 0.021904607560524928 Centerline is valid? [True, True] Translation: X:209.70, Y:-46.75, Z:-5.36 [[ 9.45055060e-01 3.26410722e-01 1.80824517e-02 2.09695090e+02] [-3.26346891e-01 9.45228015e-01 -6.45808563e-03 -4.67545534e+01] [-1.92000283e-02 2.02094593e-04 9.99815642e-01 -5.35850069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.75862385300002 meters 0.02363808998341258 Centerline is valid? [True, True] Translation: X:209.72, Y:-46.77, Z:-5.36 [[ 9.45670187e-01 3.24642769e-01 1.77474195e-02 2.09720076e+02] [-3.24580985e-01 9.45836676e-01 -6.33763063e-03 -4.67665146e+01] [-1.88436263e-02 2.32833424e-04 9.99822416e-01 -5.36007538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78862385300002 meters 0.024134782711313404 Centerline is valid? [True, True] Translation: X:209.75, Y:-46.78, Z:-5.36 [[ 9.46762779e-01 3.21443017e-01 1.77377452e-02 2.09746946e+02] [-3.21380760e-01 9.46928878e-01 -6.33301985e-03 -4.67769215e+01] [-1.88320881e-02 2.95297449e-04 9.99822617e-01 -5.35862848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.81862385300002 meters 0.025783001683004132 Centerline is valid? [True, True] Translation: X:209.77, Y:-46.79, Z:-5.36 [[ 9.47269777e-01 3.19927701e-01 1.80620213e-02 2.09772746e+02] [-3.19862890e-01 9.47441902e-01 -6.44786139e-03 -4.67881179e+01] [-1.91755653e-02 3.30493880e-04 9.99816077e-01 -5.35926911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84862385300002 meters 0.026651224392761696 Centerline is valid? [True, True] Translation: X:209.80, Y:-46.80, Z:-5.36 [[ 9.47620222e-01 3.18876302e-01 1.82707093e-02 2.09799301e+02] [-3.18809813e-01 9.47796275e-01 -6.52109770e-03 -4.67980525e+01] [-1.93963337e-02 3.54642635e-04 9.99811811e-01 -5.35932438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.87862385300002 meters 0.02725314628636379 Centerline is valid? [True, True] Translation: X:209.83, Y:-46.81, Z:-5.36 [[ 9.48010491e-01 3.17656284e-01 1.92508276e-02 2.09826705e+02] [-3.17582247e-01 9.48205846e-01 -6.86948561e-03 -4.68076717e+01] [-2.04358825e-02 3.98623344e-04 9.99791086e-01 -5.35895239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.90862385300002 meters 0.030797815001555696 Centerline is valid? [True, True] Translation: X:209.85, Y:-46.82, Z:-5.35 [[ 9.48110348e-01 3.17385864e-01 1.87877833e-02 2.09853809e+02] [-3.17315314e-01 9.48296398e-01 -6.70326513e-03 -4.68173973e+01] [-1.99439088e-02 3.93783703e-04 9.99801023e-01 -5.35255509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.93862385300002 meters 0.028402642866720194 Centerline is valid? [True, True] Translation: X:209.88, Y:-46.83, Z:-5.36 [[ 9.48142358e-01 3.17275290e-01 1.90383671e-02 2.09879761e+02] [-3.17202841e-01 9.48333396e-01 -6.79169093e-03 -4.68276746e+01] [-2.02095550e-02 4.00465719e-04 9.99795686e-01 -5.36034747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.96862385300003 meters 0.02796391408763687 Centerline is valid? [True, True] Translation: X:209.91, Y:-46.84, Z:-5.36 [[ 9.47978549e-01 3.17768965e-01 1.89619490e-02 2.09907815e+02] [-3.17697220e-01 9.48168094e-01 -6.76323819e-03 -4.68363248e+01] [-2.01282623e-02 3.87246229e-04 9.99797331e-01 -5.36159387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.99862385300003 meters 0.027111673859572742 Centerline is valid? [True, True] Translation: X:209.94, Y:-46.84, Z:-5.36 [[ 9.47574950e-01 3.18998562e-01 1.84833079e-02 2.09935985e+02] [-3.18930659e-01 9.47755134e-01 -6.59091416e-03 -4.68430151e+01] [-1.96201421e-02 3.50491594e-04 9.99807445e-01 -5.36405763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.02862385300003 meters 0.025828543528259314 Centerline is valid? [True, True] Translation: X:209.96, Y:-46.85, Z:-5.37 [[ 9.47239091e-01 3.20022288e-01 1.79955645e-02 2.09964299e+02] [-3.19958124e-01 9.47409960e-01 -6.41609072e-03 -4.68496554e+01] [-1.91024691e-02 3.19744894e-04 9.99817480e-01 -5.36523322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.05862385300003 meters 0.024409919900183572 Centerline is valid? [True, True] Translation: X:209.99, Y:-46.85, Z:-5.37 [[ 9.46647442e-01 3.21793097e-01 1.75448837e-02 2.09992142e+02] [-3.21732426e-01 9.46809974e-01 -6.25459128e-03 -4.68547059e+01] [-1.86243552e-02 2.76134835e-04 9.99826514e-01 -5.36688663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.08862385300003 meters 0.024272126170372426 Centerline is valid? [True, True] Translation: X:210.02, Y:-46.86, Z:-5.37 [[ 9.46501639e-01 3.22227875e-01 1.74311224e-02 2.10018471e+02] [-3.22168080e-01 9.46662097e-01 -6.21306588e-03 -4.68632210e+01] [-1.85034059e-02 2.64925825e-04 9.99828762e-01 -5.36773482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.118623853 meters 0.024386018903873437 Centerline is valid? [True, True] Translation: X:210.05, Y:-46.87, Z:-5.37 [[ 9.46541268e-01 3.22104784e-01 1.75537968e-02 2.10045379e+02] [-3.22044154e-01 9.46703986e-01 -6.25508334e-03 -4.68724443e+01] [-1.86330417e-02 2.67596865e-04 9.99826354e-01 -5.36820519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.148623853 meters 0.024646091869546072 Centerline is valid? [True, True] Translation: X:210.07, Y:-46.88, Z:-5.37 [[ 9.46630489e-01 3.21830672e-01 1.77689775e-02 2.10071785e+02] [-3.21768525e-01 9.46797203e-01 -6.33035879e-03 -4.68823925e+01] [-1.88609218e-02 2.75012955e-04 9.99822079e-01 -5.36840855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.178623853 meters 0.025712345217728503 Centerline is valid? [True, True] Translation: X:210.10, Y:-46.89, Z:-5.37 [[ 9.46973244e-01 3.20793937e-01 1.82462039e-02 2.10097205e+02] [-3.20728244e-01 9.47148963e-01 -6.49883986e-03 -4.68933405e+01] [-1.93666615e-02 3.02154543e-04 9.99812403e-01 -5.36831758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.208623853 meters 0.027021759348201637 Centerline is valid? [True, True] Translation: X:210.12, Y:-46.90, Z:-5.37 [[ 9.47205962e-01 3.20101107e-01 1.83343202e-02 2.10122376e+02] [-3.20034671e-01 9.47383334e-01 -6.52903491e-03 -4.69046539e+01] [-1.94595807e-02 3.16722666e-04 9.99810594e-01 -5.36954071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.238623853 meters 0.02724277398410354 Centerline is valid? [True, True] Translation: X:210.15, Y:-46.92, Z:-5.37 [[ 9.47515270e-01 3.19191526e-01 1.82094395e-02 2.10149425e+02] [-3.19125848e-01 9.47690171e-01 -6.48333569e-03 -4.69152467e+01] [-1.93263326e-02 3.31956749e-04 9.99813174e-01 -5.36982425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.268623853 meters 0.028623412207934323 Centerline is valid? [True, True] Translation: X:210.17, Y:-46.93, Z:-5.37 [[ 9.47877920e-01 3.18138509e-01 1.77577688e-02 2.10174533e+02] [-3.18075879e-01 9.48044182e-01 -6.32172149e-03 -4.69276232e+01] [-1.88463324e-02 3.43902308e-04 9.99822333e-01 -5.37137628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.298623853 meters 0.02878066118697727 Centerline is valid? [True, True] Translation: X:210.20, Y:-46.94, Z:-5.37 [[ 9.48009249e-01 3.17747109e-01 1.77549708e-02 2.10201432e+02] [-3.17684453e-01 9.48175433e-01 -6.31953445e-03 -4.69380452e+01] [-1.88428409e-02 3.50498922e-04 9.99822396e-01 -5.37208107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.328623853 meters 0.028880559750748814 Centerline is valid? [True, True] Translation: X:210.23, Y:-46.95, Z:-5.37 [[ 9.48085974e-01 3.17508104e-01 1.79329254e-02 2.10228628e+02] [-3.17444160e-01 9.48255491e-01 -6.38194981e-03 -4.69483659e+01] [-1.90313157e-02 3.57934675e-04 9.99818824e-01 -5.37225573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.358623853 meters 0.02706088637083822 Centerline is valid? [True, True] Translation: X:210.26, Y:-46.96, Z:-5.37 [[ 9.48099955e-01 3.17443884e-01 1.83263818e-02 2.10255731e+02] [-3.17377107e-01 9.48276988e-01 -6.52117075e-03 -4.69563544e+01] [-1.94485919e-02 3.66347661e-04 9.99810791e-01 -5.37118477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.388623853 meters 0.029610303051423432 Centerline is valid? [True, True] Translation: X:210.28, Y:-46.97, Z:-5.37 [[ 9.48084852e-01 3.17480764e-01 1.84682801e-02 2.10280550e+02] [-3.17412986e-01 9.48264641e-01 -6.57010246e-03 -4.69696607e+01] [-1.95986982e-02 3.66942661e-04 9.99807860e-01 -5.37258546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.418623853 meters 0.028293913765796066 Centerline is valid? [True, True] Translation: X:210.31, Y:-46.98, Z:-5.37 [[ 9.48008528e-01 3.17687246e-01 1.88319808e-02 2.10308037e+02] [-3.17616840e-01 9.48195485e-01 -6.69813876e-03 -4.69777425e+01] [-1.99843124e-02 3.68538433e-04 9.99800226e-01 -5.37264897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.44862385300002 meters 0.029967708373417053 Centerline is valid? [True, True] Translation: X:210.33, Y:-46.99, Z:-5.37 [[ 9.48073124e-01 3.17472576e-01 1.91967356e-02 2.10332023e+02] [-3.17399389e-01 9.48267378e-01 -6.82703934e-03 -4.69906837e+01] [-2.03710359e-02 3.79500375e-04 9.99792417e-01 -5.37286029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.47862385300002 meters 0.029997612443196646 Centerline is valid? [True, True] Translation: X:210.36, Y:-47.00, Z:-5.37 [[ 9.48092879e-01 3.17429597e-01 1.89299943e-02 2.10357630e+02] [-3.17358456e-01 9.48281768e-01 -6.73044031e-03 -4.70009266e+01] [-2.00874094e-02 3.73488774e-04 9.99798158e-01 -5.37394630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50862385300002 meters 0.02985442739654301 Centerline is valid? [True, True] Translation: X:210.38, Y:-47.01, Z:-5.37 [[ 9.48100171e-01 3.17408077e-01 1.89256106e-02 2.10383708e+02] [-3.17336993e-01 9.48288972e-01 -6.72749657e-03 -4.70112343e+01] [-2.00823095e-02 3.72544293e-04 9.99798261e-01 -5.37468662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.53862385300002 meters 0.03020692239239174 Centerline is valid? [True, True] Translation: X:210.41, Y:-47.02, Z:-5.38 [[ 9.48125488e-01 3.17324648e-01 1.90558880e-02 2.10408716e+02] [-3.17252592e-01 9.48316892e-01 -6.77244808e-03 -4.70220431e+01] [-2.02200852e-02 3.75600797e-04 9.99795483e-01 -5.37569219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56862385300002 meters 0.03164198902511567 Centerline is valid? [True, True] Translation: X:210.44, Y:-47.03, Z:-5.37 [[ 9.47793426e-01 3.18359052e-01 1.83067031e-02 2.10437295e+02] [-3.18292776e-01 9.47970147e-01 -6.50453853e-03 -4.70274524e+01] [-1.94249867e-02 3.38067521e-04 9.99811260e-01 -5.36687713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.59862385300002 meters 0.024685619570679437 Centerline is valid? [True, True] Translation: X:210.46, Y:-47.04, Z:-5.38 [[ 9.47641030e-01 3.18800354e-01 1.85151759e-02 2.10464513e+02] [-3.18732664e-01 9.47821831e-01 -6.57761372e-03 -4.70358403e+01] [-1.96460335e-02 3.31825312e-04 9.99806943e-01 -5.37590654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.62862385300002 meters 0.025748508335136255 Centerline is valid? [True, True] Translation: X:210.49, Y:-47.05, Z:-5.37 [[ 9.47217072e-01 3.20062147e-01 1.84402212e-02 2.10490450e+02] [-3.19995260e-01 9.47396501e-01 -6.55004648e-03 -4.70456419e+01] [-1.95666230e-02 3.03532454e-04 9.99808509e-01 -5.37296489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.65862385300002 meters 0.022464711752684285 Centerline is valid? [True, True] Translation: X:210.52, Y:-47.05, Z:-5.38 [[ 9.46348168e-01 3.22614326e-01 1.85779742e-02 2.10518955e+02] [-3.22546956e-01 9.46530472e-01 -6.59753995e-03 -4.70529280e+01] [-1.97130796e-02 2.51300821e-04 9.99805647e-01 -5.37729573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.68862385300002 meters 0.02111946805855378 Centerline is valid? [True, True] Translation: X:210.55, Y:-47.06, Z:-5.38 [[ 9.45745687e-01 3.24381132e-01 1.84926240e-02 2.10547021e+02] [-3.24314730e-01 9.45926443e-01 -6.56656817e-03 -4.70603654e+01] [-1.96227329e-02 2.12873163e-04 9.99807433e-01 -5.37821153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.71862385300003 meters 0.019695339962490774 Centerline is valid? [True, True] Translation: X:210.58, Y:-47.07, Z:-5.38 [[ 9.45035272e-01 3.26454371e-01 1.83269965e-02 2.10575258e+02] [-3.26389562e-01 9.45212947e-01 -6.50679775e-03 -4.70670639e+01] [-1.94470870e-02 1.67413013e-04 9.99810874e-01 -5.37893208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.74862385300003 meters 0.01754027413582085 Centerline is valid? [True, True] Translation: X:210.61, Y:-47.07, Z:-5.38 [[ 9.43612758e-01 3.30542032e-01 1.83556276e-02 2.10605203e+02] [-3.30477806e-01 9.43791268e-01 -6.51623429e-03 -4.70702205e+01] [-1.94777703e-02 8.26742829e-05 9.99810287e-01 -5.37922855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.77862385300003 meters 0.01718214526634592 Centerline is valid? [True, True] Translation: X:210.63, Y:-47.08, Z:-5.38 [[ 9.42974965e-01 3.32350316e-01 1.84792718e-02 2.10632051e+02] [-3.32285605e-01 9.43156013e-01 -6.55827764e-03 -4.70767750e+01] [-1.96084820e-02 4.38956095e-05 9.99807734e-01 -5.38040872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.80862385300003 meters 0.016958959442622105 Centerline is valid? [True, True] Translation: X:210.66, Y:-47.08, Z:-5.38 [[ 9.42435955e-01 3.33880062e-01 1.84004148e-02 2.10659202e+02] [-3.33816232e-01 9.42615565e-01 -6.52836597e-03 -4.70835337e+01] [-1.95242086e-02 1.02096949e-05 9.99809384e-01 -5.38148579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.83862385300003 meters 0.01713151724353359 Centerline is valid? [True, True] Translation: X:210.69, Y:-47.09, Z:-5.38 [[ 9.41967391e-01 3.35215337e-01 1.81138819e-02 2.10687479e+02] [-3.35153755e-01 9.42141538e-01 -6.42516634e-03 -4.70910862e+01] [-1.92196549e-02 -1.86383691e-05 9.99815285e-01 -5.38220936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.868623853 meters 0.01713151724353359 Centerline is valid? [True, True] Translation: X:210.71, Y:-47.10, Z:-5.38 [[ 9.41991228e-01 3.35148333e-01 1.81141401e-02 2.10713436e+02] [-3.35086753e-01 9.42165375e-01 -6.42443844e-03 -4.71001515e+01] [-1.92196554e-02 -1.80437296e-05 9.99815285e-01 -5.38290088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.898623853 meters 0.017620482773044528 Centerline is valid? [True, True] Translation: X:210.74, Y:-47.10, Z:-5.38 [[ 9.41093127e-01 3.37682477e-01 1.77277086e-02 2.10742582e+02] [-3.37623975e-01 9.41260081e-01 -6.28584567e-03 -4.71042599e+01] [-1.88090043e-02 -6.97332636e-05 9.99823093e-01 -5.38446905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.928623853 meters 0.0178504529953952 Centerline is valid? [True, True] Translation: X:210.77, Y:-47.11, Z:-5.39 [[ 9.40775756e-01 3.38566557e-01 1.77105429e-02 2.10770660e+02] [-3.38508342e-01 9.40942442e-01 -6.27881882e-03 -4.71115421e+01] [-1.87903996e-02 -8.82060014e-05 9.99823441e-01 -5.38574773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.958623853 meters 0.018947143620798405 Centerline is valid? [True, True] Translation: X:210.80, Y:-47.12, Z:-5.39 [[ 9.40518471e-01 3.39302456e-01 1.72872480e-02 2.10798201e+02] [-3.39247130e-01 9.40677327e-01 -6.12793899e-03 -4.71173367e+01] [-1.83409470e-02 -1.01209457e-04 9.99831786e-01 -5.38908097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.988623853 meters 0.018804990144027523 Centerline is valid? [True, True] Translation: X:210.83, Y:-47.13, Z:-5.39 [[ 9.40215120e-01 3.40146014e-01 1.72109677e-02 2.10826346e+02] [-3.40091339e-01 9.40372626e-01 -6.09967277e-03 -4.71257388e+01] [-1.82595023e-02 -1.18296492e-04 9.99833274e-01 -5.38820012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.018623853 meters 0.01873428462455811 Centerline is valid? [True, True] Translation: X:210.85, Y:-47.13, Z:-5.39 [[ 9.40245276e-01 3.40053556e-01 1.73896306e-02 2.10852983e+02] [-3.39997738e-01 9.40406064e-01 -6.16222949e-03 -4.71342705e+01] [-1.84488021e-02 -1.18427905e-04 9.99829799e-01 -5.38893331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.048623853 meters 0.018550574566367252 Centerline is valid? [True, True] Translation: X:210.88, Y:-47.14, Z:-5.39 [[ 9.40334510e-01 3.39819061e-01 1.71468869e-02 2.10879454e+02] [-3.39764776e-01 9.40490826e-01 -6.07487749e-03 -4.71435859e+01] [-1.81908490e-02 -1.13491253e-04 9.99834526e-01 -5.39020682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.078623853 meters 0.01786267339016705 Centerline is valid? [True, True] Translation: X:210.91, Y:-47.15, Z:-5.39 [[ 9.40871976e-01 3.38303891e-01 1.76181998e-02 2.10905748e+02] [-3.38246345e-01 9.41036912e-01 -6.24024721e-03 -4.71529492e+01] [-1.86904763e-02 -8.80179707e-05 9.99825314e-01 -5.39033108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.108623853 meters 0.017524507324138558 Centerline is valid? [True, True] Translation: X:210.93, Y:-47.16, Z:-5.39 [[ 9.41253472e-01 3.37226054e-01 1.79022532e-02 2.10932612e+02] [-3.37166460e-01 9.41423700e-01 -6.33990154e-03 -4.71632760e+01] [-1.89915854e-02 -6.85850089e-05 9.99819641e-01 -5.39061517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.138623853 meters 0.017147953747349457 Centerline is valid? [True, True] Translation: X:210.96, Y:-47.17, Z:-5.39 [[ 9.41723941e-01 3.35896584e-01 1.81522324e-02 2.10959110e+02] [-3.35835085e-01 9.41898871e-01 -6.42746156e-03 -4.71742603e+01] [-1.92565296e-02 -4.32620776e-05 9.99814575e-01 -5.39087547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.168623853 meters 0.026536130226844916 Centerline is valid? [True, True] Translation: X:210.98, Y:-47.19, Z:-5.38 [[ 9.42718320e-01 3.33136500e-01 1.73850709e-02 2.10984843e+02] [-3.33079636e-01 9.42878609e-01 -6.15499515e-03 -4.71873484e+01] [-1.84424650e-02 1.18136053e-05 9.99829923e-01 -5.38252004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.19862385300002 meters 0.017271127712459887 Centerline is valid? [True, True] Translation: X:211.01, Y:-47.20, Z:-5.39 [[ 9.43313238e-01 3.31427647e-01 1.77721588e-02 2.11008799e+02] [-3.31367933e-01 9.43480637e-01 -6.29126960e-03 -4.71987599e+01] [-1.88527884e-02 4.55143733e-05 9.99822269e-01 -5.39339189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22862385300002 meters 0.017733181243147426 Centerline is valid? [True, True] Translation: X:211.03, Y:-47.21, Z:-5.39 [[ 9.43973296e-01 3.29564734e-01 1.73638415e-02 2.11034583e+02] [-3.29507453e-01 9.44132978e-01 -6.14482616e-03 -4.72109811e+01] [-1.84188934e-02 7.90366103e-05 9.99830355e-01 -5.39410312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.25862385300002 meters 0.018713544704476243 Centerline is valid? [True, True] Translation: X:211.06, Y:-47.22, Z:-5.40 [[ 9.44519803e-01 3.27990164e-01 1.74583275e-02 2.11059442e+02] [-3.27932004e-01 9.44681132e-01 -6.17739992e-03 -4.72238342e+01] [-1.85186790e-02 1.09532235e-04 9.99828509e-01 -5.39576458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28862385300002 meters 0.019411319859229764 Centerline is valid? [True, True] Translation: X:211.09, Y:-47.24, Z:-5.39 [[ 9.45469656e-01 3.25243780e-01 1.74245032e-02 2.11085810e+02] [-3.25185401e-01 9.45630191e-01 -6.16418796e-03 -4.72359214e+01] [-1.84820001e-02 1.61858597e-04 9.99829180e-01 -5.39472833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.31862385300002 meters 0.02060091932191418 Centerline is valid? [True, True] Translation: X:211.11, Y:-47.25, Z:-5.40 [[ 9.45809778e-01 3.24262056e-01 1.72621989e-02 2.11111547e+02] [-3.24204612e-01 9.45967276e-01 -6.10592425e-03 -4.72470713e+01] [-1.83093948e-02 1.78558373e-04 9.99832353e-01 -5.39663722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34862385300002 meters 0.020753675267784193 Centerline is valid? [True, True] Translation: X:211.14, Y:-47.26, Z:-5.40 [[ 9.46164113e-01 3.23174076e-01 1.82205234e-02 2.11138997e+02] [-3.23109902e-01 9.46339512e-01 -6.44349309e-03 -4.72568369e+01] [-1.93251711e-02 2.09370402e-04 9.99813230e-01 -5.39563909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.37862385300002 meters 0.02089020561105049 Centerline is valid? [True, True] Translation: X:211.16, Y:-47.27, Z:-5.40 [[ 9.46174788e-01 3.23142037e-01 1.82344241e-02 2.11164112e+02] [-3.23077773e-01 9.46350453e-01 -6.44764622e-03 -4.72657183e+01] [-1.93396610e-02 2.09463178e-04 9.99812949e-01 -5.39542724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.40862385300002 meters 0.021102842158914246 Centerline is valid? [True, True] Translation: X:211.19, Y:-47.27, Z:-5.40 [[ 9.46149840e-01 3.23202726e-01 1.84520561e-02 2.11189123e+02] [-3.23136965e-01 9.46329728e-01 -6.52284969e-03 -4.72744646e+01] [-1.95699321e-02 2.09051756e-04 9.99808469e-01 -5.39659608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.43862385300002 meters 0.020299525389708393 Centerline is valid? [True, True] Translation: X:211.22, Y:-47.28, Z:-5.40 [[ 9.45999279e-01 3.23662860e-01 1.81029689e-02 2.11216532e+02] [-3.23599684e-01 9.46172455e-01 -6.39759654e-03 -4.72822621e+01] [-1.91991950e-02 1.94006696e-04 9.99815660e-01 -5.39741902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.46862385300003 meters 0.01932568477631603 Centerline is valid? [True, True] Translation: X:211.24, Y:-47.29, Z:-5.40 [[ 9.45633804e-01 3.24743706e-01 1.78391230e-02 2.11244794e+02] [-3.24682568e-01 9.45802039e-01 -6.30342861e-03 -4.72895012e+01] [-1.89192776e-02 1.68682927e-04 9.99821000e-01 -5.39843573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.49862385300003 meters 0.019425568303474874 Centerline is valid? [True, True] Translation: X:211.27, Y:-47.30, Z:-5.40 [[ 9.45446196e-01 3.25300663e-01 1.76343317e-02 2.11271191e+02] [-3.25241031e-01 9.45610625e-01 -6.23032201e-03 -4.72982503e+01] [-1.87019393e-02 1.55026006e-04 9.99825091e-01 -5.39981589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.52862385300003 meters 0.018817355112876688 Centerline is valid? [True, True] Translation: X:211.30, Y:-47.30, Z:-5.40 [[ 9.45042535e-01 3.26472911e-01 1.76081059e-02 2.11298779e+02] [-3.26413693e-01 9.45206550e-01 -6.21931237e-03 -4.73040666e+01] [-1.86737341e-02 1.29987850e-04 9.99825622e-01 -5.40106658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.55862385300003 meters 0.018590505380893206 Centerline is valid? [True, True] Translation: X:211.33, Y:-47.31, Z:-5.40 [[ 9.44958509e-01 3.26706395e-01 1.77861974e-02 2.11326073e+02] [-3.26646037e-01 9.45125873e-01 -6.28095888e-03 -4.73122410e+01] [-1.88622247e-02 1.25454660e-04 9.99822085e-01 -5.40158128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.58862385300003 meters 0.01832919826335099 Centerline is valid? [True, True] Translation: X:211.35, Y:-47.32, Z:-5.40 [[ 9.44840925e-01 3.27048146e-01 1.77520921e-02 2.11352082e+02] [-3.26988094e-01 9.45007670e-01 -6.26820763e-03 -4.73203371e+01] [-1.88258689e-02 1.17736347e-04 9.99822771e-01 -5.40228680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.618623853 meters 0.018368409315582965 Centerline is valid? [True, True] Translation: X:211.38, Y:-47.33, Z:-5.40 [[ 9.44842103e-01 3.27046143e-01 1.77262513e-02 2.11377760e+02] [-3.26986296e-01 9.45008363e-01 -6.25743594e-03 -4.73282716e+01] [-1.87979260e-02 1.16047696e-04 9.99823297e-01 -5.40363968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.648623853 meters 0.01856692070529327 Centerline is valid? [True, True] Translation: X:211.40, Y:-47.34, Z:-5.40 [[ 9.44918688e-01 3.26839202e-01 1.74587925e-02 2.11403604e+02] [-3.26781144e-01 9.45079956e-01 -6.16128619e-03 -4.73374398e+01] [-1.85137047e-02 1.16710273e-04 9.99828600e-01 -5.40497666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.678623853 meters 0.01864830965956497 Centerline is valid? [True, True] Translation: X:211.43, Y:-47.35, Z:-5.41 [[ 9.45095670e-01 3.26333809e-01 1.73326108e-02 2.11430546e+02] [-3.26276524e-01 9.45254585e-01 -6.11557161e-03 -4.73467734e+01] [-1.83794476e-02 1.24576244e-04 9.99831076e-01 -5.40567845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.708623853 meters 0.019210094523454912 Centerline is valid? [True, True] Translation: X:211.46, Y:-47.36, Z:-5.41 [[ 9.45286642e-01 3.25788349e-01 1.71789581e-02 2.11456521e+02] [-3.25732000e-01 9.45442718e-01 -6.06054369e-03 -4.73572790e+01] [-1.82161754e-02 1.33214600e-04 9.99834063e-01 -5.40723021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.738623853 meters 0.019586482905673257 Centerline is valid? [True, True] Translation: X:211.48, Y:-47.37, Z:-5.41 [[ 9.45680707e-01 3.24603237e-01 1.79092121e-02 2.11484003e+02] [-3.24541808e-01 9.45850259e-01 -6.31683685e-03 -4.73675492e+01] [-1.89898986e-02 1.61422672e-04 9.99819663e-01 -5.40617265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.768623853 meters 0.019827611130640282 Centerline is valid? [True, True] Translation: X:211.51, Y:-47.38, Z:-5.41 [[ 9.45897722e-01 3.23946338e-01 1.83376797e-02 2.11510703e+02] [-3.23881830e-01 9.46075440e-01 -6.46697045e-03 -4.73775983e+01] [-1.94437798e-02 1.77851373e-04 9.99810936e-01 -5.40574052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.798623853 meters 0.020147609536334075 Centerline is valid? [True, True] Translation: X:211.54, Y:-47.39, Z:-5.41 [[ 9.46142847e-01 3.23221200e-01 1.84869792e-02 2.11537960e+02] [-3.23155518e-01 9.46323422e-01 -6.51863865e-03 -4.73884107e+01] [-1.96016236e-02 1.93393979e-04 9.99807851e-01 -5.40597171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.828623853 meters 0.020916416944207386 Centerline is valid? [True, True] Translation: X:211.56, Y:-47.40, Z:-5.40 [[ 9.46800027e-01 3.21263716e-01 1.89561245e-02 2.11563756e+02] [-3.21194284e-01 9.46989740e-01 -6.68309926e-03 -4.74005996e+01] [-2.00982927e-02 2.38959708e-04 9.99797980e-01 -5.40480526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.858623853 meters 0.021794277925646224 Centerline is valid? [True, True] Translation: X:211.59, Y:-47.41, Z:-5.41 [[ 9.47114161e-01 3.20321840e-01 1.92011542e-02 2.11589297e+02] [-3.20250435e-01 9.47308741e-01 -6.76815583e-03 -4.74114481e+01] [-2.03574094e-02 2.61038244e-04 9.99792732e-01 -5.40521085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.888623853 meters 0.022314488144212767 Centerline is valid? [True, True] Translation: X:211.62, Y:-47.42, Z:-5.41 [[ 9.47367473e-01 3.19552022e-01 1.95288517e-02 2.11616277e+02] [-3.19478025e-01 9.47568692e-01 -6.88225711e-03 -4.74224211e+01] [-2.07041676e-02 2.80987565e-04 9.99785606e-01 -5.40575323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.918623853 meters 0.023126184912628175 Centerline is valid? [True, True] Translation: X:211.64, Y:-47.43, Z:-5.41 [[ 9.47698376e-01 3.18569233e-01 1.95303034e-02 2.11642069e+02] [-3.18495037e-01 9.47899548e-01 -6.88176720e-03 -4.74343529e+01] [-2.07050850e-02 3.01534907e-04 9.99785581e-01 -5.40620276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.94862385300002 meters 0.02499102739415825 Centerline is valid? [True, True] Translation: X:211.67, Y:-47.45, Z:-5.41 [[ 9.48349956e-01 3.16632900e-01 1.93898801e-02 2.11665953e+02] [-3.16559387e-01 9.48548096e-01 -6.83105651e-03 -4.74486539e+01] [-2.05551711e-02 3.40183578e-04 9.99788662e-01 -5.40720660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.97862385300002 meters 0.02606687346045353 Centerline is valid? [True, True] Translation: X:211.69, Y:-47.46, Z:-5.41 [[ 9.48643498e-01 3.15764185e-01 1.91961860e-02 2.11692381e+02] [-3.15691989e-01 9.48837633e-01 -6.76118040e-03 -4.74606405e+01] [-2.03490023e-02 3.53867691e-04 9.99792875e-01 -5.40857357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00862385300002 meters 0.026983896428060664 Centerline is valid? [True, True] Translation: X:211.72, Y:-47.47, Z:-5.41 [[ 9.48933383e-01 3.14902335e-01 1.90250996e-02 2.11718776e+02] [-3.14831267e-01 9.49124009e-01 -6.69993489e-03 -4.74727772e+01] [-2.01670040e-02 3.68095660e-04 9.99796558e-01 -5.41020890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.03862385300002 meters 0.028430428789034647 Centerline is valid? [True, True] Translation: X:211.74, Y:-47.49, Z:-5.41 [[ 9.49369656e-01 3.13590385e-01 1.89295348e-02 2.11742597e+02] [-3.13519787e-01 9.49558274e-01 -6.66535506e-03 -4.74876729e+01] [-2.00648876e-02 3.93102123e-04 9.99798603e-01 -5.41132182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06862385300002 meters 0.028015924087354052 Centerline is valid? [True, True] Translation: X:211.77, Y:-47.50, Z:-5.41 [[ 9.49515051e-01 3.13173858e-01 1.85284299e-02 2.11769237e+02] [-3.13106166e-01 9.49695731e-01 -6.52288287e-03 -4.74983505e+01] [-1.96391672e-02 3.92209807e-04 9.99807056e-01 -5.41164200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.09862385300002 meters 0.029151896060935625 Centerline is valid? [True, True] Translation: X:211.79, Y:-47.51, Z:-5.41 [[ 9.49583352e-01 3.12962092e-01 1.86060756e-02 2.11794321e+02] [-3.12893809e-01 9.49765535e-01 -6.54928991e-03 -4.75107218e+01] [-1.97210888e-02 3.97370827e-04 9.99805441e-01 -5.41257078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.12862385300002 meters 0.028175740679666914 Centerline is valid? [True, True] Translation: X:211.82, Y:-47.52, Z:-5.41 [[ 9.49464311e-01 3.13306353e-01 1.88852176e-02 2.11821481e+02] [-3.13236101e-01 9.49652027e-01 -6.64620739e-03 -4.75206615e+01] [-2.00166842e-02 3.94804778e-04 9.99799568e-01 -5.41217292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.15862385300002 meters 0.026792216904122267 Centerline is valid? [True, True] Translation: X:211.85, Y:-47.53, Z:-5.41 [[ 9.49028664e-01 3.14600364e-01 1.92667057e-02 2.11848543e+02] [-3.14527532e-01 9.49224142e-01 -6.77942717e-03 -4.75308846e+01] [-2.04212325e-02 3.73961304e-04 9.99791395e-01 -5.41244138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.18862385300002 meters 0.026941033638705255 Centerline is valid? [True, True] Translation: X:211.87, Y:-47.54, Z:-5.41 [[ 9.48797754e-01 3.15305537e-01 1.91112368e-02 2.11873988e+02] [-3.15234038e-01 9.48990143e-01 -6.72378962e-03 -4.75412128e+01] [-2.02564235e-02 3.55004147e-04 9.99794755e-01 -5.41366762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.21862385300003 meters 0.0262897242012595 Centerline is valid? [True, True] Translation: X:211.90, Y:-47.55, Z:-5.42 [[ 9.48496768e-01 3.16220807e-01 1.89283491e-02 2.11900621e+02] [-3.16150877e-01 9.48685560e-01 -6.65815895e-03 -4.75508843e+01] [-2.00624999e-02 3.31028063e-04 9.99798673e-01 -5.41519821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24862385300003 meters 0.02440764366500084 Centerline is valid? [True, True] Translation: X:211.93, Y:-47.56, Z:-5.42 [[ 9.47794641e-01 3.18343811e-01 1.85077574e-02 2.11927081e+02] [-3.18277377e-01 9.47975285e-01 -6.50929389e-03 -4.75609087e+01] [-1.96170900e-02 2.78873380e-04 9.99807527e-01 -5.41740189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.27862385300003 meters 0.022048489222195898 Centerline is valid? [True, True] Translation: X:211.96, Y:-47.57, Z:-5.42 [[ 9.47466783e-01 3.19321050e-01 1.84597354e-02 2.11955131e+02] [-3.19255164e-01 9.47646559e-01 -6.49149457e-03 -4.75684524e+01] [-1.95661755e-02 2.57109647e-04 9.99808531e-01 -5.41726701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.30862385300003 meters 0.02173202154338663 Centerline is valid? [True, True] Translation: X:211.98, Y:-47.58, Z:-5.42 [[ 9.47072526e-01 3.20504725e-01 1.81755785e-02 2.11980687e+02] [-3.20441086e-01 9.47246889e-01 -6.39067689e-03 -4.75784854e+01] [-1.92650024e-02 2.28232374e-04 9.99814387e-01 -5.41899938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.33862385300003 meters 0.01959048914834449 Centerline is valid? [True, True] Translation: X:212.01, Y:-47.59, Z:-5.42 [[ 9.46095533e-01 3.23387508e-01 1.79933855e-02 2.12008646e+02] [-3.23325684e-01 9.46266607e-01 -6.32533545e-03 -4.75859769e+01] [-1.90720743e-02 1.66647933e-04 9.99818098e-01 -5.42060355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.368623853 meters 0.018563638701674354 Centerline is valid? [True, True] Translation: X:212.04, Y:-47.59, Z:-5.42 [[ 9.45532914e-01 3.25051092e-01 1.75868310e-02 2.12036866e+02] [-3.24992335e-01 9.45696448e-01 -6.18152278e-03 -4.75936209e+01] [-1.86411143e-02 1.29247987e-04 9.99826231e-01 -5.42174169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.398623853 meters 0.01789899960541623 Centerline is valid? [True, True] Translation: X:212.06, Y:-47.60, Z:-5.42 [[ 9.45000398e-01 3.26596556e-01 1.75765935e-02 2.12063402e+02] [-3.26538150e-01 9.45163838e-01 -6.17707499e-03 -4.76013712e+01] [-1.86301720e-02 9.79099840e-05 9.99826438e-01 -5.42286884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.428623853 meters 0.016718398124865065 Centerline is valid? [True, True] Translation: X:212.09, Y:-47.61, Z:-5.42 [[ 9.43664756e-01 3.30432651e-01 1.76378086e-02 2.12091723e+02] [-3.30374530e-01 9.43829573e-01 -6.19735813e-03 -4.76068538e+01] [-1.86948948e-02 2.11457373e-05 9.99825235e-01 -5.42305544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.458623853 meters 0.023488422584293133 Centerline is valid? [True, True] Translation: X:212.12, Y:-47.61, Z:-5.42 [[ 9.42925854e-01 3.32564900e-01 1.70710799e-02 2.12119076e+02] [-3.32510818e-01 9.43080371e-01 -5.99743938e-03 -4.76134167e+01] [-1.80939382e-02 -2.11781030e-05 9.99836291e-01 -5.41715115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.488623853 meters 0.017215022537811542 Centerline is valid? [True, True] Translation: X:212.15, Y:-47.62, Z:-5.42 [[ 9.42223572e-01 3.34524443e-01 1.75538463e-02 2.12146020e+02] [-3.34467620e-01 9.42387072e-01 -6.16589116e-03 -4.76199172e+01] [-1.86051591e-02 -6.15452030e-05 9.99826907e-01 -5.42461432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.518623853 meters 0.01829740373538408 Centerline is valid? [True, True] Translation: X:212.18, Y:-47.62, Z:-5.43 [[ 9.40953499e-01 3.38081765e-01 1.75280364e-02 2.12175203e+02] [-3.38025753e-01 9.41116732e-01 -6.15533969e-03 -4.76245088e+01] [-1.85769364e-02 -1.33039275e-04 9.99827425e-01 -5.42521762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.548623853 meters 0.019158494040694442 Centerline is valid? [True, True] Translation: X:212.20, Y:-47.63, Z:-5.43 [[ 9.40503414e-01 3.39328688e-01 1.75889356e-02 2.12202280e+02] [-3.39272519e-01 9.40667857e-01 -6.17585857e-03 -4.76314412e+01] [-1.86409924e-02 -1.59026432e-04 9.99826229e-01 -5.42585325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.578623853 meters 0.020553723763015643 Centerline is valid? [True, True] Translation: X:212.23, Y:-47.64, Z:-5.43 [[ 9.40153685e-01 3.40270359e-01 1.80867755e-02 2.12229987e+02] [-3.40211164e-01 9.40327628e-01 -6.34940370e-03 -4.76371441e+01] [-1.91680086e-02 -1.83907671e-04 9.99816260e-01 -5.42707335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.608623853 meters 0.0203839262617071 Centerline is valid? [True, True] Translation: X:212.26, Y:-47.65, Z:-5.43 [[ 9.39774445e-01 3.41302969e-01 1.83378363e-02 2.12257426e+02] [-3.41242341e-01 9.39953318e-01 -6.43624139e-03 -4.76458053e+01] [-1.94334183e-02 -2.09031005e-04 9.99811131e-01 -5.42657897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.638623853 meters 0.019859404168750296 Centerline is valid? [True, True] Translation: X:212.28, Y:-47.66, Z:-5.43 [[ 9.39775325e-01 3.41290500e-01 1.85238521e-02 2.12283378e+02] [-3.41228650e-01 9.39957845e-01 -6.50069785e-03 -4.76559656e+01] [-1.96302665e-02 -2.11673608e-04 9.99807285e-01 -5.42670739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.668623853 meters 0.020388284478112195 Centerline is valid? [True, True] Translation: X:212.31, Y:-47.66, Z:-5.43 [[ 9.39861316e-01 3.41057504e-01 1.84522501e-02 2.12308801e+02] [-3.40996114e-01 9.40042412e-01 -6.47412486e-03 -4.76635985e+01] [-1.95539466e-02 -2.07366075e-04 9.99808782e-01 -5.42817722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.69862385300002 meters 0.020012185257487356 Centerline is valid? [True, True] Translation: X:212.34, Y:-47.67, Z:-5.43 [[ 9.40048300e-01 3.40534669e-01 1.85831354e-02 2.12336489e+02] [-3.40472342e-01 9.40231939e-01 -6.51803923e-03 -4.76730363e+01] [-1.96920758e-02 -1.99771950e-04 9.99806072e-01 -5.42851949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72862385300002 meters 0.02049782335372394 Centerline is valid? [True, True] Translation: X:212.36, Y:-47.68, Z:-5.43 [[ 9.40002405e-01 3.40642431e-01 1.89265031e-02 2.12362869e+02] [-3.40577814e-01 9.40192901e-01 -6.63786223e-03 -4.76801963e+01] [-2.00557014e-02 -2.06340580e-04 9.99798843e-01 -5.42918912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.75862385300002 meters 0.020077587655314446 Centerline is valid? [True, True] Translation: X:212.39, Y:-47.69, Z:-5.43 [[ 9.39955468e-01 3.40749199e-01 1.93313663e-02 2.12389426e+02] [-3.40681871e-01 9.40154209e-01 -6.77689065e-03 -4.76895671e+01] [-2.04836854e-02 -2.15870608e-04 9.99790164e-01 -5.42880961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78862385300002 meters 0.020077587655314446 Centerline is valid? [True, True] Translation: X:212.42, Y:-47.70, Z:-5.43 [[ 9.39979648e-01 3.40682463e-01 1.93318453e-02 2.12415418e+02] [-3.40615149e-01 9.40178394e-01 -6.77552389e-03 -4.76985388e+01] [-2.04836854e-02 -2.15864793e-04 9.99790164e-01 -5.42950109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.81862385300002 meters 0.020324948361839033 Centerline is valid? [True, True] Translation: X:212.44, Y:-47.71, Z:-5.43 [[ 9.39768835e-01 3.41235673e-01 1.98179778e-02 2.12442911e+02] [-3.41165089e-01 9.39977745e-01 -6.94417587e-03 -4.77070238e+01] [-2.09980586e-02 -2.35282102e-04 9.99779489e-01 -5.42921743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84862385300002 meters 0.020978296848657124 Centerline is valid? [True, True] Translation: X:212.47, Y:-47.71, Z:-5.43 [[ 9.39323498e-01 3.42448178e-01 2.00152703e-02 2.12471543e+02] [-3.42376480e-01 9.39536681e-01 -7.01222867e-03 -4.77128470e+01] [-2.12064056e-02 -2.66006632e-04 9.99775084e-01 -5.42945139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.87862385300002 meters 0.022039705407330457 Centerline is valid? [True, True] Translation: X:212.50, Y:-47.72, Z:-5.43 [[ 9.39084783e-01 3.43132159e-01 1.94959698e-02 2.12499337e+02] [-3.43064301e-01 9.39287095e-01 -6.82933267e-03 -4.77182700e+01] [-2.06556765e-02 -2.75048864e-04 9.99786611e-01 -5.43129264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.90862385300002 meters 0.022531704457669072 Centerline is valid? [True, True] Translation: X:212.53, Y:-47.72, Z:-5.43 [[ 9.38963217e-01 3.43494709e-01 1.89594703e-02 2.12527235e+02] [-3.43430634e-01 9.39154571e-01 -6.64009973e-03 -4.77245956e+01] [-2.00867124e-02 -2.76453527e-04 9.99798203e-01 -5.43341426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.93862385300002 meters 0.023424762006540853 Centerline is valid? [True, True] Translation: X:212.55, Y:-47.73, Z:-5.44 [[ 9.38981443e-01 3.43447837e-01 1.89059058e-02 2.12554103e+02] [-3.43384131e-01 9.39171713e-01 -6.62054466e-03 -4.77280535e+01] [-2.00297036e-02 -2.75419435e-04 9.99799347e-01 -5.43526647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.96862385300003 meters 0.022412716755772062 Centerline is valid? [True, True] Translation: X:212.58, Y:-47.74, Z:-5.44 [[ 9.39079918e-01 3.43169248e-01 1.90728870e-02 2.12581077e+02] [-3.43104392e-01 9.39273545e-01 -6.67708686e-03 -4.77375675e+01] [-2.02060291e-02 -2.73673116e-04 9.99795800e-01 -5.43528677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.99862385300003 meters 0.02091913812617867 Centerline is valid? [True, True] Translation: X:212.61, Y:-47.75, Z:-5.44 [[ 9.39620221e-01 3.41676019e-01 1.92701304e-02 2.12607761e+02] [-3.41609522e-01 9.39817768e-01 -6.74511949e-03 -4.77473153e+01] [-2.04150566e-02 -2.45009385e-04 9.99791561e-01 -5.43554264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.02862385300003 meters 0.02132761406039083 Centerline is valid? [True, True] Translation: X:212.63, Y:-47.75, Z:-5.44 [[ 9.39938628e-01 3.40805683e-01 1.91536509e-02 2.12634881e+02] [-3.40739826e-01 9.40133733e-01 -6.70339607e-03 -4.77549008e+01] [-2.02915488e-02 -2.25630772e-04 9.99794080e-01 -5.43676244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.05862385300003 meters 0.019840952019289555 Centerline is valid? [True, True] Translation: X:212.66, Y:-47.77, Z:-5.44 [[ 9.40361550e-01 3.39636002e-01 1.91713905e-02 2.12661696e+02] [-3.39569807e-01 9.40556934e-01 -6.70827445e-03 -4.77662762e+01] [-2.03101557e-02 -2.01822000e-04 9.99793707e-01 -5.43667770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.08862385300003 meters 0.018531901382091206 Centerline is valid? [True, True] Translation: X:212.69, Y:-47.78, Z:-5.44 [[ 9.41206031e-01 3.37297914e-01 1.90085134e-02 2.12688770e+02] [-3.37232382e-01 9.41397947e-01 -6.65029603e-03 -4.77751693e+01] [-2.01377065e-02 -1.50987529e-04 9.99797204e-01 -5.43765460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.118623853 meters 0.017977917516338926 Centerline is valid? [True, True] Translation: X:212.72, Y:-47.78, Z:-5.44 [[ 9.41592072e-01 3.36216330e-01 1.90512440e-02 2.12716452e+02] [-3.36150301e-01 9.41784775e-01 -6.66425484e-03 -4.77843484e+01] [-2.01828029e-02 -1.29071890e-04 9.99796298e-01 -5.43834017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.148623853 meters 0.01745653658437195 Centerline is valid? [True, True] Translation: X:212.74, Y:-47.79, Z:-5.44 [[ 9.41988218e-01 3.35080334e-01 1.94773450e-02 2.12743383e+02] [-3.35011096e-01 9.42189555e-01 -6.81226479e-03 -4.77937273e+01] [-2.06340070e-02 -1.08053530e-04 9.99787090e-01 -5.43874241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.178623853 meters 0.017021364566005365 Centerline is valid? [True, True] Translation: X:212.77, Y:-47.80, Z:-5.44 [[ 9.42419176e-01 3.33867862e-01 1.94511537e-02 2.12770670e+02] [-3.33798573e-01 9.42619883e-01 -6.80209581e-03 -4.78035282e+01] [-2.06060454e-02 -8.23418223e-05 9.99787670e-01 -5.43921308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.208623853 meters 0.016316824018805527 Centerline is valid? [True, True] Translation: X:212.80, Y:-47.81, Z:-5.44 [[ 9.43256161e-01 3.31479271e-01 1.97309099e-02 2.12797748e+02] [-3.31407473e-01 9.43462502e-01 -6.89890017e-03 -4.78141561e+01] [-2.09022160e-02 -3.15409067e-05 9.99781524e-01 -5.43927907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.238623853 meters 0.016415160466602602 Centerline is valid? [True, True] Translation: X:212.82, Y:-47.82, Z:-5.44 [[ 9.43676916e-01 3.30294278e-01 1.94825344e-02 2.12823377e+02] [-3.30224042e-01 9.43878006e-01 -6.81117816e-03 -4.78234827e+01] [-2.06388289e-02 -6.04966422e-06 9.99786997e-01 -5.44121415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.268623853 meters 0.01649096104646933 Centerline is valid? [True, True] Translation: X:212.85, Y:-47.83, Z:-5.44 [[ 9.44102082e-01 3.29086932e-01 1.93144821e-02 2.12849476e+02] [-3.29017689e-01 9.44299630e-01 -6.75051559e-03 -4.78337581e+01] [-2.04601648e-02 1.83695393e-05 9.99790669e-01 -5.44230319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.298623853 meters 0.016705220358368775 Centerline is valid? [True, True] Translation: X:212.87, Y:-47.84, Z:-5.44 [[ 9.44592614e-01 3.27699259e-01 1.89205872e-02 2.12874887e+02] [-3.27632563e-01 9.44782088e-01 -6.61135187e-03 -4.78443249e+01] [-2.00423670e-02 4.60336688e-05 9.99799131e-01 -5.44437268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.328623853 meters 0.01747751012154107 Centerline is valid? [True, True] Translation: X:212.90, Y:-47.86, Z:-5.44 [[ 9.45409855e-01 3.25336242e-01 1.88821393e-02 2.12901849e+02] [-3.25269371e-01 9.45598393e-01 -6.59663476e-03 -4.78558419e+01] [-2.00010449e-02 9.47419536e-05 9.99799955e-01 -5.44485486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.358623853 meters 0.018134911736872834 Centerline is valid? [True, True] Translation: X:212.93, Y:-47.87, Z:-5.45 [[ 9.45829592e-01 3.24108455e-01 1.89761022e-02 2.12928962e+02] [-3.24040689e-01 9.46019923e-01 -6.62849733e-03 -4.78666827e+01] [-2.01001227e-02 1.20399711e-04 9.99797965e-01 -5.44575083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.388623853 meters 0.018747757096244533 Centerline is valid? [True, True] Translation: X:212.96, Y:-47.88, Z:-5.45 [[ 9.46149833e-01 3.23181214e-01 1.88254115e-02 2.12956009e+02] [-3.23114356e-01 9.46337088e-01 -6.57492280e-03 -4.78774029e+01] [-1.99400766e-02 1.38101420e-04 9.99801167e-01 -5.44630537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.418623853 meters 0.018902556402022954 Centerline is valid? [True, True] Translation: X:212.98, Y:-47.89, Z:-5.45 [[ 9.46502017e-01 3.22167005e-01 1.85027978e-02 2.12983540e+02] [-3.22102242e-01 9.46682839e-01 -6.46135537e-03 -4.78869969e+01] [-1.95979166e-02 1.55893246e-04 9.99807930e-01 -5.44713165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.44862385300002 meters 0.01922178895606178 Centerline is valid? [True, True] Translation: X:213.01, Y:-47.90, Z:-5.45 [[ 9.46583744e-01 3.21935065e-01 1.83583461e-02 2.13009547e+02] [-3.21871283e-01 9.46761738e-01 -6.41003265e-03 -4.78959381e+01] [-1.94445939e-02 1.58608291e-04 9.99810923e-01 -5.44809248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.47862385300002 meters 0.0192247570031815 Centerline is valid? [True, True] Translation: X:213.04, Y:-47.90, Z:-5.45 [[ 9.46595767e-01 3.21901067e-01 1.83346062e-02 2.13036141e+02] [-3.21837465e-01 9.46773298e-01 -6.40062427e-03 -4.79044330e+01] [-1.94190834e-02 1.58040664e-04 9.99811419e-01 -5.44887687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50862385300002 meters 0.018662062174050167 Centerline is valid? [True, True] Translation: X:213.07, Y:-47.91, Z:-5.45 [[ 9.46311922e-01 3.22731414e-01 1.83896667e-02 2.13065002e+02] [-3.22667616e-01 9.46490578e-01 -6.41830109e-03 -4.79101212e+01] [-1.94770337e-02 1.39964922e-04 9.99810295e-01 -5.44943085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.53862385300002 meters 0.018335629320199585 Centerline is valid? [True, True] Translation: X:213.09, Y:-47.92, Z:-5.45 [[ 9.46126288e-01 3.23275999e-01 1.83759591e-02 2.13091919e+02] [-3.23212416e-01 9.46304714e-01 -6.41264792e-03 -4.79171840e+01] [-1.94623118e-02 1.27836660e-04 9.99810583e-01 -5.45063204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56862385300002 meters 0.017969760446220822 Centerline is valid? [True, True] Translation: X:213.12, Y:-47.92, Z:-5.45 [[ 9.45906239e-01 3.23925507e-01 1.82661911e-02 2.13119939e+02] [-3.23862826e-01 9.46082583e-01 -6.37312782e-03 -4.79242298e+01] [-1.93457439e-02 1.12641101e-04 9.99812847e-01 -5.45115987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.59862385300002 meters 0.01759084832953418 Centerline is valid? [True, True] Translation: X:213.15, Y:-47.93, Z:-5.45 [[ 9.45641016e-01 3.24680552e-01 1.85905441e-02 2.13146913e+02] [-3.24615788e-01 9.45823731e-01 -6.48539389e-03 -4.79320283e+01] [-1.96890591e-02 9.80703209e-05 9.99806147e-01 -5.45185945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.62862385300002 meters 0.01664912170135235 Centerline is valid? [True, True] Translation: X:213.18, Y:-47.94, Z:-5.45 [[ 9.45083252e-01 3.26304423e-01 1.85221340e-02 2.13175779e+02] [-3.26240471e-01 9.45264735e-01 -6.46030794e-03 -4.79364549e+01] [-1.96163471e-02 6.28591306e-05 9.99807579e-01 -5.45155328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.65862385300002 meters 0.016423771650515073 Centerline is valid? [True, True] Translation: X:213.20, Y:-47.94, Z:-5.45 [[ 9.44826570e-01 3.27057596e-01 1.83325030e-02 2.13202925e+02] [-3.26995105e-01 9.45004406e-01 -6.39335864e-03 -4.79428006e+01] [-1.94152926e-02 4.59763832e-05 9.99811504e-01 -5.45246663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.68862385300002 meters 0.02474649428438032 Centerline is valid? [True, True] Translation: X:213.23, Y:-47.95, Z:-5.45 [[ 9.44651282e-01 3.27599525e-01 1.76778449e-02 2.13230094e+02] [-3.27541539e-01 9.44816675e-01 -6.16360553e-03 -4.79493336e+01] [-1.87215169e-02 3.22293549e-05 9.99824737e-01 -5.44609704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.71862385300003 meters 0.0164643299461191 Centerline is valid? [True, True] Translation: X:213.26, Y:-47.96, Z:-5.46 [[ 9.44639381e-01 3.27626533e-01 1.78127516e-02 2.13256107e+02] [-3.27567685e-01 9.44807310e-01 -6.20951532e-03 -4.79576733e+01] [-1.88640199e-02 3.08709058e-05 9.99822058e-01 -5.45550362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.74862385300003 meters 0.016853215044692386 Centerline is valid? [True, True] Translation: X:213.28, Y:-47.97, Z:-5.46 [[ 9.44943149e-01 3.26805953e-01 1.67426011e-02 2.13282574e+02] [-3.26753858e-01 9.45091460e-01 -5.83514928e-03 -4.79668905e+01] [-1.77302508e-02 4.31748407e-05 9.99842806e-01 -5.45874669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.77862385300003 meters 0.016983771070215817 Centerline is valid? [True, True] Translation: X:213.31, Y:-47.98, Z:-5.46 [[ 9.45250363e-01 3.25928954e-01 1.64944625e-02 2.13309437e+02] [-3.25878279e-01 9.45394263e-01 -5.74750488e-03 -4.79766379e+01] [-1.74670485e-02 5.76440324e-05 9.99847438e-01 -5.46008739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.80862385300003 meters 0.01726110638746563 Centerline is valid? [True, True] Translation: X:213.34, Y:-47.99, Z:-5.46 [[ 9.45536466e-01 3.25091269e-01 1.66270306e-02 2.13336641e+02] [-3.25039662e-01 9.45682643e-01 -5.79281142e-03 -4.79869447e+01] [-1.76070867e-02 7.28700181e-05 9.99844981e-01 -5.46089511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.83862385300003 meters 0.02406187373864198 Centerline is valid? [True, True] Translation: X:213.36, Y:-48.00, Z:-5.45 [[ 9.46047955e-01 3.23598566e-01 1.66503683e-02 2.13362407e+02] [-3.23546597e-01 9.46194461e-01 -5.80015540e-03 -4.79980144e+01] [-1.76314082e-02 1.00055170e-04 9.99844550e-01 -5.45331450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.868623853 meters 0.01804783761751536 Centerline is valid? [True, True] Translation: X:213.39, Y:-48.01, Z:-5.46 [[ 9.46295798e-01 3.22831914e-01 1.74303681e-02 2.13388249e+02] [-3.22774852e-01 9.46456307e-01 -6.07073751e-03 -4.80078621e+01] [-1.84569097e-02 1.18628906e-04 9.99829650e-01 -5.46042598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.898623853 meters 0.018995317687253092 Centerline is valid? [True, True] Translation: X:213.41, Y:-48.02, Z:-5.46 [[ 9.46848183e-01 3.21164266e-01 1.82217373e-02 2.13413939e+02] [-3.21101626e-01 9.47023489e-01 -6.34478537e-03 -4.80186419e+01] [-1.92941316e-02 1.56519020e-04 9.99813839e-01 -5.45976378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.928623853 meters 0.019506959402308184 Centerline is valid? [True, True] Translation: X:213.44, Y:-48.03, Z:-5.46 [[ 9.47144874e-01 3.20274353e-01 1.84642004e-02 2.13439573e+02] [-3.20209889e-01 9.47324816e-01 -6.42799755e-03 -4.80287187e+01] [-1.95503181e-02 1.75825359e-04 9.99808859e-01 -5.45959363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.958623853 meters 0.02001631607450284 Centerline is valid? [True, True] Translation: X:213.47, Y:-48.04, Z:-5.46 [[ 9.47398064e-01 3.19504991e-01 1.88007943e-02 2.13466650e+02] [-3.19438029e-01 9.47584573e-01 -6.54388078e-03 -4.80393090e+01] [-1.99061452e-02 1.93971301e-04 9.99801834e-01 -5.46028352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.988623853 meters 0.021456203048642913 Centerline is valid? [True, True] Translation: X:213.49, Y:-48.05, Z:-5.46 [[ 9.47949039e-01 3.17874770e-01 1.86614752e-02 2.13492054e+02] [-3.17808498e-01 9.48132681e-01 -6.49450727e-03 -4.80510551e+01] [-1.97579945e-02 2.25686508e-04 9.99804766e-01 -5.46113246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.018623853 meters 0.02198343885693617 Centerline is valid? [True, True] Translation: X:213.52, Y:-48.06, Z:-5.46 [[ 9.48162207e-01 3.17222058e-01 1.89366106e-02 2.13518914e+02] [-3.17153713e-01 9.48351257e-01 -6.58897742e-03 -4.80614330e+01] [-2.00487275e-02 2.41602990e-04 9.99798975e-01 -5.46147910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.048623853 meters 0.022560141882327897 Centerline is valid? [True, True] Translation: X:213.55, Y:-48.07, Z:-5.46 [[ 9.48343665e-01 3.16680817e-01 1.89090969e-02 2.13545463e+02] [-3.16612582e-01 9.48532128e-01 -6.57845437e-03 -4.80719003e+01] [-2.00191562e-02 2.51777543e-04 9.99799565e-01 -5.46208716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.078623853 meters 0.022915159973663172 Centerline is valid? [True, True] Translation: X:213.57, Y:-48.08, Z:-5.46 [[ 9.48491499e-01 3.16251327e-01 1.86808791e-02 2.13572459e+02] [-3.16184664e-01 9.48675409e-01 -6.49813900e-03 -4.80818849e+01] [-1.97771357e-02 2.56822106e-04 9.99804380e-01 -5.46326761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.108623853 meters 0.02353717833013663 Centerline is valid? [True, True] Translation: X:213.60, Y:-48.09, Z:-5.46 [[ 9.48626789e-01 3.15847747e-01 1.86390811e-02 2.13598472e+02] [-3.15781321e-01 9.48809850e-01 -6.48272826e-03 -4.80912767e+01] [-1.97324989e-02 2.63816028e-04 9.99805260e-01 -5.46496444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.138623853 meters 0.023525000197764052 Centerline is valid? [True, True] Translation: X:213.62, Y:-48.10, Z:-5.47 [[ 9.48623538e-01 3.15860481e-01 1.85887293e-02 2.13624905e+02] [-3.15794438e-01 9.48805611e-01 -6.46412258e-03 -4.81004466e+01] [-1.96788516e-02 2.61801507e-04 9.99806318e-01 -5.46553479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.168623853 meters 0.02326188651198279 Centerline is valid? [True, True] Translation: X:213.65, Y:-48.11, Z:-5.47 [[ 9.48532517e-01 3.16141874e-01 1.84493665e-02 2.13652257e+02] [-3.16076900e-01 9.48711891e-01 -6.41416996e-03 -4.81096340e+01] [-1.95309211e-02 2.52630202e-04 9.99809221e-01 -5.46615767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.19862385300002 meters 0.022837947394717836 Centerline is valid? [True, True] Translation: X:213.68, Y:-48.12, Z:-5.47 [[ 9.48382544e-01 3.16598087e-01 1.83358100e-02 2.13679023e+02] [-3.16534012e-01 9.48559747e-01 -6.37385689e-03 -4.81180714e+01] [-1.94105622e-02 2.40947111e-04 9.99811568e-01 -5.46701183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22862385300002 meters 0.02249195308152694 Centerline is valid? [True, True] Translation: X:213.71, Y:-48.13, Z:-5.47 [[ 9.48218136e-01 3.17090677e-01 1.83267361e-02 2.13706456e+02] [-3.17026776e-01 9.48395197e-01 -6.36975858e-03 -4.81268628e+01] [-1.94007796e-02 2.29854550e-04 9.99811761e-01 -5.46818856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.25862385300002 meters 0.02211330399622174 Centerline is valid? [True, True] Translation: X:213.73, Y:-48.14, Z:-5.47 [[ 9.48093531e-01 3.17462598e-01 1.83345240e-02 2.13733978e+02] [-3.17398750e-01 9.48270769e-01 -6.37050326e-03 -4.81357242e+01] [-1.94084897e-02 2.20477942e-04 9.99811613e-01 -5.46866060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28862385300002 meters 0.021035729096939994 Centerline is valid? [True, True] Translation: X:213.76, Y:-48.14, Z:-5.47 [[ 9.47687193e-01 3.18675820e-01 1.82949953e-02 2.13761164e+02] [-3.18612489e-01 9.47863748e-01 -6.35594418e-03 -4.81434435e+01] [-1.93666485e-02 1.94432925e-04 9.99812430e-01 -5.46922535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.31862385300002 meters 0.020375618278169458 Centerline is valid? [True, True] Translation: X:213.79, Y:-48.15, Z:-5.47 [[ 9.47486286e-01 3.19271419e-01 1.83166087e-02 2.13788783e+02] [-3.19208059e-01 9.47663299e-01 -6.36293180e-03 -4.81514598e+01] [-1.93894801e-02 1.81981499e-04 9.99811990e-01 -5.47015393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34862385300002 meters 0.019351111273102146 Centerline is valid? [True, True] Translation: X:213.82, Y:-48.16, Z:-5.47 [[ 9.47148678e-01 3.20268719e-01 1.83665358e-02 2.13817278e+02] [-3.20205262e-01 9.47326724e-01 -6.37718081e-03 -4.81585666e+01] [-1.94415218e-02 1.59076960e-04 9.99810983e-01 -5.47085290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.37862385300002 meters 0.029364112239222973 Centerline is valid? [True, True] Translation: X:213.85, Y:-48.16, Z:-5.46 [[ 9.46733196e-01 3.21527016e-01 1.77941962e-02 2.13846362e+02] [-3.21467741e-01 9.46900397e-01 -6.17490024e-03 -4.81634441e+01] [-1.88347287e-02 1.25722975e-04 9.99822603e-01 -5.46206505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40862385300002 meters 0.017539826213174556 Centerline is valid? [True, True] Translation: X:213.87, Y:-48.17, Z:-5.47 [[ 9.46137384e-01 3.23284974e-01 1.76316789e-02 2.13873379e+02] [-3.23227099e-01 9.46301652e-01 -6.11758284e-03 -4.81711660e+01] [-1.86626095e-02 8.90374022e-05 9.99825834e-01 -5.47396274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.43862385300002 meters 0.02004022242089617 Centerline is valid? [True, True] Translation: X:213.90, Y:-48.18, Z:-5.47 [[ 9.45898086e-01 3.24000227e-01 1.73396732e-02 2.13900672e+02] [-3.23944386e-01 9.46057000e-01 -6.01554017e-03 -4.81774405e+01] [-1.83533556e-02 7.29981347e-05 9.99831560e-01 -5.46811651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46862385300003 meters 0.01665667516608164 Centerline is valid? [True, True] Translation: X:213.93, Y:-48.19, Z:-5.47 [[ 9.45823751e-01 3.24226539e-01 1.71634579e-02 2.13926202e+02] [-3.24171881e-01 9.45979464e-01 -5.95350288e-03 -4.81867131e+01] [-1.81665623e-02 6.70539887e-05 9.99834972e-01 -5.47453761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.49862385300003 meters 0.01696563423997425 Centerline is valid? [True, True] Translation: X:213.95, Y:-48.20, Z:-5.48 [[ 9.45667068e-01 3.24696285e-01 1.69150483e-02 2.13951606e+02] [-3.24643322e-01 9.45818333e-01 -5.86459571e-03 -4.81963697e+01] [-1.79027752e-02 5.45975508e-05 9.99839731e-01 -5.47744304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.52862385300003 meters 0.01628632558072618 Centerline is valid? [True, True] Translation: X:213.98, Y:-48.20, Z:-5.48 [[ 9.45571458e-01 3.24951961e-01 1.73447771e-02 2.13979388e+02] [-3.24896351e-01 9.45730522e-01 -6.01172777e-03 -4.82038413e+01] [-1.83570078e-02 4.92634162e-05 9.99831495e-01 -5.47533560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.55862385300003 meters 0.01608885055325609 Centerline is valid? [True, True] Translation: X:214.01, Y:-48.21, Z:-5.48 [[ 9.45369473e-01 3.25529403e-01 1.75261968e-02 2.14006783e+02] [-3.25472739e-01 9.45531917e-01 -6.07368965e-03 -4.82113658e+01] [-1.85487430e-02 3.75815091e-05 9.99827957e-01 -5.47530326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.58862385300003 meters 0.01601948718815626 Centerline is valid? [True, True] Translation: X:214.04, Y:-48.22, Z:-5.48 [[ 9.44737301e-01 3.27336760e-01 1.79465134e-02 2.14035151e+02] [-3.27277688e-01 9.44907744e-01 -6.21847292e-03 -4.82155635e+01] [-1.89933343e-02 1.32990094e-06 9.99819610e-01 -5.47733948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.618623853 meters 0.015801334071014528 Centerline is valid? [True, True] Translation: X:214.06, Y:-48.22, Z:-5.48 [[ 9.44370905e-01 3.28380528e-01 1.81610145e-02 2.14063022e+02] [-3.28320236e-01 9.44545514e-01 -6.29240578e-03 -4.82221328e+01] [-1.92202083e-02 -2.02636245e-05 9.99815275e-01 -5.47555415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.648623853 meters 0.015857387848587458 Centerline is valid? [True, True] Translation: X:214.09, Y:-48.23, Z:-5.47 [[ 9.43970733e-01 3.29524918e-01 1.82368721e-02 2.14091341e+02] [-3.29464423e-01 9.44146877e-01 -6.31412095e-03 -4.82299496e+01] [-1.92989460e-02 -4.80551480e-05 9.99813757e-01 -5.47495095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.678623853 meters 0.01634670917067596 Centerline is valid? [True, True] Translation: X:214.12, Y:-48.24, Z:-5.48 [[ 9.43669568e-01 3.30392026e-01 1.81343535e-02 2.14118386e+02] [-3.30332386e-01 9.43843793e-01 -6.27772496e-03 -4.82364569e+01] [-1.91901072e-02 -6.62662411e-05 9.99815851e-01 -5.47710712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.708623853 meters 0.01634670917067596 Centerline is valid? [True, True] Translation: X:214.14, Y:-48.25, Z:-5.48 [[ 9.43728637e-01 3.30223256e-01 1.81345013e-02 2.14144429e+02] [-3.30163593e-01 9.43902854e-01 -6.27729820e-03 -4.82452568e+01] [-1.91901173e-02 -6.32860260e-05 9.99815851e-01 -5.47779853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.738623853 meters 0.01706456599711186 Centerline is valid? [True, True] Translation: X:214.17, Y:-48.25, Z:-5.48 [[ 9.43347416e-01 3.31357732e-01 1.72541362e-02 2.14172447e+02] [-3.31303974e-01 9.43505191e-01 -5.96916471e-03 -4.82515187e+01] [-1.82572959e-02 -8.53677781e-05 9.99833318e-01 -5.48045379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.768623853 meters 0.016836974280809745 Centerline is valid? [True, True] Translation: X:214.20, Y:-48.26, Z:-5.48 [[ 9.43352421e-01 3.31343769e-01 1.72486802e-02 2.14198766e+02] [-3.31290092e-01 9.43510095e-01 -5.96451209e-03 -4.82608169e+01] [-1.82506078e-02 -8.76799233e-05 9.99833440e-01 -5.48007721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.798623853 meters 0.017141771685664203 Centerline is valid? [True, True] Translation: X:214.22, Y:-48.27, Z:-5.48 [[ 9.43483212e-01 3.30978523e-01 1.71068905e-02 2.14224804e+02] [-3.30925745e-01 9.43638283e-01 -5.91110991e-03 -4.82685981e+01] [-1.80991672e-02 -8.40775257e-05 9.99836193e-01 -5.48218906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.828623853 meters 0.016161284314125023 Centerline is valid? [True, True] Translation: X:214.25, Y:-48.28, Z:-5.48 [[ 9.43973661e-01 3.29578382e-01 1.70826495e-02 2.14250912e+02] [-3.29525557e-01 9.44128215e-01 -5.90090969e-03 -4.82801697e+01] [-1.80730236e-02 -5.88662485e-05 9.99836668e-01 -5.48096763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.858623853 meters 0.01615223341009372 Centerline is valid? [True, True] Translation: X:214.28, Y:-48.29, Z:-5.48 [[ 9.44226966e-01 3.28843567e-01 1.72436768e-02 2.14276518e+02] [-3.28789634e-01 9.44384406e-01 -5.95568068e-03 -4.82902868e+01] [-1.82431468e-02 -4.60278797e-05 9.99833579e-01 -5.48166643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.888623853 meters 0.016013696009503635 Centerline is valid? [True, True] Translation: X:214.30, Y:-48.30, Z:-5.48 [[ 9.44371841e-01 3.28416069e-01 1.74559718e-02 2.14302996e+02] [-3.28360747e-01 9.44533157e-01 -6.02789180e-03 -4.83008106e+01] [-1.84674007e-02 -3.92846549e-05 9.99829462e-01 -5.48184853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.918623853 meters 0.016171745193585867 Centerline is valid? [True, True] Translation: X:214.33, Y:-48.31, Z:-5.48 [[ 9.44189206e-01 3.28952696e-01 1.72298579e-02 2.14329301e+02] [-3.28898904e-01 9.44346399e-01 -5.94889308e-03 -4.83080535e+01] [-1.82278586e-02 -5.00007365e-05 9.99833858e-01 -5.48228236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.94862385300002 meters 0.016475549239639304 Centerline is valid? [True, True] Translation: X:214.36, Y:-48.32, Z:-5.48 [[ 9.43937165e-01 3.29689885e-01 1.69472199e-02 2.14357741e+02] [-3.29638001e-01 9.44089284e-01 -5.84916922e-03 -4.83153470e+01] [-1.79281006e-02 -6.51994866e-05 9.99839277e-01 -5.48319446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.97862385300002 meters 0.016827449275036637 Centerline is valid? [True, True] Translation: X:214.39, Y:-48.32, Z:-5.48 [[ 9.43637047e-01 3.30545722e-01 1.69896607e-02 2.14385164e+02] [-3.30493770e-01 9.43789976e-01 -5.86085702e-03 -4.83222243e+01] [-1.79719527e-02 -8.44551947e-05 9.99838488e-01 -5.48406784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00862385300002 meters 0.01800920844306973 Centerline is valid? [True, True] Translation: X:214.41, Y:-48.33, Z:-5.49 [[ 9.43055259e-01 3.32263675e-01 1.57362201e-02 2.14412468e+02] [-3.32219414e-01 9.43186534e-01 -5.42435635e-03 -4.83277619e+01] [-1.66445074e-02 -1.12410019e-04 9.99861464e-01 -5.48675417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.03862385300002 meters 0.01821164648117868 Centerline is valid? [True, True] Translation: X:214.44, Y:-48.34, Z:-5.49 [[ 9.42867712e-01 3.32809838e-01 1.54301395e-02 2.14440426e+02] [-3.32767354e-01 9.42993954e-01 -5.31888324e-03 -4.83357693e+01] [-1.63207049e-02 -1.19643417e-04 9.99866801e-01 -5.48724384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06862385300002 meters 0.018713394827559494 Centerline is valid? [True, True] Translation: X:214.47, Y:-48.34, Z:-5.49 [[ 9.42723760e-01 3.33220871e-01 1.53545533e-02 2.14467799e+02] [-3.33178915e-01 9.42848786e-01 -5.28926379e-03 -4.83426938e+01] [-1.62395150e-02 -1.29498763e-04 9.99868122e-01 -5.48839853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.09862385300002 meters 0.019008932094744302 Centerline is valid? [True, True] Translation: X:214.49, Y:-48.35, Z:-5.49 [[ 9.42618171e-01 3.33496220e-01 1.58510436e-02 2.14494087e+02] [-3.33451568e-01 9.42751426e-01 -5.45896345e-03 -4.83491138e+01] [-1.67641376e-02 -1.39837195e-04 9.99859462e-01 -5.48818807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12862385300002 meters 0.01843138774435425 Centerline is valid? [True, True] Translation: X:214.52, Y:-48.36, Z:-5.49 [[ 9.42651975e-01 3.33374391e-01 1.63941981e-02 2.14520204e+02] [-3.33326640e-01 9.42794514e-01 -5.64413401e-03 -4.83583470e+01] [-1.73379697e-02 -1.44168891e-04 9.99849676e-01 -5.48644500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.15862385300002 meters 0.01854703195147395 Centerline is valid? [True, True] Translation: X:214.55, Y:-48.37, Z:-5.49 [[ 9.42677364e-01 3.33264886e-01 1.71435762e-02 2.14547155e+02] [-3.33212741e-01 9.42833226e-01 -5.89723346e-03 -4.83667901e+01] [-1.81288741e-02 -1.53269526e-04 9.99835647e-01 -5.48606384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.18862385300002 meters 0.01876763310258253 Centerline is valid? [True, True] Translation: X:214.57, Y:-48.37, Z:-5.49 [[ 9.42691721e-01 3.33202879e-01 1.75544726e-02 2.14572574e+02] [-3.33148213e-01 9.42855141e-01 -6.03752333e-03 -4.83748956e+01] [-1.85630449e-02 -1.56717920e-04 9.99827680e-01 -5.48599490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.21862385300003 meters 0.01841906015862355 Centerline is valid? [True, True] Translation: X:214.60, Y:-48.38, Z:-5.48 [[ 9.42659715e-01 3.33286190e-01 1.76911513e-02 2.14598480e+02] [-3.33230700e-01 9.42825694e-01 -6.08364280e-03 -4.83842594e+01] [-1.87072662e-02 -1.60429752e-04 9.99824991e-01 -5.48498831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.24862385300003 meters 0.01979838386985011 Centerline is valid? [True, True] Translation: X:214.63, Y:-48.39, Z:-5.49 [[ 9.42522554e-01 3.33682832e-01 1.75215105e-02 2.14625791e+02] [-3.33628555e-01 9.42685387e-01 -6.02069177e-03 -4.83902365e+01] [-1.85262734e-02 -1.71038448e-04 9.99828359e-01 -5.48758401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.27862385300003 meters 0.019228345323680635 Centerline is valid? [True, True] Translation: X:214.65, Y:-48.40, Z:-5.49 [[ 9.42364481e-01 3.34139893e-01 1.73123101e-02 2.14652989e+02] [-3.34086988e-01 9.42523475e-01 -5.94845309e-03 -4.83997639e+01] [-1.83048741e-02 -1.78206630e-04 9.99832436e-01 -5.48721210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.30862385300003 meters 0.02169403551078718 Centerline is valid? [True, True] Translation: X:214.68, Y:-48.40, Z:-5.49 [[ 9.41889321e-01 3.35496675e-01 1.69259819e-02 2.14681594e+02] [-3.35446393e-01 9.42041368e-01 -5.81184304e-03 -4.84023800e+01] [-1.78948292e-02 -2.03646679e-04 9.99839854e-01 -5.49032938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.33862385300003 meters 0.02064161612556496 Centerline is valid? [True, True] Translation: X:214.71, Y:-48.41, Z:-5.49 [[ 9.41718248e-01 3.35996667e-01 1.65221231e-02 2.14709058e+02] [-3.35948837e-01 9.41863152e-01 -5.67300076e-03 -4.84122976e+01] [-1.74676883e-02 -2.08219713e-04 9.99847407e-01 -5.48969973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36862385300003 meters 0.021425817619854258 Centerline is valid? [True, True] Translation: X:214.74, Y:-48.42, Z:-5.49 [[ 9.41479005e-01 3.36687810e-01 1.60810673e-02 2.14736060e+02] [-3.36642663e-01 9.41616308e-01 -5.51783793e-03 -4.84178424e+01] [-1.69999839e-02 -2.18644750e-04 9.99855466e-01 -5.49058399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.398623853 meters 0.021801912687876318 Centerline is valid? [True, True] Translation: X:214.76, Y:-48.43, Z:-5.49 [[ 9.41390737e-01 3.36933337e-01 1.61061232e-02 2.14763611e+02] [-3.36888093e-01 9.41528479e-01 -5.52595582e-03 -4.84254741e+01] [-1.70262524e-02 -2.23877516e-04 9.99855018e-01 -5.49157650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.428623853 meters 0.022012046440936062 Centerline is valid? [True, True] Translation: X:214.79, Y:-48.43, Z:-5.49 [[ 9.41361669e-01 3.37001964e-01 1.63671867e-02 2.14789290e+02] [-3.36955317e-01 9.41503915e-01 -5.61173154e-03 -4.84326298e+01] [-1.73009349e-02 -2.32341638e-04 9.99850301e-01 -5.49162717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.458623853 meters 0.02181898500434558 Centerline is valid? [True, True] Translation: X:214.82, Y:-48.44, Z:-5.49 [[ 9.41468475e-01 3.36700782e-01 1.64223585e-02 2.14816226e+02] [-3.36653786e-01 9.41611667e-01 -5.62999526e-03 -4.84405786e+01] [-1.73591081e-02 -2.28186101e-04 9.99849293e-01 -5.49200809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.488623853 meters 0.02212662819411738 Centerline is valid? [True, True] Translation: X:214.84, Y:-48.45, Z:-5.49 [[ 9.41469265e-01 3.36684691e-01 1.67045504e-02 2.14843165e+02] [-3.36636142e-01 9.41617419e-01 -5.72229295e-03 -4.84466636e+01] [-1.76559040e-02 -2.35992456e-04 9.99844095e-01 -5.49211479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.518623853 meters 0.02197055869337428 Centerline is valid? [True, True] Translation: X:214.87, Y:-48.45, Z:-5.49 [[ 9.41558743e-01 3.36435184e-01 1.66883397e-02 2.14869796e+02] [-3.36386703e-01 9.41706596e-01 -5.71605558e-03 -4.84541207e+01] [-1.76386018e-02 -2.31733471e-04 9.99844401e-01 -5.49302657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.548623853 meters 0.022437320758200277 Centerline is valid? [True, True] Translation: X:214.90, Y:-48.46, Z:-5.49 [[ 9.41488698e-01 3.36624704e-01 1.68178655e-02 2.14897773e+02] [-3.36575578e-01 9.41638864e-01 -5.75585081e-03 -4.84595634e+01] [-1.77739174e-02 -2.41414334e-04 9.99842002e-01 -5.49374244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.578623853 meters 0.02259057176285692 Centerline is valid? [True, True] Translation: X:214.92, Y:-48.47, Z:-5.49 [[ 9.41505980e-01 3.36588185e-01 1.65795995e-02 2.14924469e+02] [-3.36540455e-01 9.41651919e-01 -5.67324512e-03 -4.84669363e+01] [-1.75217590e-02 -2.38311739e-04 9.99846454e-01 -5.49458108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.608623853 meters 0.022733246266394794 Centerline is valid? [True, True] Translation: X:214.95, Y:-48.47, Z:-5.50 [[ 9.41548999e-01 3.36466753e-01 1.66014203e-02 2.14951655e+02] [-3.36418878e-01 9.41695316e-01 -5.68065193e-03 -4.84735806e+01] [-1.75448303e-02 -2.36419072e-04 9.99846050e-01 -5.49557473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.638623853 meters 0.02291860487633852 Centerline is valid? [True, True] Translation: X:214.98, Y:-48.48, Z:-5.50 [[ 9.41565783e-01 3.36422271e-01 1.65509079e-02 2.14978566e+02] [-3.36374740e-01 9.41711208e-01 -5.65998673e-03 -4.84798411e+01] [-1.74903211e-02 -2.38057509e-04 9.99847004e-01 -5.49635810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.668623853 meters 0.02305210719136624 Centerline is valid? [True, True] Translation: X:215.01, Y:-48.48, Z:-5.50 [[ 9.41605782e-01 3.36294720e-01 1.68645182e-02 2.15005313e+02] [-3.36245428e-01 9.41756764e-01 -5.76288713e-03 -4.84838805e+01] [-1.78203026e-02 -2.44249300e-04 9.99841176e-01 -5.49592298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.69862385300002 meters 0.023969368999828607 Centerline is valid? [True, True] Translation: X:215.03, Y:-48.49, Z:-5.50 [[ 9.41777675e-01 3.35791216e-01 1.72936115e-02 2.15033043e+02] [-3.35739331e-01 9.41936410e-01 -5.90775830e-03 -4.84890433e+01] [-1.82732557e-02 -2.42350677e-04 9.99833001e-01 -5.49759228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72862385300002 meters 0.021941584693092802 Centerline is valid? [True, True] Translation: X:215.06, Y:-48.50, Z:-5.50 [[ 9.42219759e-01 3.34567052e-01 1.69355941e-02 2.15060776e+02] [-3.34517100e-01 9.42371923e-01 -5.78518909e-03 -4.84971896e+01] [-1.78951620e-02 -2.14326336e-04 9.99839846e-01 -5.49766968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.75862385300002 meters 0.021395434965864345 Centerline is valid? [True, True] Translation: X:215.09, Y:-48.51, Z:-5.50 [[ 9.42526029e-01 3.33711726e-01 1.67680547e-02 2.15088788e+02] [-3.33662673e-01 9.42675153e-01 -5.72506431e-03 -4.85055928e+01] [-1.77173496e-02 -1.98851817e-04 9.99843016e-01 -5.49913795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78862385300002 meters 0.020852254231500344 Centerline is valid? [True, True] Translation: X:215.12, Y:-48.51, Z:-5.50 [[ 9.42843956e-01 3.32826003e-01 1.64962704e-02 2.15115847e+02] [-3.32778438e-01 9.42988239e-01 -5.62963561e-03 -4.85137736e+01] [-1.74294781e-02 -1.81735190e-04 9.99848079e-01 -5.50074274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.81862385300002 meters 0.020258712339902462 Centerline is valid? [True, True] Translation: X:215.14, Y:-48.52, Z:-5.50 [[ 9.43194408e-01 3.31842783e-01 1.62688552e-02 2.15143531e+02] [-3.31796432e-01 9.43334691e-01 -5.54865801e-03 -4.85221686e+01] [-1.71882576e-02 -1.64484897e-04 9.99852257e-01 -5.50178777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84862385300002 meters 0.019244393290640826 Centerline is valid? [True, True] Translation: X:215.17, Y:-48.53, Z:-5.50 [[ 9.43750883e-01 3.30270459e-01 1.59904816e-02 2.15170538e+02] [-3.30225516e-01 9.43886331e-01 -5.45010826e-03 -4.85284876e+01] [-1.68932067e-02 -1.36920540e-04 9.99857290e-01 -5.50332183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.87862385300002 meters 0.01887954032263468 Centerline is valid? [True, True] Translation: X:215.20, Y:-48.54, Z:-5.50 [[ 9.44053582e-01 3.29412332e-01 1.58224618e-02 2.15197607e+02] [-3.29368205e-01 9.44186158e-01 -5.39296412e-03 -4.85356155e+01] [-1.67158583e-02 -1.20168748e-04 9.99860273e-01 -5.50399026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90862385300002 meters 0.018441381668797663 Centerline is valid? [True, True] Translation: X:215.22, Y:-48.54, Z:-5.50 [[ 9.44293898e-01 3.28709350e-01 1.60996036e-02 2.15224444e+02] [-3.28663636e-01 9.44431125e-01 -5.48309884e-03 -4.85428772e+01] [-1.70073126e-02 -1.13697471e-04 9.99855359e-01 -5.50470291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.93862385300002 meters 0.01704993069441866 Centerline is valid? [True, True] Translation: X:215.25, Y:-48.55, Z:-5.50 [[ 9.44848803e-01 3.27115634e-01 1.60031713e-02 2.15252556e+02] [-3.27070237e-01 9.44984315e-01 -5.45025210e-03 -4.85496887e+01] [-1.69056085e-02 -8.44968557e-05 9.99857086e-01 -5.50312065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96862385300003 meters 0.01727737767103677 Centerline is valid? [True, True] Translation: X:215.28, Y:-48.56, Z:-5.51 [[ 9.45149064e-01 3.26239827e-01 1.61499580e-02 2.15279055e+02] [-3.26193523e-01 9.45287030e-01 -5.49688759e-03 -4.85551980e+01] [-1.70596495e-02 -7.26335539e-05 9.99854471e-01 -5.50576840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.99862385300003 meters 0.016899498388993052 Centerline is valid? [True, True] Translation: X:215.31, Y:-48.56, Z:-5.51 [[ 9.45461987e-01 3.25317858e-01 1.64293093e-02 2.15306361e+02] [-3.25269835e-01 9.45604721e-01 -5.58987880e-03 -4.85627254e+01] [-1.73541199e-02 -5.89408201e-05 9.99849404e-01 -5.50618001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.02862385300003 meters 0.01678073630097039 Centerline is valid? [True, True] Translation: X:215.33, Y:-48.57, Z:-5.51 [[ 9.45707086e-01 3.24607206e-01 1.63789472e-02 2.15333629e+02] [-3.24559425e-01 9.45848909e-01 -5.56957087e-03 -4.85703734e+01] [-1.72999322e-02 -4.87590572e-05 9.99850344e-01 -5.50673796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.05862385300003 meters 0.016343225141110654 Centerline is valid? [True, True] Translation: X:215.36, Y:-48.58, Z:-5.51 [[ 9.46185239e-01 3.23199321e-01 1.66039640e-02 2.15360943e+02] [-3.23150059e-01 9.46330914e-01 -5.64283434e-03 -4.85763240e+01] [-1.75366046e-02 -2.64053647e-05 9.99846222e-01 -5.50656855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08862385300003 meters 0.015968516706896405 Centerline is valid? [True, True] Translation: X:215.39, Y:-48.58, Z:-5.50 [[ 9.46477539e-01 3.22344335e-01 1.65649375e-02 2.15388308e+02] [-3.22295225e-01 9.46622485e-01 -5.62656897e-03 -4.85833763e+01] [-1.74944350e-02 -1.33791233e-05 9.99846961e-01 -5.50466039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.11862385300003 meters 0.016343070440134704 Centerline is valid? [True, True] Translation: X:215.41, Y:-48.59, Z:-5.51 [[ 9.46832484e-01 3.21302983e-01 1.65118283e-02 2.15413925e+02] [-3.21254099e-01 9.46976448e-01 -5.60451779e-03 -4.85900636e+01] [-1.74370608e-02 2.04696650e-06 9.99847963e-01 -5.50841601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.148623853 meters 0.01640014940670013 Centerline is valid? [True, True] Translation: X:215.44, Y:-48.60, Z:-5.51 [[ 9.47268939e-01 3.20015433e-01 1.64827357e-02 2.15439312e+02] [-3.19966576e-01 9.47412330e-01 -5.59177774e-03 -4.85980550e+01] [-1.74054022e-02 2.29928673e-05 9.99848514e-01 -5.50949466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.178623853 meters 0.0173601896705206 Centerline is valid? [True, True] Translation: X:215.47, Y:-48.61, Z:-5.51 [[ 9.48222343e-01 3.17187946e-01 1.63155029e-02 2.15465475e+02] [-3.17139679e-01 9.48362695e-01 -5.53374966e-03 -4.86065020e+01] [-1.72282530e-02 7.29317250e-05 9.99851580e-01 -5.51037464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.208623853 meters 0.01840033777792693 Centerline is valid? [True, True] Translation: X:215.49, Y:-48.62, Z:-5.51 [[ 9.48780319e-01 3.15509641e-01 1.64186618e-02 2.15492623e+02] [-3.15460528e-01 9.48922365e-01 -5.56774995e-03 -4.86161672e+01] [-1.73367142e-02 1.03131853e-04 9.99849703e-01 -5.51111311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.238623853 meters 0.021331342223532578 Centerline is valid? [True, True] Translation: X:215.52, Y:-48.63, Z:-5.51 [[ 9.50096154e-01 3.11481325e-01 1.72244590e-02 2.15518847e+02] [-3.11426671e-01 9.50252256e-01 -5.83760295e-03 -4.86272120e+01] [-1.81858854e-02 1.82128169e-04 9.99834607e-01 -5.50951178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.268623853 meters 0.0207270086166307 Centerline is valid? [True, True] Translation: X:215.55, Y:-48.63, Z:-5.51 [[ 9.50791613e-01 3.09346974e-01 1.73135098e-02 2.15547019e+02] [-3.09291403e-01 9.50949210e-01 -5.86757297e-03 -4.86340185e+01] [-1.82793844e-02 2.23919449e-04 9.99832893e-01 -5.50726586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.298623853 meters 0.022201806985391967 Centerline is valid? [True, True] Translation: X:215.57, Y:-48.64, Z:-5.51 [[ 9.51663345e-01 3.06657968e-01 1.72559590e-02 2.15574297e+02] [-3.06602380e-01 9.51819740e-01 -5.84496233e-03 -4.86443810e+01] [-1.82169667e-02 2.71718301e-04 9.99834020e-01 -5.50773736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.328623853 meters 0.03567346661336938 Centerline is valid? [True, True] Translation: X:215.60, Y:-48.66, Z:-5.50 [[ 9.52574905e-01 3.03840395e-01 1.67947590e-02 2.15597255e+02] [-3.03787368e-01 9.52722896e-01 -5.68497109e-03 -4.86623866e+01] [-1.77280753e-02 3.13325149e-04 9.99842796e-01 -5.50449915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.358623853 meters 0.028937006994364037 Centerline is valid? [True, True] Translation: X:215.63, Y:-48.67, Z:-5.51 [[ 9.54033833e-01 2.99230070e-01 1.67573799e-02 2.15625860e+02] [-2.99176597e-01 9.54180909e-01 -5.67060807e-03 -4.86700863e+01] [-1.76863885e-02 3.96536048e-04 9.99843505e-01 -5.51035012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.388623853 meters 0.03222931760242265 Centerline is valid? [True, True] Translation: X:215.65, Y:-48.68, Z:-5.51 [[ 9.54786030e-01 2.96832169e-01 1.65620015e-02 2.15651576e+02] [-2.96779579e-01 9.54929565e-01 -5.60426078e-03 -4.86832253e+01] [-1.74790697e-02 4.35606076e-04 9.99847134e-01 -5.51152496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.418623853 meters 0.04299710979917078 Centerline is valid? [True, True] Translation: X:215.68, Y:-48.70, Z:-5.50 [[ 9.56126247e-01 2.92516344e-01 1.60246324e-02 2.15678946e+02] [-2.92466524e-01 9.56260394e-01 -5.42132628e-03 -4.86968416e+01] [-1.69095479e-02 4.96803802e-04 9.99856900e-01 -5.50343207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.44862385300002 meters 0.038457710834680386 Centerline is valid? [True, True] Translation: X:215.70, Y:-48.71, Z:-5.51 [[ 9.56670523e-01 2.90702624e-01 1.65376654e-02 2.15704757e+02] [-2.90649276e-01 9.56813297e-01 -5.59579962e-03 -4.87089106e+01] [-1.74501718e-02 5.46676069e-04 9.99847585e-01 -5.51358009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.47862385300002 meters 0.040906821149544664 Centerline is valid? [True, True] Translation: X:215.73, Y:-48.72, Z:-5.51 [[ 9.57223194e-01 2.88891346e-01 1.62956255e-02 2.15730446e+02] [-2.88839353e-01 9.57361723e-01 -5.50997559e-03 -4.87218190e+01] [-1.71925924e-02 5.67458508e-04 9.99852035e-01 -5.51456054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50862385300002 meters 0.04566816950449907 Centerline is valid? [True, True] Translation: X:215.75, Y:-48.74, Z:-5.51 [[ 9.58146309e-01 2.85766734e-01 1.71179433e-02 2.15754763e+02] [-2.85708877e-01 9.58298985e-01 -5.78723337e-03 -4.87398682e+01] [-1.80579065e-02 6.54267934e-04 9.99836729e-01 -5.51391770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.53862385300002 meters 0.045324413912027774 Centerline is valid? [True, True] Translation: X:215.78, Y:-48.75, Z:-5.51 [[ 9.58538382e-01 2.84441803e-01 1.72346215e-02 2.15781518e+02] [-2.84382943e-01 9.58693065e-01 -5.82649298e-03 -4.87497132e+01] [-1.81800103e-02 6.83684767e-04 9.99834496e-01 -5.51361206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56862385300002 meters 0.049940204123101024 Centerline is valid? [True, True] Translation: X:215.81, Y:-48.77, Z:-5.52 [[ 9.58849886e-01 2.83409007e-01 1.69183683e-02 2.15805437e+02] [-2.83352146e-01 9.58998884e-01 -5.71853321e-03 -4.87655364e+01] [-1.78453801e-02 6.89358956e-04 9.99840521e-01 -5.51547305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.59862385300002 meters 0.049940204123101024 Centerline is valid? [True, True] Translation: X:215.83, Y:-48.77, Z:-5.52 [[ 9.58868295e-01 2.83346698e-01 1.69186702e-02 2.15831541e+02] [-2.83289844e-01 9.59017295e-01 -5.71763976e-03 -4.87742171e+01] [-1.78453717e-02 6.89576051e-04 9.99840521e-01 -5.51616502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62862385300002 meters 0.047057759399124766 Centerline is valid? [True, True] Translation: X:215.86, Y:-48.78, Z:-5.52 [[ 9.59055369e-01 2.82733647e-01 1.65675658e-02 2.15859461e+02] [-2.82679060e-01 9.59198215e-01 -5.59766060e-03 -4.87806634e+01] [-1.74742265e-02 6.85162529e-04 9.99847079e-01 -5.51644447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.65862385300002 meters 0.04878721546459006 Centerline is valid? [True, True] Translation: X:215.88, Y:-48.79, Z:-5.52 [[ 9.58934603e-01 2.83147503e-01 1.64899515e-02 2.15883921e+02] [-2.83093500e-01 9.59076137e-01 -5.57070348e-03 -4.87948075e+01] [-1.73924498e-02 6.73742241e-04 9.99848513e-01 -5.51772469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68862385300002 meters 0.05382851298767645 Centerline is valid? [True, True] Translation: X:215.91, Y:-48.80, Z:-5.51 [[ 9.58749741e-01 2.83827906e-01 1.55130033e-02 2.15911762e+02] [-2.83780212e-01 9.58875035e-01 -5.24003439e-03 -4.88035756e+01] [-1.63622995e-02 6.21598267e-04 9.99865935e-01 -5.50940989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.71862385300003 meters 0.04582119957216233 Centerline is valid? [True, True] Translation: X:215.94, Y:-48.81, Z:-5.52 [[ 9.58313753e-01 2.85267039e-01 1.60457717e-02 2.15938767e+02] [-2.85216246e-01 9.58447879e-01 -5.41809782e-03 -4.88125101e+01] [-1.69246406e-02 6.15722887e-04 9.99856578e-01 -5.51945594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.74862385300003 meters 0.04207191615756959 Centerline is valid? [True, True] Translation: X:215.97, Y:-48.82, Z:-5.52 [[ 9.57126638e-01 2.89253468e-01 1.55251173e-02 2.15966731e+02] [-2.89206456e-01 9.57252398e-01 -5.24134793e-03 -4.88196678e+01] [-1.63775338e-02 5.26669565e-04 9.99865740e-01 -5.52156031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.77862385300003 meters 0.04269999962317025 Centerline is valid? [True, True] Translation: X:215.99, Y:-48.83, Z:-5.52 [[ 9.56474488e-01 2.91445144e-01 1.47065347e-02 2.15993786e+02] [-2.91403218e-01 9.56587431e-01 -4.96499896e-03 -4.88264843e+01] [-1.55151111e-02 4.63363304e-04 9.99879526e-01 -5.51607577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.80862385300003 meters 0.030498741388832396 Centerline is valid? [True, True] Translation: X:216.03, Y:-48.83, Z:-5.52 [[ 9.54783935e-01 2.96914659e-01 1.51434129e-02 2.16025936e+02] [-2.96870913e-01 9.54903941e-01 -5.11111633e-03 -4.88263676e+01] [-1.59780700e-02 3.84372947e-04 9.99872269e-01 -5.52124581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.83862385300003 meters 0.027430389647638265 Centerline is valid? [True, True] Translation: X:216.05, Y:-48.83, Z:-5.52 [[ 9.53914810e-01 2.99683294e-01 1.53772304e-02 2.16054430e+02] [-2.99638544e-01 9.54038681e-01 -5.19010790e-03 -4.88323435e+01] [-1.62258613e-02 3.43309852e-04 9.99868293e-01 -5.52166856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86862385300003 meters 0.025718554269717437 Centerline is valid? [True, True] Translation: X:216.08, Y:-48.84, Z:-5.52 [[ 9.53048238e-01 3.02429791e-01 1.53387917e-02 2.16081850e+02] [-3.02385633e-01 9.53171619e-01 -5.17631723e-03 -4.88399544e+01] [-1.61859735e-02 2.95049763e-04 9.99868955e-01 -5.52273308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.898623853 meters 0.023832907161364648 Centerline is valid? [True, True] Translation: X:216.11, Y:-48.85, Z:-5.52 [[ 9.52301995e-01 3.04772403e-01 1.53196804e-02 2.16109223e+02] [-3.04728653e-01 9.52425177e-01 -5.17015014e-03 -4.88469992e+01] [-1.61665684e-02 2.55198709e-04 9.99869280e-01 -5.52339646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.928623853 meters 0.019852970652991523 Centerline is valid? [True, True] Translation: X:216.14, Y:-48.85, Z:-5.52 [[ 9.50741741e-01 3.09598182e-01 1.54631205e-02 2.16138134e+02] [-3.09554310e-01 9.50867465e-01 -5.21462510e-03 -4.88518142e+01] [-1.63178167e-02 1.71086132e-04 9.99866841e-01 -5.52390946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.958623853 meters 0.01872457867571774 Centerline is valid? [True, True] Translation: X:216.16, Y:-48.86, Z:-5.52 [[ 9.50083376e-01 3.11616891e-01 1.53782962e-02 2.16164913e+02] [-3.11573775e-01 9.50207817e-01 -5.18532809e-03 -4.88591000e+01] [-1.62284131e-02 1.35020213e-04 9.99868302e-01 -5.52457334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.988623853 meters 0.01748241402761737 Centerline is valid? [True, True] Translation: X:216.19, Y:-48.87, Z:-5.53 [[ 9.48831867e-01 3.15415660e-01 1.52003521e-02 2.16192346e+02] [-3.15374039e-01 9.48953612e-01 -5.12433608e-03 -4.88651696e+01] [-1.60407249e-02 6.83369316e-05 9.99871337e-01 -5.52772162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.018623853 meters 0.01639552832990391 Centerline is valid? [True, True] Translation: X:216.22, Y:-48.87, Z:-5.53 [[ 9.48232311e-01 3.17214243e-01 1.51857837e-02 2.16220439e+02] [-3.17172928e-01 9.48353902e-01 -5.11966279e-03 -4.88707599e+01] [-1.60255272e-02 3.81101929e-05 9.99871582e-01 -5.52667254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.048623853 meters 0.016053704882939772 Centerline is valid? [True, True] Translation: X:216.25, Y:-48.88, Z:-5.53 [[ 9.47703070e-01 3.18782717e-01 1.53776045e-02 2.16248012e+02] [-3.18740610e-01 9.47827822e-01 -5.18113907e-03 -4.88771435e+01] [-1.62269789e-02 8.71437390e-06 9.99868334e-01 -5.52668210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.078623853 meters 0.016244893124340368 Centerline is valid? [True, True] Translation: X:216.28, Y:-48.88, Z:-5.53 [[ 9.47151310e-01 3.20422389e-01 1.52934258e-02 2.16275516e+02] [-3.20381006e-01 9.47274771e-01 -5.14961083e-03 -4.88835155e+01] [-1.61371271e-02 -2.22625122e-05 9.99869788e-01 -5.52727283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.108623853 meters 0.017044157858781196 Centerline is valid? [True, True] Translation: X:216.30, Y:-48.89, Z:-5.53 [[ 9.46096773e-01 3.23483999e-01 1.60934218e-02 2.16303190e+02] [-3.23438696e-01 9.46233637e-01 -5.41429429e-03 -4.88874226e+01] [-1.69795746e-02 -8.27889887e-05 9.99855833e-01 -5.52647840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.138623853 meters 0.017669105923688422 Centerline is valid? [True, True] Translation: X:216.33, Y:-48.89, Z:-5.53 [[ 9.45667135e-01 3.24731807e-01 1.62149141e-02 2.16330426e+02] [-3.24686018e-01 9.45806134e-01 -5.45410682e-03 -4.88936245e+01] [-1.71072872e-02 -1.06986331e-04 9.99853654e-01 -5.52706142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.168623853 meters 0.01804837522193226 Centerline is valid? [True, True] Translation: X:216.36, Y:-48.90, Z:-5.53 [[ 9.45497091e-01 3.25220317e-01 1.63400425e-02 2.16357396e+02] [-3.25173893e-01 9.45638267e-01 -5.49618414e-03 -4.89008335e+01] [-1.72392402e-02 -1.16729119e-04 9.99851386e-01 -5.52756794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.19862385300002 meters 0.018594702651129762 Centerline is valid? [True, True] Translation: X:216.38, Y:-48.91, Z:-5.53 [[ 9.45346710e-01 3.25673812e-01 1.60051927e-02 2.16384324e+02] [-3.25629408e-01 9.45482180e-01 -5.37929212e-03 -4.89081022e+01] [-1.68845190e-02 -1.26465309e-04 9.99857438e-01 -5.52880307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22862385300002 meters 0.01863793606302807 Centerline is valid? [True, True] Translation: X:216.41, Y:-48.92, Z:-5.53 [[ 9.45475666e-01 3.25332870e-01 1.53065089e-02 2.16410763e+02] [-3.25292209e-01 9.45599551e-01 -5.14474578e-03 -4.89159073e+01] [-1.61475829e-02 -1.14856158e-04 9.99869613e-01 -5.53079378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.25862385300002 meters 0.018373285375586412 Centerline is valid? [True, True] Translation: X:216.44, Y:-48.93, Z:-5.53 [[ 9.45712196e-01 3.24648293e-01 1.52292214e-02 2.16437138e+02] [-3.24608001e-01 9.45834803e-01 -5.11571889e-03 -4.89250569e+01] [-1.60651370e-02 -1.05529375e-04 9.99870942e-01 -5.53175778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28862385300002 meters 0.017828878851322505 Centerline is valid? [True, True] Translation: X:216.46, Y:-48.93, Z:-5.53 [[ 9.45996873e-01 3.23799471e-01 1.56147038e-02 2.16464473e+02] [-3.23757055e-01 9.46125728e-01 -5.24172099e-03 -4.89346492e+01] [-1.64707395e-02 -9.67188479e-05 9.99864343e-01 -5.53164991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.31862385300002 meters 0.017045248236820354 Centerline is valid? [True, True] Translation: X:216.49, Y:-48.95, Z:-5.53 [[ 9.46573909e-01 3.22100430e-01 1.57844265e-02 2.16490613e+02] [-3.22056913e-01 9.46705502e-01 -5.29496946e-03 -4.89454311e+01] [-1.66487153e-02 -7.14037213e-05 9.99861398e-01 -5.53202988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34862385300002 meters 0.016731717848191913 Centerline is valid? [True, True] Translation: X:216.52, Y:-48.96, Z:-5.53 [[ 9.46954087e-01 3.20983569e-01 1.57323218e-02 2.16517019e+02] [-3.20940183e-01 9.47084762e-01 -5.27761783e-03 -4.89554088e+01] [-1.65938709e-02 -5.14724754e-05 9.99862311e-01 -5.53297405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.37862385300002 meters 0.021559390264640352 Centerline is valid? [True, True] Translation: X:216.54, Y:-48.96, Z:-5.53 [[ 9.47351245e-01 3.19835155e-01 1.52017145e-02 2.16543691e+02] [-3.19794544e-01 9.47473204e-01 -5.09676208e-03 -4.89641446e+01] [-1.60333408e-02 -3.30014358e-05 9.99871457e-01 -5.52741253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40862385300002 meters 0.016272026801701023 Centerline is valid? [True, True] Translation: X:216.57, Y:-48.97, Z:-5.53 [[ 9.47810419e-01 3.18435887e-01 1.59372561e-02 2.16569106e+02] [-3.18391128e-01 9.47944400e-01 -5.33894197e-03 -4.89747447e+01] [-1.68077434e-02 -1.39761107e-05 9.99858740e-01 -5.53382265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.43862385300002 meters 0.016315308678237862 Centerline is valid? [True, True] Translation: X:216.60, Y:-48.98, Z:-5.54 [[ 9.48128700e-01 3.17490572e-01 1.58652187e-02 2.16595769e+02] [-3.17446082e-01 9.48261428e-01 -5.31491524e-03 -4.89842914e+01] [-1.67318104e-02 2.87214604e-06 9.99860013e-01 -5.53502354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.46862385300003 meters 0.016371040338852824 Centerline is valid? [True, True] Translation: X:216.62, Y:-48.99, Z:-5.54 [[ 9.48454403e-01 3.16531905e-01 1.55498758e-02 2.16621107e+02] [-3.16489094e-01 9.48581864e-01 -5.20582340e-03 -4.89938453e+01] [-1.63981394e-02 1.61200246e-05 9.99865541e-01 -5.53650000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.49862385300003 meters 0.016968335319176405 Centerline is valid? [True, True] Translation: X:216.65, Y:-49.01, Z:-5.54 [[ 9.49251678e-01 3.14137325e-01 1.54594028e-02 2.16646803e+02] [-3.14094732e-01 9.49377553e-01 -5.17313755e-03 -4.90053639e+01] [-1.63018856e-02 5.48925164e-05 9.99867114e-01 -5.53772372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52862385300003 meters 0.017558905039085852 Centerline is valid? [True, True] Translation: X:216.67, Y:-49.02, Z:-5.54 [[ 9.49636172e-01 3.12988680e-01 1.51402314e-02 2.16673908e+02] [-3.12947692e-01 9.49756853e-01 -5.06567581e-03 -4.90163055e+01] [-1.59650377e-02 7.24485058e-05 9.99872548e-01 -5.53909026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.55862385300003 meters 0.01815365449722391 Centerline is valid? [True, True] Translation: X:216.70, Y:-49.03, Z:-5.54 [[ 9.50035657e-01 3.11774704e-01 1.51255975e-02 2.16700285e+02] [-3.11733682e-01 9.50156053e-01 -5.05825043e-03 -4.90271829e+01] [-1.59487125e-02 9.03600796e-05 9.99872807e-01 -5.53991986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.58862385300003 meters 0.01908086712291165 Centerline is valid? [True, True] Translation: X:216.73, Y:-49.04, Z:-5.54 [[ 9.50469265e-01 3.10465531e-01 1.48098022e-02 2.16725929e+02] [-3.10426093e-01 9.50584632e-01 -4.94955008e-03 -4.90376395e+01] [-1.56146350e-02 1.07046208e-04 9.99878078e-01 -5.54064547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.61862385300003 meters 0.019024387887272554 Centerline is valid? [True, True] Translation: X:216.75, Y:-49.05, Z:-5.54 [[ 9.50426874e-01 3.10580579e-01 1.51149144e-02 2.16752609e+02] [-3.10539540e-01 9.50547049e-01 -5.04987606e-03 -4.90458961e+01] [-1.59358307e-02 1.05759368e-04 9.99873011e-01 -5.54119591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.648623853 meters 0.018799164204255404 Centerline is valid? [True, True] Translation: X:216.78, Y:-49.05, Z:-5.54 [[ 9.50452282e-01 3.10484390e-01 1.54887953e-02 2.16779988e+02] [-3.10441281e-01 9.50578472e-01 -5.17492676e-03 -4.90538205e+01] [-1.63300493e-02 1.10159507e-04 9.99866650e-01 -5.54060933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.678623853 meters 0.016842583435857636 Centerline is valid? [True, True] Translation: X:216.81, Y:-49.06, Z:-5.54 [[ 9.49999660e-01 3.11820053e-01 1.63982021e-02 2.16809206e+02] [-3.11771990e-01 9.50141172e-01 -5.47538778e-03 -4.90580057e+01] [-1.72879426e-02 8.91164327e-05 9.99850548e-01 -5.53689261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.708623853 meters 0.016592330509319332 Centerline is valid? [True, True] Translation: X:216.84, Y:-49.06, Z:-5.54 [[ 9.49702928e-01 3.12732314e-01 1.62125844e-02 2.16835474e+02] [-3.12685521e-01 9.49841300e-01 -5.41014538e-03 -4.90645458e+01] [-1.70913095e-02 6.85905054e-05 9.99853931e-01 -5.53801001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.738623853 meters 0.016290809373616925 Centerline is valid? [True, True] Translation: X:216.86, Y:-49.07, Z:-5.54 [[ 9.49449756e-01 3.13509855e-01 1.60228243e-02 2.16862933e+02] [-3.13464292e-01 9.49584945e-01 -5.34505634e-03 -4.90708928e+01] [-1.68907605e-02 5.22791811e-05 9.99857340e-01 -5.53872003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.768623853 meters 0.01612156639041572 Centerline is valid? [True, True] Translation: X:216.89, Y:-49.08, Z:-5.54 [[ 9.49138530e-01 3.14459974e-01 1.58421912e-02 2.16890234e+02] [-3.14415619e-01 9.49270732e-01 -5.28154786e-03 -4.90767365e+01] [-1.66993638e-02 3.18882196e-05 9.99860555e-01 -5.53985059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.798623853 meters 0.01646138955526594 Centerline is valid? [True, True] Translation: X:216.92, Y:-49.08, Z:-5.54 [[ 9.48239054e-01 3.17180190e-01 1.54733073e-02 2.16918293e+02] [-3.17138299e-01 9.48365292e-01 -5.15485177e-03 -4.90781784e+01] [-1.63093644e-02 -1.91465860e-05 9.99866993e-01 -5.54259290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.828623853 meters 0.016426729721325823 Centerline is valid? [True, True] Translation: X:216.95, Y:-49.08, Z:-5.54 [[ 9.47796282e-01 3.18487185e-01 1.57518667e-02 2.16945935e+02] [-3.18443982e-01 9.47927166e-01 -5.24585707e-03 -4.90827512e+01] [-1.66023606e-02 -4.40833459e-05 9.99862170e-01 -5.54146809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.858623853 meters 0.017710790243803672 Centerline is valid? [True, True] Translation: X:216.98, Y:-49.08, Z:-5.54 [[ 9.46696697e-01 3.21714541e-01 1.62824231e-02 2.16975304e+02] [-3.21668931e-01 9.46836703e-01 -5.41816457e-03 -4.90832177e+01] [-1.71598982e-02 -1.08191141e-04 9.99852752e-01 -5.54152049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.888623853 meters 0.01838658273606075 Centerline is valid? [True, True] Translation: X:217.00, Y:-49.09, Z:-5.54 [[ 9.46300424e-01 3.22854903e-01 1.67397305e-02 2.17003051e+02] [-3.22806907e-01 9.46448463e-01 -5.56842172e-03 -4.90879359e+01] [-1.76410845e-02 -1.34300790e-04 9.99844375e-01 -5.54149729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.918623853 meters 0.02070971582759266 Centerline is valid? [True, True] Translation: X:217.03, Y:-49.09, Z:-5.54 [[ 9.45963775e-01 3.23828239e-01 1.69648850e-02 2.17031923e+02] [-3.23779119e-01 9.46115874e-01 -5.64220791e-03 -4.90904896e+01] [-1.78778532e-02 -1.55551224e-04 9.99840166e-01 -5.54429096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.94862385300002 meters 0.01959331670755304 Centerline is valid? [True, True] Translation: X:217.06, Y:-49.10, Z:-5.54 [[ 9.45634500e-01 3.24813926e-01 1.64713405e-02 2.17059913e+02] [-3.24767775e-01 9.45777926e-01 -5.47794494e-03 -4.90965304e+01] [-1.73575430e-02 -1.69226862e-04 9.99849332e-01 -5.54308148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.97862385300002 meters 0.02043148600240555 Centerline is valid? [True, True] Translation: X:217.09, Y:-49.10, Z:-5.55 [[ 9.45582666e-01 3.24984183e-01 1.60842466e-02 2.17087753e+02] [-3.24940263e-01 9.45719436e-01 -5.34544584e-03 -4.91012386e+01] [-1.69483700e-02 -1.71858419e-04 9.99856351e-01 -5.54539586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00862385300002 meters 0.01977078215881712 Centerline is valid? [True, True] Translation: X:217.11, Y:-49.11, Z:-5.55 [[ 9.45746055e-01 3.24512605e-01 1.59990490e-02 2.17114436e+02] [-3.24469080e-01 9.45881358e-01 -5.31722975e-03 -4.91084166e+01] [-1.68587103e-02 -1.62447665e-04 9.99857869e-01 -5.54584748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.03862385300002 meters 0.018716228863304315 Centerline is valid? [True, True] Translation: X:217.14, Y:-49.12, Z:-5.55 [[ 9.46480141e-01 3.22332420e-01 1.66479107e-02 2.17141642e+02] [-3.22285035e-01 9.46626533e-01 -5.52839602e-03 -4.91154023e+01] [-1.75413353e-02 -1.32855439e-04 9.99846130e-01 -5.54647159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06862385300002 meters 0.018324539029622743 Centerline is valid? [True, True] Translation: X:217.17, Y:-49.12, Z:-5.55 [[ 9.46968094e-01 3.20897118e-01 1.66273215e-02 2.17168033e+02] [-3.20849660e-01 9.47114052e-01 -5.51973098e-03 -4.91238515e+01] [-1.75192356e-02 -1.07861326e-04 9.99846521e-01 -5.54804495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.09862385300002 meters 0.01694110613523385 Centerline is valid? [True, True] Translation: X:217.19, Y:-49.14, Z:-5.55 [[ 9.47683027e-01 3.18779979e-01 1.66194625e-02 2.17194853e+02] [-3.18732244e-01 9.47828740e-01 -5.51689891e-03 -4.91352150e+01] [-1.75110811e-02 -6.88871281e-05 9.99846667e-01 -5.54786721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.12862385300002 meters 0.01642524677110587 Centerline is valid? [True, True] Translation: X:217.22, Y:-49.15, Z:-5.55 [[ 9.48882269e-01 3.15223159e-01 1.60249591e-02 2.17220442e+02] [-3.15178330e-01 9.49017576e-01 -5.31603603e-03 -4.91467395e+01] [-1.68837055e-02 -6.42751315e-06 9.99857460e-01 -5.55044269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.15862385300002 meters 0.016462796427387565 Centerline is valid? [True, True] Translation: X:217.25, Y:-49.16, Z:-5.55 [[ 9.49579663e-01 3.13126941e-01 1.58108585e-02 2.17246940e+02] [-3.13083008e-01 9.49711281e-01 -5.24521866e-03 -4.91567149e+01] [-1.66581699e-02 3.06418420e-05 9.99861243e-01 -5.54942827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.18862385300002 meters 0.017107123593050062 Centerline is valid? [True, True] Translation: X:217.27, Y:-49.17, Z:-5.55 [[ 9.50076880e-01 3.11615683e-01 1.57983396e-02 2.17272969e+02] [-3.11571684e-01 9.50208221e-01 -5.23665691e-03 -4.91667471e+01] [-1.66435366e-02 5.29113803e-05 9.99861485e-01 -5.55233586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.21862385300003 meters 0.018187139169992594 Centerline is valid? [True, True] Translation: X:217.30, Y:-49.18, Z:-5.55 [[ 9.51321801e-01 3.07756470e-01 1.65162271e-02 2.17300002e+02] [-3.07707803e-01 9.51465154e-01 -5.47433661e-03 -4.91771257e+01] [-1.73993771e-02 1.25683787e-04 9.99848611e-01 -5.55005798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.24862385300003 meters 0.019113061850247456 Centerline is valid? [True, True] Translation: X:217.33, Y:-49.19, Z:-5.55 [[ 9.51830743e-01 3.06174950e-01 1.65872358e-02 2.17326362e+02] [-3.06125691e-01 9.51975250e-01 -5.49399944e-03 -4.91873648e+01] [-1.74727630e-02 1.51578542e-04 9.99847328e-01 -5.55082875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.27862385300003 meters 0.020071386112657692 Centerline is valid? [True, True] Translation: X:217.35, Y:-49.20, Z:-5.55 [[ 9.52317366e-01 3.04664570e-01 1.64661195e-02 2.17353642e+02] [-3.04615806e-01 9.52459694e-01 -5.45368930e-03 -4.91977873e+01] [-1.73448611e-02 1.77802754e-04 9.99849551e-01 -5.55237453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.30862385300003 meters 0.022016509519201678 Centerline is valid? [True, True] Translation: X:217.38, Y:-49.21, Z:-5.56 [[ 9.52987412e-01 3.02608020e-01 1.56005649e-02 2.17379648e+02] [-3.02564030e-01 9.53115075e-01 -5.16351280e-03 -4.92075881e+01] [-1.64316539e-02 2.00592923e-04 9.99864971e-01 -5.55505890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.33862385300003 meters 0.022498732565197018 Centerline is valid? [True, True] Translation: X:217.41, Y:-49.22, Z:-5.56 [[ 9.53185099e-01 3.02005639e-01 1.51908074e-02 2.17407078e+02] [-3.01963852e-01 9.53306117e-01 -5.02795429e-03 -4.92160218e+01] [-1.59999601e-02 2.05496395e-04 9.99871971e-01 -5.55639990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36862385300003 meters 0.022756881815040767 Centerline is valid? [True, True] Translation: X:217.43, Y:-49.22, Z:-5.56 [[ 9.53274665e-01 3.01742210e-01 1.48004120e-02 2.17434832e+02] [-3.01702551e-01 9.53389531e-01 -4.89623715e-03 -4.92242475e+01] [-1.55879593e-02 2.02136779e-04 9.99878480e-01 -5.55799551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.398623853 meters 0.023734285651782556 Centerline is valid? [True, True] Translation: X:217.46, Y:-49.23, Z:-5.56 [[ 9.53075937e-01 3.02367264e-01 1.48423853e-02 2.17461306e+02] [-3.02327512e-01 9.53191482e-01 -4.90651815e-03 -4.92314472e+01] [-1.56312057e-02 1.89022962e-04 9.99877807e-01 -5.56010703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.428623853 meters 0.021554821911827192 Centerline is valid? [True, True] Translation: X:217.49, Y:-49.24, Z:-5.56 [[ 9.52850046e-01 3.03056408e-01 1.52840946e-02 2.17490015e+02] [-3.03014344e-01 9.52972602e-01 -5.05249729e-03 -4.92357715e+01] [-1.60965150e-02 1.82972394e-04 9.99870426e-01 -5.55835453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.458623853 meters 0.02060787702415966 Centerline is valid? [True, True] Translation: X:217.52, Y:-49.24, Z:-5.56 [[ 9.52513827e-01 3.04097373e-01 1.55626674e-02 2.17518515e+02] [-3.04053945e-01 9.52640940e-01 -5.14182413e-03 -4.92413777e+01] [-1.63892493e-02 1.65768184e-04 9.99865673e-01 -5.55832303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.488623853 meters 0.019526549141912278 Centerline is valid? [True, True] Translation: X:217.55, Y:-49.24, Z:-5.56 [[ 9.51703171e-01 3.06617951e-01 1.57005214e-02 2.17546963e+02] [-3.06574149e-01 9.51832663e-01 -5.18396072e-03 -4.92445465e+01] [-1.65337645e-02 1.20217870e-04 9.99863301e-01 -5.56015973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.518623853 meters 0.019526549141912278 Centerline is valid? [True, True] Translation: X:217.57, Y:-49.25, Z:-5.56 [[ 9.51754046e-01 3.06459987e-01 1.57007168e-02 2.17573115e+02] [-3.06416173e-01 9.51883534e-01 -5.18336902e-03 -4.92529519e+01] [-1.65337490e-02 1.22338888e-04 9.99863301e-01 -5.56085083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.548623853 meters 0.018127335854026292 Centerline is valid? [True, True] Translation: X:217.60, Y:-49.26, Z:-5.56 [[ 9.51409903e-01 3.07527415e-01 1.56871204e-02 2.17601762e+02] [-3.07483871e-01 9.51539216e-01 -5.17588211e-03 -4.92573108e+01] [-1.65186359e-02 1.00848993e-04 9.99863553e-01 -5.56007095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.578623853 meters 0.01758040774214001 Centerline is valid? [True, True] Translation: X:217.63, Y:-49.26, Z:-5.56 [[ 9.51114380e-01 3.08436256e-01 1.57643078e-02 2.17629068e+02] [-3.08392449e-01 9.51245010e-01 -5.19884558e-03 -4.92623861e+01] [-1.65992316e-02 8.31032950e-05 9.99862220e-01 -5.56090209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.608623853 meters 0.017375940961349298 Centerline is valid? [True, True] Translation: X:217.66, Y:-49.27, Z:-5.56 [[ 9.50865039e-01 3.09220358e-01 1.54417667e-02 2.17655561e+02] [-3.09178485e-01 9.50990413e-01 -5.08905215e-03 -4.92677967e+01] [-1.62586107e-02 6.47397332e-05 9.99867818e-01 -5.56254045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.638623853 meters 0.017222916165993918 Centerline is valid? [True, True] Translation: X:217.68, Y:-49.27, Z:-5.56 [[ 9.50677637e-01 3.09813778e-01 1.50815253e-02 2.17682111e+02] [-3.09773949e-01 9.50797255e-01 -4.96796915e-03 -4.92737314e+01] [-1.58786182e-02 5.10735237e-05 9.99873925e-01 -5.56438237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.668623853 meters 0.01724777232735758 Centerline is valid? [True, True] Translation: X:217.71, Y:-49.28, Z:-5.57 [[ 9.50425148e-01 3.10611369e-01 1.45813262e-02 2.17709437e+02] [-3.10574253e-01 9.50536993e-01 -4.80180647e-03 -4.92790560e+01] [-1.53515857e-02 3.51731175e-05 9.99882157e-01 -5.56642813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.69862385300002 meters 0.01719649204810607 Centerline is valid? [True, True] Translation: X:217.74, Y:-49.29, Z:-5.57 [[ 9.50494800e-01 3.10400207e-01 1.45377681e-02 2.17736579e+02] [-3.10363282e-01 9.50605970e-01 -4.78782046e-03 -4.92866286e+01] [-1.53058296e-02 3.88090249e-05 9.99882858e-01 -5.56741756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72862385300002 meters 0.017363410525436655 Centerline is valid? [True, True] Translation: X:217.76, Y:-49.29, Z:-5.57 [[ 9.50723069e-01 3.09686070e-01 1.48385781e-02 2.17762745e+02] [-3.09647568e-01 9.50838859e-01 -4.88342477e-03 -4.92937793e+01] [-1.56214253e-02 4.80549743e-05 9.99877977e-01 -5.56752116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.75862385300002 meters 0.0175771286690139 Centerline is valid? [True, True] Translation: X:217.79, Y:-49.30, Z:-5.57 [[ 9.50968626e-01 3.08914972e-01 1.51727830e-02 2.17789501e+02] [-3.08874642e-01 9.51089658e-01 -4.99188527e-03 -4.93025616e+01] [-1.59727451e-02 6.06383599e-05 9.99872426e-01 -5.56775787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78862385300002 meters 0.017507488462800425 Centerline is valid? [True, True] Translation: X:217.82, Y:-49.31, Z:-5.57 [[ 9.51226781e-01 3.08111436e-01 1.53282049e-02 2.17815882e+02] [-3.08070219e-01 9.51350271e-01 -5.04012444e-03 -4.93105168e+01] [-1.61354119e-02 7.21379121e-05 9.99869813e-01 -5.56612540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.81862385300002 meters 0.017911932060886836 Centerline is valid? [True, True] Translation: X:217.84, Y:-49.32, Z:-5.56 [[ 9.51655899e-01 3.06729123e-01 1.63796915e-02 2.17841707e+02] [-3.06681926e-01 9.51796846e-01 -5.38152516e-03 -4.93197124e+01] [-1.72408092e-02 9.80048398e-05 9.99851361e-01 -5.56477674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84862385300002 meters 0.017581366679895502 Centerline is valid? [True, True] Translation: X:217.87, Y:-49.33, Z:-5.56 [[ 9.51935984e-01 3.05840728e-01 1.67132226e-02 2.17868427e+02] [-3.05791462e-01 9.52082683e-01 -5.49052961e-03 -4.93271630e+01] [-1.75915974e-02 1.15871931e-04 9.99845249e-01 -5.56339127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.87862385300002 meters 0.018478522886438135 Centerline is valid? [True, True] Translation: X:217.89, Y:-49.34, Z:-5.56 [[ 9.52490346e-01 3.04098672e-01 1.69156219e-02 2.17894997e+02] [-3.04047998e-01 9.52640528e-01 -5.55325140e-03 -4.93374149e+01] [-1.78032434e-02 1.46257362e-04 9.99841499e-01 -5.56353583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.90862385300002 meters 0.019233469632829906 Centerline is valid? [True, True] Translation: X:217.92, Y:-49.35, Z:-5.56 [[ 9.52801090e-01 3.03134628e-01 1.67176452e-02 2.17920520e+02] [-3.03085052e-01 9.52947728e-01 -5.48444896e-03 -4.93476032e+01] [-1.75935684e-02 1.58720599e-04 9.99845209e-01 -5.56488015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.93862385300002 meters 0.01993251813365338 Centerline is valid? [True, True] Translation: X:217.95, Y:-49.36, Z:-5.57 [[ 9.53173751e-01 3.01962959e-01 1.66784734e-02 2.17947046e+02] [-3.01913440e-01 9.53319642e-01 -5.47135837e-03 -4.93578177e+01] [-1.75520638e-02 1.79699902e-04 9.99845935e-01 -5.56615891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.96862385300003 meters 0.020459989971303962 Centerline is valid? [True, True] Translation: X:217.97, Y:-49.37, Z:-5.57 [[ 9.53557125e-01 3.00756852e-01 1.65567473e-02 2.17974138e+02] [-3.00707922e-01 9.53700832e-01 -5.42850858e-03 -4.93676824e+01] [-1.74228448e-02 1.97647959e-04 9.99848191e-01 -5.56635562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.99862385300003 meters 0.022290555757052036 Centerline is valid? [True, True] Translation: X:218.00, Y:-49.38, Z:-5.57 [[ 9.54264647e-01 2.98522127e-01 1.62333878e-02 2.17999446e+02] [-2.98474831e-01 9.54402686e-01 -5.31874588e-03 -4.93795442e+01] [-1.70809522e-02 2.30233491e-04 9.99854083e-01 -5.56824123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.02862385300003 meters 0.022894885933837646 Centerline is valid? [True, True] Translation: X:218.03, Y:-49.39, Z:-5.57 [[ 9.54680508e-01 2.97218412e-01 1.56953503e-02 2.18026140e+02] [-2.97174023e-01 9.54809486e-01 -5.14247262e-03 -4.93896986e+01] [-1.65145069e-02 2.45167993e-04 9.99863596e-01 -5.56932334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.05862385300003 meters 0.02446637551589133 Centerline is valid? [True, True] Translation: X:218.05, Y:-49.40, Z:-5.57 [[ 9.55094502e-01 2.95888897e-01 1.56286072e-02 2.18051730e+02] [-2.95844764e-01 9.55222325e-01 -5.11707073e-03 -4.94014563e+01] [-1.64428789e-02 2.63644505e-04 9.99864772e-01 -5.57101432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.08862385300003 meters 0.02568124043993795 Centerline is valid? [True, True] Translation: X:218.08, Y:-49.41, Z:-5.57 [[ 9.55622190e-01 2.94192639e-01 1.53922469e-02 2.18078126e+02] [-2.94149623e-01 9.55746100e-01 -5.03894169e-03 -4.94124143e+01] [-1.61934995e-02 2.87700871e-04 9.99868835e-01 -5.57243410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.11862385300003 meters 0.029407858001374434 Centerline is valid? [True, True] Translation: X:218.10, Y:-49.43, Z:-5.57 [[ 9.56592036e-01 2.91029276e-01 1.52852181e-02 2.18102957e+02] [-2.90986514e-01 9.56714089e-01 -5.00007395e-03 -4.94286986e+01] [-1.60787514e-02 3.35238596e-04 9.99870672e-01 -5.57434378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.148623853 meters 0.029982365045003987 Centerline is valid? [True, True] Translation: X:218.13, Y:-49.44, Z:-5.57 [[ 9.57038410e-01 2.89556821e-01 1.53078065e-02 2.18129947e+02] [-2.89513739e-01 9.57160758e-01 -5.00776917e-03 -4.94391517e+01] [-1.61020654e-02 3.60807156e-04 9.99870288e-01 -5.57406731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.178623853 meters 0.032394331962125496 Centerline is valid? [True, True] Translation: X:218.15, Y:-49.45, Z:-5.57 [[ 9.57625884e-01 2.87596082e-01 1.55293116e-02 2.18154854e+02] [-2.87551548e-01 9.57751710e-01 -5.07644224e-03 -4.94531641e+01] [-1.63331896e-02 3.95854903e-04 9.99866526e-01 -5.57479362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.208623853 meters 0.03315349188036438 Centerline is valid? [True, True] Translation: X:218.18, Y:-49.46, Z:-5.58 [[ 9.57891443e-01 2.86724220e-01 1.52710315e-02 2.18181246e+02] [-2.86681045e-01 9.58013079e-01 -4.99194886e-03 -4.94639789e+01] [-1.60611605e-02 4.03829826e-04 9.99870930e-01 -5.57543837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.238623853 meters 0.03975252087216557 Centerline is valid? [True, True] Translation: X:218.21, Y:-49.47, Z:-5.57 [[ 9.58102635e-01 2.86064130e-01 1.43754507e-02 2.18209445e+02] [-2.86025826e-01 9.58210396e-01 -4.69724607e-03 -4.94712872e+01] [-1.51184199e-02 3.88693666e-04 9.99885635e-01 -5.56772832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.268623853 meters 0.03277621058932754 Centerline is valid? [True, True] Translation: X:218.23, Y:-49.49, Z:-5.58 [[ 9.58295707e-01 2.85370262e-01 1.52692860e-02 2.18234560e+02] [-2.85327004e-01 9.58417256e-01 -4.98647407e-03 -4.94853817e+01] [-1.60573386e-02 4.21777069e-04 9.99870984e-01 -5.57620196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.298623853 meters 0.03303488342998385 Centerline is valid? [True, True] Translation: X:218.26, Y:-49.50, Z:-5.58 [[ 9.58270775e-01 2.85435629e-01 1.56084470e-02 2.18260385e+02] [-2.85390511e-01 9.58397788e-01 -5.09270431e-03 -4.94961640e+01] [-1.64127403e-02 4.25687051e-04 9.99865211e-01 -5.57656403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.328623853 meters 0.03637507161526966 Centerline is valid? [True, True] Translation: X:218.28, Y:-49.51, Z:-5.58 [[ 9.58303101e-01 2.85315514e-01 1.58184916e-02 2.18283780e+02] [-2.85269164e-01 9.58433550e-01 -5.16081215e-03 -4.95103441e+01] [-1.66334328e-02 4.33094406e-04 9.99861561e-01 -5.57781123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.358623853 meters 0.034570874094042456 Centerline is valid? [True, True] Translation: X:218.31, Y:-49.52, Z:-5.58 [[ 9.58128549e-01 2.85910023e-01 1.56570173e-02 2.18310890e+02] [-2.85864726e-01 9.58256377e-01 -5.10624151e-03 -4.95205569e+01] [-1.64633623e-02 4.16646806e-04 9.99864383e-01 -5.57854402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.388623853 meters 0.03487024790699701 Centerline is valid? [True, True] Translation: X:218.34, Y:-49.53, Z:-5.58 [[ 9.57949915e-01 2.86528052e-01 1.52851571e-02 2.18336913e+02] [-2.86485016e-01 9.58071772e-01 -4.98147675e-03 -4.95313396e+01] [-1.60716103e-02 3.93036771e-04 9.99870766e-01 -5.58005008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.418623853 meters 0.03111745117965439 Centerline is valid? [True, True] Translation: X:218.37, Y:-49.54, Z:-5.57 [[ 9.57764016e-01 2.87139268e-01 1.54638382e-02 2.18366193e+02] [-2.87095298e-01 9.57888767e-01 -5.03976449e-03 -4.95354400e+01] [-1.62597512e-02 3.87309849e-04 9.99867726e-01 -5.57469909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.44862385300002 meters 0.029590506082129018 Centerline is valid? [True, True] Translation: X:218.39, Y:-49.55, Z:-5.58 [[ 9.56918876e-01 2.89896355e-01 1.63207837e-02 2.18391554e+02] [-2.89847847e-01 9.57057980e-01 -5.31494901e-03 -4.95468062e+01] [-1.71607206e-02 3.55431022e-04 9.99852681e-01 -5.57876177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.47862385300002 meters 0.026642413219088164 Centerline is valid? [True, True] Translation: X:218.42, Y:-49.55, Z:-5.58 [[ 9.56493921e-01 2.91289902e-01 1.64186435e-02 2.18419520e+02] [-2.91241019e-01 9.56634770e-01 -5.34662113e-03 -4.95529323e+01] [-1.72640620e-02 3.32228128e-04 9.99850910e-01 -5.57812426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50862385300002 meters 0.023866667708687745 Centerline is valid? [True, True] Translation: X:218.45, Y:-49.56, Z:-5.58 [[ 9.55324895e-01 2.95103580e-01 1.63774772e-02 2.18446736e+02] [-2.95055569e-01 9.55465232e-01 -5.32927635e-03 -4.95608425e+01] [-1.72207985e-02 2.58924528e-04 9.99851678e-01 -5.57932103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.53862385300002 meters 0.02220978363027782 Centerline is valid? [True, True] Translation: X:218.47, Y:-49.57, Z:-5.58 [[ 9.54709611e-01 2.97085771e-01 1.64195778e-02 2.18473599e+02] [-2.97037819e-01 9.54850771e-01 -5.34221485e-03 -4.95685465e+01] [-1.72653425e-02 2.23028300e-04 9.99850918e-01 -5.58035241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56862385300002 meters 0.020397613075065973 Centerline is valid? [True, True] Translation: X:218.50, Y:-49.58, Z:-5.58 [[ 9.54188409e-01 2.98752078e-01 1.64826032e-02 2.18501883e+02] [-2.98704008e-01 9.54330739e-01 -5.36254601e-03 -4.95756528e+01] [-1.73319266e-02 1.93459608e-04 9.99849772e-01 -5.58035766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.59862385300002 meters 0.018556439873649338 Centerline is valid? [True, True] Translation: X:218.53, Y:-49.58, Z:-5.58 [[ 9.52949911e-01 3.02685785e-01 1.63640645e-02 2.18528979e+02] [-3.02639034e-01 9.53090395e-01 -5.32101807e-03 -4.95827649e+01] [-1.72070292e-02 1.18259020e-04 9.99851941e-01 -5.58260874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.62862385300002 meters 0.017541536778267655 Centerline is valid? [True, True] Translation: X:218.56, Y:-49.59, Z:-5.58 [[ 9.52302335e-01 3.04733584e-01 1.60532311e-02 2.18557525e+02] [-3.04688932e-01 9.52437629e-01 -5.21705407e-03 -4.95893718e+01] [-1.68795130e-02 7.69709159e-05 9.99857528e-01 -5.58355020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.65862385300002 meters 0.017070231933772387 Centerline is valid? [True, True] Translation: X:218.58, Y:-49.60, Z:-5.59 [[ 9.51668016e-01 3.06727012e-01 1.57012136e-02 2.18584585e+02] [-3.06684628e-01 9.51797530e-01 -5.09907458e-03 -4.95957476e+01] [-1.65084003e-02 3.73053251e-05 9.99863726e-01 -5.58508252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.68862385300002 meters 0.01660949752543823 Centerline is valid? [True, True] Translation: X:218.61, Y:-49.60, Z:-5.58 [[ 9.51044574e-01 3.08655393e-01 1.56865031e-02 2.18612082e+02] [-3.08613346e-01 9.51173932e-01 -5.09452764e-03 -4.96015360e+01] [-1.64930463e-02 4.05865436e-06 9.99863980e-01 -5.58449410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.71862385300003 meters 0.017921021994323307 Centerline is valid? [True, True] Translation: X:218.64, Y:-49.60, Z:-5.59 [[ 9.49595869e-01 3.13094801e-01 1.54703363e-02 2.18640724e+02] [-3.13054564e-01 9.49721875e-01 -5.01995441e-03 -4.96041041e+01] [-1.62642385e-02 -7.61314223e-05 9.99867726e-01 -5.58675111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.74862385300003 meters 0.018306500384181693 Centerline is valid? [True, True] Translation: X:218.67, Y:-49.61, Z:-5.58 [[ 9.48990874e-01 3.14897259e-01 1.60011920e-02 2.18668234e+02] [-3.14854472e-01 9.49125758e-01 -5.19203439e-03 -4.96113120e+01] [-1.68221009e-02 -1.10853608e-04 9.99858492e-01 -5.58495502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.77862385300003 meters 0.020168726616265877 Centerline is valid? [True, True] Translation: X:218.70, Y:-49.62, Z:-5.59 [[ 9.48373210e-01 3.16738228e-01 1.62833922e-02 2.18695799e+02] [-3.16694257e-01 9.48512980e-01 -5.27970752e-03 -4.96158421e+01] [-1.71172941e-02 -1.49723612e-04 9.99853477e-01 -5.58611024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.80862385300003 meters 0.02200030473799482 Centerline is valid? [True, True] Translation: X:218.72, Y:-49.62, Z:-5.58 [[ 9.47341134e-01 3.19755133e-01 1.73617608e-02 2.18724786e+02] [-3.19705659e-01 9.47500189e-01 -5.62887979e-03 -4.96206512e+01] [-1.82501348e-02 -2.18183804e-04 9.99833429e-01 -5.58436471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.83862385300003 meters 0.023743981597024774 Centerline is valid? [True, True] Translation: X:218.75, Y:-49.63, Z:-5.58 [[ 9.47029759e-01 3.20649202e-01 1.78528840e-02 2.18752754e+02] [-3.20597122e-01 9.47197988e-01 -5.78414893e-03 -4.96260800e+01] [-1.87648985e-02 -2.45822055e-04 9.99823894e-01 -5.58495516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86862385300003 meters 0.022993537415027018 Centerline is valid? [True, True] Translation: X:218.78, Y:-49.64, Z:-5.58 [[ 9.46896686e-01 3.21008389e-01 1.84466802e-02 2.18779054e+02] [-3.20952863e-01 9.47076315e-01 -5.97609895e-03 -4.96356618e+01] [-1.93887918e-02 -2.61766540e-04 9.99811985e-01 -5.58375771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.898623853 meters 0.02286580884429627 Centerline is valid? [True, True] Translation: X:218.81, Y:-49.64, Z:-5.59 [[ 9.47044211e-01 3.20590370e-01 1.81404786e-02 2.18805993e+02] [-3.20536665e-01 9.47217901e-01 -5.87328812e-03 -4.96441078e+01] [-1.90659057e-02 -2.52424986e-04 9.99818197e-01 -5.58564262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.928623853 meters 0.022632743402222436 Centerline is valid? [True, True] Translation: X:218.83, Y:-49.65, Z:-5.59 [[ 9.47281084e-01 3.19935147e-01 1.73219457e-02 2.18831083e+02] [-3.19886144e-01 9.47439416e-01 -5.60421337e-03 -4.96529612e+01] [-1.82044790e-02 -2.32285108e-04 9.99834258e-01 -5.58787961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.958623853 meters 0.022495137022809874 Centerline is valid? [True, True] Translation: X:218.86, Y:-49.66, Z:-5.59 [[ 9.47995649e-01 3.17871290e-01 1.61892867e-02 2.18857324e+02] [-3.17828210e-01 9.48133857e-01 -5.23626714e-03 -4.96627940e+01] [-1.70140698e-02 -1.81453556e-04 9.99855234e-01 -5.59301466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.988623853 meters 0.020275001021423506 Centerline is valid? [True, True] Translation: X:218.88, Y:-49.68, Z:-5.59 [[ 9.48529318e-01 3.16288314e-01 1.59322234e-02 2.18883609e+02] [-3.16246370e-01 9.48663101e-01 -5.15305325e-03 -4.96757811e+01] [-1.67441630e-02 -1.50685730e-04 9.99859795e-01 -5.59343107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.018623853 meters 0.019495822011905174 Centerline is valid? [True, True] Translation: X:218.91, Y:-49.69, Z:-5.59 [[ 9.48991738e-01 3.14913559e-01 1.56247272e-02 2.18909438e+02] [-3.14873091e-01 9.49120348e-01 -5.05000263e-03 -4.96862806e+01] [-1.64200608e-02 -1.27395382e-04 9.99865174e-01 -5.59485682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.048623853 meters 0.018668161304502506 Centerline is valid? [True, True] Translation: X:218.94, Y:-49.70, Z:-5.60 [[ 9.49538244e-01 3.13267725e-01 1.55066411e-02 2.18935389e+02] [-3.13227662e-01 9.49664848e-01 -5.01088153e-03 -4.96971691e+01] [-1.62958594e-02 -9.90852800e-05 9.99867209e-01 -5.59629892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.078623853 meters 0.017291435470401982 Centerline is valid? [True, True] Translation: X:218.96, Y:-49.71, Z:-5.60 [[ 9.50746794e-01 3.09578891e-01 1.55384528e-02 2.18960067e+02] [-3.09538186e-01 9.50873761e-01 -5.02019651e-03 -4.97125732e+01] [-1.63292539e-02 -3.68087598e-05 9.99866668e-01 -5.59734966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.108623853 meters 0.021650736283125353 Centerline is valid? [True, True] Translation: X:218.99, Y:-49.72, Z:-5.59 [[ 9.51412625e-01 3.07535415e-01 1.53618422e-02 2.18985991e+02] [-3.07495360e-01 9.51536636e-01 -4.96336062e-03 -4.97236932e+01] [-1.61437648e-02 -1.49125502e-06 9.99869681e-01 -5.59080389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.138623853 meters 0.01702153341492215 Centerline is valid? [True, True] Translation: X:219.01, Y:-49.74, Z:-5.60 [[ 9.52187144e-01 3.05061830e-01 1.66409882e-02 2.19012033e+02] [-3.05014517e-01 9.52332546e-01 -5.37273971e-03 -4.97380544e+01] [-1.74867725e-02 4.01107143e-05 9.99847094e-01 -5.59664545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.168623853 meters 0.017469020582951515 Centerline is valid? [True, True] Translation: X:219.04, Y:-49.75, Z:-5.60 [[ 9.52863146e-01 3.02911859e-01 1.72113479e-02 2.19037833e+02] [-3.02860943e-01 9.53018572e-01 -5.55429742e-03 -4.97506637e+01] [-1.80851968e-02 7.98402549e-05 9.99836446e-01 -5.59588520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.19862385300002 meters 0.019453073379852883 Centerline is valid? [True, True] Translation: X:219.06, Y:-49.77, Z:-5.59 [[ 9.54264940e-01 2.98437897e-01 1.76987402e-02 2.19063193e+02] [-2.98383353e-01 9.54429041e-01 -5.70790380e-03 -4.97669388e+01] [-1.85956464e-02 1.65843029e-04 9.99827072e-01 -5.59468154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22862385300002 meters 0.020260162268050066 Centerline is valid? [True, True] Translation: X:219.09, Y:-49.78, Z:-5.59 [[ 9.54929175e-01 2.96310872e-01 1.76107240e-02 2.19089590e+02] [-2.96256565e-01 9.55091527e-01 -5.67643100e-03 -4.97783596e+01] [-1.85018415e-02 2.03296972e-04 9.99828806e-01 -5.59465142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.25862385300002 meters 0.022519840578014858 Centerline is valid? [True, True] Translation: X:219.11, Y:-49.79, Z:-5.60 [[ 9.56080537e-01 2.92565545e-01 1.77597344e-02 2.19114942e+02] [-2.92509730e-01 9.56245432e-01 -5.72114537e-03 -4.97938663e+01] [-1.86564749e-02 2.74980626e-04 9.99825915e-01 -5.59527057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28862385300002 meters 0.03439648519046293 Centerline is valid? [True, True] Translation: X:219.14, Y:-49.80, Z:-5.59 [[ 9.56514999e-01 2.91184475e-01 1.70487265e-02 2.19142432e+02] [-2.91132874e-01 9.56666880e-01 -5.48912803e-03 -4.98034815e+01] [-1.79083009e-02 2.86988546e-04 9.99839592e-01 -5.58635795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.31862385300002 meters 0.028313340606388238 Centerline is valid? [True, True] Translation: X:219.16, Y:-49.82, Z:-5.60 [[ 9.56873742e-01 2.89975266e-01 1.75210214e-02 2.19164603e+02] [-2.89920642e-01 9.57034088e-01 -5.63692463e-03 -4.98235884e+01] [-1.84027835e-02 3.14119375e-04 9.99830605e-01 -5.59985658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34862385300002 meters 0.0303356501367493 Centerline is valid? [True, True] Translation: X:219.19, Y:-49.84, Z:-5.60 [[ 9.57363735e-01 2.88384567e-01 1.70005969e-02 2.19189271e+02] [-2.88332910e-01 9.57514611e-01 -5.46832375e-03 -4.98383598e+01] [-1.78553001e-02 3.33343277e-04 9.99840526e-01 -5.60143734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.37862385300002 meters 0.026511248347133875 Centerline is valid? [True, True] Translation: X:219.22, Y:-49.84, Z:-5.60 [[ 9.57478392e-01 2.87999572e-01 1.70697076e-02 2.19217211e+02] [-2.87947432e-01 9.57630477e-01 -5.49058057e-03 -4.98427703e+01] [-1.79277571e-02 3.41933796e-04 9.99839226e-01 -5.59927380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.40862385300002 meters 0.026511248347133875 Centerline is valid? [True, True] Translation: X:219.24, Y:-49.85, Z:-5.60 [[ 9.57532978e-01 2.87817974e-01 1.70707473e-02 2.19243431e+02] [-2.87765864e-01 9.57685072e-01 -5.48734572e-03 -4.98510087e+01] [-1.79277566e-02 3.41936162e-04 9.99839226e-01 -5.59996510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.43862385300002 meters 0.025403507655449072 Centerline is valid? [True, True] Translation: X:219.27, Y:-49.86, Z:-5.60 [[ 9.57496716e-01 2.87927601e-01 1.72549924e-02 2.19270892e+02] [-2.87874463e-01 9.57652119e-01 -5.54186785e-03 -4.98608023e+01] [-1.81199368e-02 3.39048598e-04 9.99835763e-01 -5.59960105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.46862385300003 meters 0.0280822607657025 Centerline is valid? [True, True] Translation: X:219.30, Y:-49.87, Z:-5.60 [[ 9.57444612e-01 2.88092276e-01 1.73969849e-02 2.19296055e+02] [-2.88038302e-01 9.57602593e-01 -5.58661236e-03 -4.98747068e+01] [-1.82688577e-02 3.37873914e-04 9.99833053e-01 -5.60199452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.49862385300003 meters 0.02784422978832221 Centerline is valid? [True, True] Translation: X:219.32, Y:-49.88, Z:-5.60 [[ 9.57327957e-01 2.88474746e-01 1.74786418e-02 2.19322532e+02] [-2.88420350e-01 9.57487447e-01 -5.61162145e-03 -4.98847457e+01] [-1.83543912e-02 3.30966098e-04 9.99831489e-01 -5.60249297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.52862385300003 meters 0.02696201928028009 Centerline is valid? [True, True] Translation: X:219.35, Y:-49.89, Z:-5.60 [[ 9.57137777e-01 2.89110237e-01 1.73938414e-02 2.19349642e+02] [-2.89056479e-01 9.57295759e-01 -5.58405729e-03 -4.98933526e+01] [-1.82654587e-02 3.16909629e-04 9.99833122e-01 -5.60312250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.55862385300003 meters 0.02317473393940552 Centerline is valid? [True, True] Translation: X:219.38, Y:-49.90, Z:-5.60 [[ 9.56499484e-01 2.91205867e-01 1.75464990e-02 2.19378389e+02] [-2.91151568e-01 9.56660372e-01 -5.63008941e-03 -4.98987014e+01] [-1.84255553e-02 2.76486937e-04 9.99830197e-01 -5.60255087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.58862385300003 meters 0.023928972268522516 Centerline is valid? [True, True] Translation: X:219.40, Y:-49.91, Z:-5.60 [[ 9.56122530e-01 2.92456587e-01 1.72873621e-02 2.19404013e+02] [-2.92404151e-01 9.56278769e-01 -5.54327276e-03 -4.99090450e+01] [-1.81527040e-02 2.45151523e-04 9.99835196e-01 -5.60483162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.61862385300003 meters 0.02430292280480599 Centerline is valid? [True, True] Translation: X:219.43, Y:-49.92, Z:-5.61 [[ 9.55722695e-01 2.93759702e-01 1.73022261e-02 2.19430077e+02] [-2.93707425e-01 9.55879276e-01 -5.54611497e-03 -4.99191325e+01] [-1.81680644e-02 2.18755679e-04 9.99834923e-01 -5.60780583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.648623853 meters 0.02067353522866427 Centerline is valid? [True, True] Translation: X:219.46, Y:-49.92, Z:-5.61 [[ 9.54952952e-01 2.96294886e-01 1.65590135e-02 2.19458686e+02] [-2.96247386e-01 9.55096495e-01 -5.30774867e-03 -4.99234062e+01] [-1.73881146e-02 1.63085783e-04 9.99848802e-01 -5.60811247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.678623853 meters 0.019165788916809635 Centerline is valid? [True, True] Translation: X:219.49, Y:-49.93, Z:-5.61 [[ 9.54616232e-01 2.97400172e-01 1.61551316e-02 2.19487417e+02] [-2.97355164e-01 9.54752910e-01 -5.17566477e-03 -4.99298417e+01] [-1.69634025e-02 1.36961797e-04 9.99856102e-01 -5.60798052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.708623853 meters 0.018544900138286673 Centerline is valid? [True, True] Translation: X:219.51, Y:-49.94, Z:-5.61 [[ 9.53973092e-01 2.99406546e-01 1.70604943e-02 2.19514045e+02] [-2.99356741e-01 9.54125626e-01 -5.46189971e-03 -4.99390279e+01] [-1.79131834e-02 1.03331374e-04 9.99839541e-01 -5.60903248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.738623853 meters 0.020535464721500456 Centerline is valid? [True, True] Translation: X:219.54, Y:-49.95, Z:-5.60 [[ 9.53687810e-01 3.00290576e-01 1.74679917e-02 2.19542719e+02] [-3.00238518e-01 9.53847767e-01 -5.59195855e-03 -4.99454249e+01] [-1.83410174e-02 8.84187438e-05 9.99831785e-01 -5.60134138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.768623853 meters 0.01705156418828744 Centerline is valid? [True, True] Translation: X:219.57, Y:-49.96, Z:-5.61 [[ 9.53578502e-01 3.00604641e-01 1.80247165e-02 2.19569290e+02] [-3.00549330e-01 9.53748836e-01 -5.76690639e-03 -4.99552084e+01] [-1.89246113e-02 8.18814783e-05 9.99820910e-01 -5.60694712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.798623853 meters 0.016900685963267985 Centerline is valid? [True, True] Translation: X:219.59, Y:-49.96, Z:-5.61 [[ 9.53400133e-01 3.01160496e-01 1.81808316e-02 2.19594921e+02] [-3.01104410e-01 9.53573464e-01 -5.81232790e-03 -4.99637593e+01] [-1.90872021e-02 6.71456265e-05 9.99817821e-01 -5.60744728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.828623853 meters 0.016695114663285344 Centerline is valid? [True, True] Translation: X:219.62, Y:-49.97, Z:-5.61 [[ 9.53089197e-01 3.02136146e-01 1.82956755e-02 2.19621928e+02] [-3.02079548e-01 9.53264783e-01 -5.84803463e-03 -4.99727098e+01] [-1.92075258e-02 4.69492600e-05 9.99815517e-01 -5.60821417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.858623853 meters 0.01663294949082636 Centerline is valid? [True, True] Translation: X:219.65, Y:-49.98, Z:-5.61 [[ 9.52977333e-01 3.02511940e-01 1.79089283e-02 2.19647304e+02] [-3.02457851e-01 9.53145595e-01 -5.72039561e-03 -4.99814535e+01] [-1.88003041e-02 3.47113868e-05 9.99823258e-01 -5.60997108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.888623853 meters 0.016582394156662943 Centerline is valid? [True, True] Translation: X:219.67, Y:-49.99, Z:-5.61 [[ 9.52858995e-01 3.02912437e-01 1.74296086e-02 2.19673386e+02] [-3.02861308e-01 9.53018392e-01 -5.56535072e-03 -4.99902496e+01] [-1.82965515e-02 2.42404521e-05 9.99832604e-01 -5.61128931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.918623853 meters 0.016861100361196674 Centerline is valid? [True, True] Translation: X:219.70, Y:-50.00, Z:-5.61 [[ 9.52718996e-01 3.03375838e-01 1.70181022e-02 2.19699317e+02] [-3.03327248e-01 9.52870978e-01 -5.42955299e-03 -4.99989586e+01] [-1.78632509e-02 1.07841686e-05 9.99840439e-01 -5.61443673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.94862385300002 meters 0.016635965048058077 Centerline is valid? [True, True] Translation: X:219.73, Y:-50.01, Z:-5.61 [[ 9.52332747e-01 3.04597252e-01 1.68182564e-02 2.19726381e+02] [-3.04549987e-01 9.52481241e-01 -5.36574753e-03 -5.00066343e+01] [-1.76534657e-02 -1.20226914e-05 9.99844165e-01 -5.61341993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.97862385300002 meters 0.01679408650142309 Centerline is valid? [True, True] Translation: X:219.75, Y:-50.01, Z:-5.61 [[ 9.52147600e-01 3.05177494e-01 1.67822725e-02 2.19753008e+02] [-3.05130582e-01 9.52295488e-01 -5.35080537e-03 -5.00146391e+01] [-1.76146277e-02 -2.60280814e-05 9.99844850e-01 -5.61408744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00862385300002 meters 0.016924776952746235 Centerline is valid? [True, True] Translation: X:219.78, Y:-50.02, Z:-5.61 [[ 9.51596756e-01 3.06864099e-01 1.72637935e-02 2.19780023e+02] [-3.06814800e-01 9.51753340e-01 -5.50067413e-03 -5.00225330e+01] [-1.81188326e-02 -6.23637031e-05 9.99835839e-01 -5.61300235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.03862385300002 meters 0.017458398866469025 Centerline is valid? [True, True] Translation: X:219.81, Y:-50.03, Z:-5.61 [[ 9.51329082e-01 3.07682968e-01 1.74404417e-02 2.19807311e+02] [-3.07632879e-01 9.51488930e-01 -5.55225298e-03 -5.00297492e+01] [-1.83027209e-02 -8.32335509e-05 9.99832488e-01 -5.61420297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06862385300002 meters 0.017948876079389324 Centerline is valid? [True, True] Translation: X:219.83, Y:-50.04, Z:-5.61 [[ 9.51004416e-01 3.08667474e-01 1.77480081e-02 2.19834162e+02] [-3.08615796e-01 9.51170006e-01 -5.64895972e-03 -5.00366593e+01] [-1.86250231e-02 -1.05129998e-04 9.99826534e-01 -5.61484823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.09862385300002 meters 0.018326775690976137 Centerline is valid? [True, True] Translation: X:219.86, Y:-50.04, Z:-5.61 [[ 9.50577161e-01 3.09941600e-01 1.84191810e-02 2.19862021e+02] [-3.09886190e-01 9.50755587e-01 -5.86200233e-03 -5.00435574e+01] [-1.93290176e-02 -1.35564284e-04 9.99813168e-01 -5.61367068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12862385300002 meters 0.018396009809562897 Centerline is valid? [True, True] Translation: X:219.89, Y:-50.05, Z:-5.61 [[ 9.50524603e-01 3.10078019e-01 1.88308280e-02 2.19889056e+02] [-3.10020198e-01 9.50711103e-01 -5.98965425e-03 -5.00512257e+01] [-1.97599374e-02 -1.44623293e-04 9.99804743e-01 -5.61385208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.15862385300002 meters 0.018507790617487196 Centerline is valid? [True, True] Translation: X:219.92, Y:-50.06, Z:-5.61 [[ 9.50522282e-01 3.10066570e-01 1.91340874e-02 2.19916194e+02] [-3.10006949e-01 9.50714836e-01 -6.08208876e-03 -5.00596405e+01] [-2.00769131e-02 -1.50539168e-04 9.99798427e-01 -5.61312874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18862385300002 meters 0.018127765352178003 Centerline is valid? [True, True] Translation: X:219.94, Y:-50.07, Z:-5.61 [[ 9.50703999e-01 3.09497293e-01 1.93218109e-02 2.19941850e+02] [-3.09436461e-01 9.50900313e-01 -6.13773194e-03 -5.00698927e+01] [-2.02727275e-02 -1.43706498e-04 9.99794477e-01 -5.61357617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.21862385300003 meters 0.01836489222766595 Centerline is valid? [True, True] Translation: X:219.97, Y:-50.08, Z:-5.61 [[ 9.50778514e-01 3.09244400e-01 1.97007490e-02 2.19967794e+02] [-3.09181201e-01 9.50982587e-01 -6.25340431e-03 -5.00775703e+01] [-2.06688995e-02 -1.45498783e-04 9.99786365e-01 -5.61470710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.24862385300003 meters 0.01819695720545984 Centerline is valid? [True, True] Translation: X:219.99, Y:-50.09, Z:-5.61 [[ 9.50853505e-01 3.09011858e-01 1.97302526e-02 2.19994795e+02] [-3.08948447e-01 9.51058175e-01 -6.26145896e-03 -5.00864972e+01] [-2.06994830e-02 -1.41900684e-04 9.99785733e-01 -5.61482093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.27862385300003 meters 0.018266518585253234 Centerline is valid? [True, True] Translation: X:220.02, Y:-50.09, Z:-5.62 [[ 9.50943191e-01 3.08727229e-01 1.98631539e-02 2.20020674e+02] [-3.08662993e-01 9.51150607e-01 -6.29909584e-03 -5.00942646e+01] [-2.08375533e-02 -1.40938240e-04 9.99782865e-01 -5.61560145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.30862385300003 meters 0.018089589956173432 Centerline is valid? [True, True] Translation: X:220.05, Y:-50.10, Z:-5.62 [[ 9.50981260e-01 3.08625043e-01 1.96271806e-02 2.20047361e+02] [-3.08562327e-01 9.51183770e-01 -6.22305432e-03 -5.01033491e+01] [-2.05896460e-02 -1.38200487e-04 9.99788001e-01 -5.61646561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.33862385300003 meters 0.018072114869684946 Centerline is valid? [True, True] Translation: X:220.07, Y:-50.11, Z:-5.62 [[ 9.51035640e-01 3.08486575e-01 1.91636073e-02 2.20073665e+02] [-3.08426836e-01 9.51228687e-01 -6.07227418e-03 -5.01113861e+01] [-2.01021881e-02 -1.35621601e-04 9.99797921e-01 -5.61807798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36862385300003 meters 0.018449215904450166 Centerline is valid? [True, True] Translation: X:220.10, Y:-50.12, Z:-5.62 [[ 9.50956145e-01 3.08747033e-01 1.89124119e-02 2.20100084e+02] [-3.08688990e-01 9.51144179e-01 -5.98817188e-03 -5.01190914e+01] [-1.98372608e-02 -1.43564480e-04 9.99803212e-01 -5.61932217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.398623853 meters 0.01857901177745518 Centerline is valid? [True, True] Translation: X:220.13, Y:-50.13, Z:-5.62 [[ 9.50855297e-01 3.09055097e-01 1.89512815e-02 2.20127105e+02] [-3.08996886e-01 9.51044123e-01 -5.99998335e-03 -5.01254324e+01] [-1.98778303e-02 -1.50771022e-04 9.99802405e-01 -5.62004139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.428623853 meters 0.018684025531398953 Centerline is valid? [True, True] Translation: X:220.15, Y:-50.13, Z:-5.62 [[ 9.50781689e-01 3.09276509e-01 1.90321070e-02 2.20154591e+02] [-3.09217923e-01 9.50972142e-01 -6.02169732e-03 -5.01326244e+01] [-1.99613731e-02 -1.59749044e-04 9.99800739e-01 -5.61988165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.458623853 meters 0.022639430823008774 Centerline is valid? [True, True] Translation: X:220.18, Y:-50.14, Z:-5.61 [[ 9.50656500e-01 3.09670076e-01 1.88855421e-02 2.20183440e+02] [-3.09612546e-01 9.50844054e-01 -5.97132915e-03 -5.01389574e+01] [-1.98063473e-02 -1.70517888e-04 9.99803821e-01 -5.61461100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.488623853 meters 0.018930931041470565 Centerline is valid? [True, True] Translation: X:220.21, Y:-50.15, Z:-5.62 [[ 9.50585266e-01 3.09860235e-01 1.93465054e-02 2.20210652e+02] [-3.09799972e-01 9.50782100e-01 -6.11353927e-03 -5.01463624e+01] [-2.02886537e-02 -1.82106490e-04 9.99794147e-01 -5.62080151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.518623853 meters 0.02608187961757793 Centerline is valid? [True, True] Translation: X:220.24, Y:-50.15, Z:-5.62 [[ 9.50554457e-01 3.09982720e-01 1.88928000e-02 2.20237998e+02] [-3.09925364e-01 9.50742173e-01 -5.96569885e-03 -5.01520760e+01] [-1.98114453e-02 -1.84636280e-04 9.99803717e-01 -5.61510086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.548623853 meters 0.019150395601421677 Centerline is valid? [True, True] Translation: X:220.26, Y:-50.16, Z:-5.62 [[ 9.50635120e-01 3.09705698e-01 1.93713678e-02 2.20264640e+02] [-3.09645372e-01 9.50832449e-01 -6.11531962e-03 -5.01614211e+01] [-2.03128744e-02 -1.84816801e-04 9.99793655e-01 -5.62241317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.578623853 meters 0.020666005683878108 Centerline is valid? [True, True] Translation: X:220.29, Y:-50.17, Z:-5.62 [[ 9.50628172e-01 3.09730586e-01 1.93143052e-02 2.20291956e+02] [-3.09670714e-01 9.50824341e-01 -6.09270824e-03 -5.01654336e+01] [-2.02516096e-02 -1.89174572e-04 9.99794897e-01 -5.62442825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.608623853 meters 0.019756604514103566 Centerline is valid? [True, True] Translation: X:220.32, Y:-50.17, Z:-5.62 [[ 9.50413469e-01 3.10420640e-01 1.87953494e-02 2.20320158e+02] [-3.10364099e-01 9.50599278e-01 -5.92784185e-03 -5.01726992e+01] [-1.97069701e-02 -1.99500967e-04 9.99805779e-01 -5.62485716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.638623853 meters 0.020313751199886248 Centerline is valid? [True, True] Translation: X:220.35, Y:-50.18, Z:-5.63 [[ 9.50200627e-01 3.11062949e-01 1.89370174e-02 2.20348080e+02] [-3.11005762e-01 9.50389286e-01 -5.96837745e-03 -5.01782434e+01] [-1.98540795e-02 -2.18365542e-04 9.99802864e-01 -5.62565051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.668623853 meters 0.02132984069371495 Centerline is valid? [True, True] Translation: X:220.38, Y:-50.18, Z:-5.63 [[ 9.49590801e-01 3.12908448e-01 1.91210519e-02 2.20377450e+02] [-3.12850532e-01 9.49783257e-01 -6.02570317e-03 -5.01812662e+01] [-2.00463484e-02 -2.60078958e-04 9.99799018e-01 -5.62529964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.69862385300002 meters 0.02285530319027801 Centerline is valid? [True, True] Translation: X:220.41, Y:-50.18, Z:-5.63 [[ 9.49301915e-01 3.13782525e-01 1.91416200e-02 2.20405727e+02] [-3.13724746e-01 9.49494838e-01 -6.02799800e-03 -5.01849740e+01] [-2.00663498e-02 -2.82809821e-04 9.99798611e-01 -5.62662760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72862385300002 meters 0.023908027498993675 Centerline is valid? [True, True] Translation: X:220.43, Y:-50.19, Z:-5.63 [[ 9.49028171e-01 3.14613728e-01 1.90717989e-02 2.20433547e+02] [-3.14556563e-01 9.49219738e-01 -6.00473187e-03 -5.01892054e+01] [-1.99924991e-02 -3.00499819e-04 9.99800085e-01 -5.62752002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.75862385300002 meters 0.02492988030209418 Centerline is valid? [True, True] Translation: X:220.46, Y:-50.19, Z:-5.63 [[ 9.48650116e-01 3.15740492e-01 1.92587279e-02 2.20462797e+02] [-3.15682447e-01 9.48845527e-01 -6.06287988e-03 -5.01911133e+01] [-2.01878545e-02 -3.28090650e-04 9.99796151e-01 -5.62802814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78862385300002 meters 0.024532135752875765 Centerline is valid? [True, True] Translation: X:220.49, Y:-50.20, Z:-5.63 [[ 9.48746741e-01 3.15468188e-01 1.89590067e-02 2.20490197e+02] [-3.15411945e-01 9.48936099e-01 -5.96531149e-03 -5.01970273e+01] [-1.98727519e-02 -3.20327358e-04 9.99802466e-01 -5.62959563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.81862385300002 meters 0.02475589627834167 Centerline is valid? [True, True] Translation: X:220.52, Y:-50.20, Z:-5.63 [[ 9.48884171e-01 3.15065595e-01 1.87750310e-02 2.20517753e+02] [-3.15010450e-01 9.49069846e-01 -5.90282786e-03 -5.02026514e+01] [-1.96785937e-02 -3.13231037e-04 9.99806309e-01 -5.63110043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84862385300002 meters 0.022734246037892494 Centerline is valid? [True, True] Translation: X:220.54, Y:-50.21, Z:-5.63 [[ 9.49698226e-01 3.12617626e-01 1.85337182e-02 2.20544481e+02] [-3.12563447e-01 9.49879020e-01 -5.82578534e-03 -5.02096697e+01] [-1.94260333e-02 -2.60224850e-04 9.99811263e-01 -5.63358917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.87862385300002 meters 0.02105842864372869 Centerline is valid? [True, True] Translation: X:220.57, Y:-50.22, Z:-5.63 [[ 9.50356995e-01 3.10629778e-01 1.81858029e-02 2.20571560e+02] [-3.10577258e-01 9.50530954e-01 -5.71596896e-03 -5.02195115e+01] [-1.90617188e-02 -2.15885723e-04 9.99818286e-01 -5.63372837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.90862385300002 meters 0.019445509199990156 Centerline is valid? [True, True] Translation: X:220.60, Y:-50.23, Z:-5.63 [[ 9.51189046e-01 3.08066820e-01 1.82820635e-02 2.20598791e+02] [-3.08013333e-01 9.51364707e-01 -5.74288920e-03 -5.02293146e+01] [-1.91621036e-02 -1.68545988e-04 9.99816376e-01 -5.63473897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.93862385300002 meters 0.01796649649557302 Centerline is valid? [True, True] Translation: X:220.62, Y:-50.24, Z:-5.63 [[ 9.52018575e-01 3.05466468e-01 1.87315231e-02 2.20624636e+02] [-3.05409895e-01 9.52202826e-01 -5.87998548e-03 -5.02390246e+01] [-1.96323477e-02 -1.22937112e-04 9.99807259e-01 -5.63495838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.96862385300003 meters 0.016269401901221652 Centerline is valid? [True, True] Translation: X:220.65, Y:-50.25, Z:-5.64 [[ 9.53771381e-01 2.99951955e-01 1.86809354e-02 2.20651292e+02] [-2.99894639e-01 9.53954309e-01 -5.86353407e-03 -5.02516406e+01] [-1.95795373e-02 -9.84138375e-06 9.99808302e-01 -5.63506369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.99862385300003 meters 0.01667275731942457 Centerline is valid? [True, True] Translation: X:220.68, Y:-50.26, Z:-5.64 [[ 9.54633590e-01 2.97216627e-01 1.83571422e-02 2.20676693e+02] [-2.97160850e-01 9.54810073e-01 -5.75799558e-03 -5.02619694e+01] [-1.92389563e-02 4.17520201e-05 9.99814913e-01 -5.63720251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.02862385300003 meters 0.018953941187891087 Centerline is valid? [True, True] Translation: X:220.70, Y:-50.27, Z:-5.64 [[ 9.56293234e-01 2.91854054e-01 1.80128446e-02 2.20701678e+02] [-2.91799414e-01 9.56462853e-01 -5.64905354e-03 -5.02744449e+01] [-1.88773159e-02 1.46014161e-04 9.99821797e-01 -5.63878216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.05862385300003 meters 0.021202299784140073 Centerline is valid? [True, True] Translation: X:220.73, Y:-50.29, Z:-5.64 [[ 9.57153589e-01 2.89018110e-01 1.80427243e-02 2.20726892e+02] [-2.88962821e-01 9.57323609e-01 -5.65654446e-03 -5.02861071e+01] [-1.89075698e-02 2.00505310e-04 9.99821216e-01 -5.63982244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.08862385300003 meters 0.02353712184061796 Centerline is valid? [True, True] Translation: X:220.75, Y:-50.30, Z:-5.64 [[ 9.58061194e-01 2.85985477e-01 1.81949187e-02 2.20752770e+02] [-2.85928725e-01 9.58233917e-01 -5.70312509e-03 -5.02980675e+01] [-1.90659991e-02 2.61492945e-04 9.99818193e-01 -5.64041505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.11862385300003 meters 0.0356462280687972 Centerline is valid? [True, True] Translation: X:220.78, Y:-50.31, Z:-5.63 [[ 9.59724309e-01 2.80383274e-01 1.77333140e-02 2.20777905e+02] [-2.80328427e-01 9.59888060e-01 -5.55736767e-03 -5.03125337e+01] [-1.85801893e-02 3.62388814e-04 9.99827308e-01 -5.63222535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.148623853 meters 0.03216943550218468 Centerline is valid? [True, True] Translation: X:220.80, Y:-50.33, Z:-5.64 [[ 9.60596531e-01 2.77333532e-01 1.84503967e-02 2.20804315e+02] [-2.77273623e-01 9.60773605e-01 -5.78075414e-03 -5.03261284e+01] [-1.93298511e-02 4.37164033e-04 9.99813065e-01 -5.64131470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.178623853 meters 0.03500726780741364 Centerline is valid? [True, True] Translation: X:220.83, Y:-50.34, Z:-5.64 [[ 9.61275229e-01 2.74971125e-01 1.84611922e-02 2.20831284e+02] [-2.74910718e-01 9.61452363e-01 -5.78368875e-03 -5.03388527e+01] [-1.93399043e-02 4.84537105e-04 9.99812849e-01 -5.64197383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.208623853 meters 0.03991328791593825 Centerline is valid? [True, True] Translation: X:220.86, Y:-50.35, Z:-5.64 [[ 9.62395848e-01 2.71015444e-01 1.85704121e-02 2.20856705e+02] [-2.70953593e-01 9.62574832e-01 -5.81745384e-03 -5.03548270e+01] [-1.94520311e-02 5.66973552e-04 9.99810631e-01 -5.64289063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.238623853 meters 0.03670517883825918 Centerline is valid? [True, True] Translation: X:220.89, Y:-50.36, Z:-5.64 [[ 9.62798662e-01 2.69595853e-01 1.83524562e-02 2.20885860e+02] [-2.69535193e-01 9.62973380e-01 -5.74889616e-03 -5.03591908e+01] [-1.92228053e-02 5.88396716e-04 9.99815052e-01 -5.64232284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.268623853 meters 0.04341519781579415 Centerline is valid? [True, True] Translation: X:220.91, Y:-50.38, Z:-5.64 [[ 9.63077486e-01 2.68610155e-01 1.81752761e-02 2.20909183e+02] [-2.68550502e-01 9.63248786e-01 -5.69254369e-03 -5.03763700e+01] [-1.90363877e-02 6.01381146e-04 9.99818611e-01 -5.64466253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.298623853 meters 0.0441342358278584 Centerline is valid? [True, True] Translation: X:220.94, Y:-50.39, Z:-5.65 [[ 9.63247802e-01 2.68020511e-01 1.78515258e-02 2.20936587e+02] [-2.67962872e-01 9.63413018e-01 -5.59064128e-03 -5.03866280e+01] [-1.86967988e-02 6.01626804e-04 9.99825019e-01 -5.64618147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.328623853 meters 0.0441342358278584 Centerline is valid? [True, True] Translation: X:220.96, Y:-50.39, Z:-5.65 [[ 9.63265015e-01 2.67958575e-01 1.78525310e-02 2.20962873e+02] [-2.67900985e-01 9.63430248e-01 -5.58742928e-03 -5.03947136e+01] [-1.86968679e-02 5.99464509e-04 9.99825019e-01 -5.64687323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.358623853 meters 0.03859406251128248 Centerline is valid? [True, True] Translation: X:220.99, Y:-50.40, Z:-5.65 [[ 9.63027808e-01 2.68832378e-01 1.75098249e-02 2.20992605e+02] [-2.68777143e-01 9.63186808e-01 -5.47908297e-03 -5.03980578e+01] [-1.83381873e-02 5.70268541e-04 9.99831679e-01 -5.64672026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.388623853 meters 0.04234041623492708 Centerline is valid? [True, True] Translation: X:221.02, Y:-50.41, Z:-5.65 [[ 9.62691283e-01 2.70034765e-01 1.75134071e-02 2.21017532e+02] [-2.69979733e-01 9.62850418e-01 -5.47868556e-03 -5.04116033e+01] [-1.83422269e-02 5.46017863e-04 9.99831618e-01 -5.64880070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.418623853 meters 0.04047590742955025 Centerline is valid? [True, True] Translation: X:221.05, Y:-50.42, Z:-5.65 [[ 9.62219405e-01 2.71698271e-01 1.77162518e-02 2.21045866e+02] [-2.71642275e-01 9.62382346e-01 -5.54018770e-03 -5.04181976e+01] [-1.85550674e-02 5.18393169e-04 9.99827706e-01 -5.64930536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.44862385300002 meters 0.02991265465272547 Centerline is valid? [True, True] Translation: X:221.08, Y:-50.41, Z:-5.65 [[ 9.61214057e-01 2.75152698e-01 1.89348866e-02 2.21078301e+02] [-2.75089422e-01 9.61400417e-01 -5.92021523e-03 -5.04146972e+01] [-1.98329711e-02 4.81807076e-04 9.99803191e-01 -5.64575287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.47862385300002 meters 0.030844427913733066 Centerline is valid? [True, True] Translation: X:221.10, Y:-50.42, Z:-5.65 [[ 9.60674677e-01 2.77023149e-01 1.90351971e-02 2.21104218e+02] [-2.76959572e-01 9.60863141e-01 -5.95141672e-03 -5.04249439e+01] [-1.99388994e-02 4.45395321e-04 9.99801101e-01 -5.64669857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50862385300002 meters 0.027645382997515382 Centerline is valid? [True, True] Translation: X:221.13, Y:-50.43, Z:-5.65 [[ 9.60155374e-01 2.78822186e-01 1.89696437e-02 2.21133064e+02] [-2.78759423e-01 9.60342660e-01 -5.92952606e-03 -5.04290593e+01] [-1.98706415e-02 4.05299369e-04 9.99802477e-01 -5.64679567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.53862385300002 meters 0.03824360064564383 Centerline is valid? [True, True] Translation: X:221.16, Y:-50.43, Z:-5.64 [[ 9.58734787e-01 2.83745447e-01 1.77800126e-02 2.21162749e+02] [-2.83691226e-01 9.58899600e-01 -5.55388048e-03 -5.04315583e+01] [-1.86251353e-02 2.80664842e-04 9.99826498e-01 -5.63799728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56862385300002 meters 0.022764172934160973 Centerline is valid? [True, True] Translation: X:221.19, Y:-50.44, Z:-5.65 [[ 9.58057397e-01 2.85983620e-01 1.84226321e-02 2.21189297e+02] [-2.85925834e-01 9.58234475e-01 -5.75401660e-03 -5.04390530e+01] [-1.92987557e-02 2.45171725e-04 9.99813732e-01 -5.64991606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.59862385300002 meters 0.020868026198171723 Centerline is valid? [True, True] Translation: X:221.22, Y:-50.44, Z:-5.65 [[ 9.57336656e-01 2.88398200e-01 1.82484011e-02 2.21216663e+02] [-2.88341962e-01 9.57510543e-01 -5.69844446e-03 -5.04440850e+01] [-1.91164576e-02 1.93549985e-04 9.99817245e-01 -5.65106093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.62862385300002 meters 0.018645843651913442 Centerline is valid? [True, True] Translation: X:221.25, Y:-50.45, Z:-5.65 [[ 9.56540802e-01 2.91029944e-01 1.82007265e-02 2.21246200e+02] [-2.90974485e-01 9.56713934e-01 -5.68305554e-03 -5.04477487e+01] [-1.90668280e-02 1.40127478e-04 9.99818202e-01 -5.65083502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.65862385300002 meters 0.016741339209199083 Centerline is valid? [True, True] Translation: X:221.28, Y:-50.45, Z:-5.65 [[ 9.54969962e-01 2.96129353e-01 1.84330703e-02 2.21276513e+02] [-2.96073476e-01 9.55147845e-01 -5.75251219e-03 -5.04491686e+01] [-1.93097951e-02 3.59331447e-05 9.99813548e-01 -5.65065290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.68862385300002 meters 0.016597546578986187 Centerline is valid? [True, True] Translation: X:221.30, Y:-50.45, Z:-5.65 [[ 9.54278820e-01 2.98324459e-01 1.88268911e-02 2.21303193e+02] [-2.98266668e-01 9.54464519e-01 -5.87173478e-03 -5.04539569e+01] [-1.97212817e-02 -1.21619570e-05 9.99805517e-01 -5.65147773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.71862385300003 meters 0.01685548963460402 Centerline is valid? [True, True] Translation: X:221.33, Y:-50.46, Z:-5.65 [[ 9.53740100e-01 3.00025976e-01 1.90849352e-02 2.21330946e+02] [-2.99966954e-01 9.53931031e-01 -5.95105840e-03 -5.04598143e+01] [-1.99911840e-02 -4.90868349e-05 9.99800155e-01 -5.65032871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.74862385300003 meters 0.01747508349050213 Centerline is valid? [True, True] Translation: X:221.36, Y:-50.46, Z:-5.65 [[ 9.52993567e-01 3.02376276e-01 1.92833803e-02 2.21358831e+02] [-3.02316599e-01 9.53188637e-01 -6.00806004e-03 -5.04634925e+01] [-2.01973938e-02 -1.04043386e-04 9.99796006e-01 -5.65054781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.77862385300003 meters 0.021223822798141875 Centerline is valid? [True, True] Translation: X:221.39, Y:-50.47, Z:-5.65 [[ 9.52845377e-01 3.02864573e-01 1.89403997e-02 2.21387250e+02] [-3.02807109e-01 9.53033597e-01 -5.90057287e-03 -5.04711886e+01] [-1.98379117e-02 -1.12954096e-04 9.99803203e-01 -5.64602833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.80862385300003 meters 0.017188337065695954 Centerline is valid? [True, True] Translation: X:221.41, Y:-50.48, Z:-5.65 [[ 9.53273659e-01 3.01497997e-01 1.91908501e-02 2.21413899e+02] [-3.01438807e-01 9.53466806e-01 -5.97457149e-03 -5.04837131e+01] [-2.00991599e-02 -8.94653377e-05 9.99797987e-01 -5.65198559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.83862385300003 meters 0.016948543933015304 Centerline is valid? [True, True] Translation: X:221.44, Y:-50.49, Z:-5.65 [[ 9.53614104e-01 3.00421872e-01 1.91530549e-02 2.21439670e+02] [-3.00362727e-01 9.53806424e-01 -5.96138186e-03 -5.04935670e+01] [-2.00592363e-02 -6.80059777e-05 9.99798791e-01 -5.65318758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86862385300003 meters 0.01681113479802817 Centerline is valid? [True, True] Translation: X:221.47, Y:-50.50, Z:-5.65 [[ 9.53954639e-01 2.99365361e-01 1.87330662e-02 2.21465054e+02] [-2.99308660e-01 9.54138553e-01 -5.82647171e-03 -5.05031852e+01] [-1.96181845e-02 -4.87792193e-05 9.99807544e-01 -5.65420427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.898623853 meters 0.01671727760498809 Centerline is valid? [True, True] Translation: X:221.49, Y:-50.51, Z:-5.66 [[ 9.54553621e-01 2.97470934e-01 1.83963940e-02 2.21490271e+02] [-2.97415956e-01 9.54730875e-01 -5.71886691e-03 -5.05142290e+01] [-1.92648020e-02 -1.24160047e-05 9.99814416e-01 -5.65570193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.928623853 meters 0.016640595984955178 Centerline is valid? [True, True] Translation: X:221.52, Y:-50.52, Z:-5.66 [[ 9.54825813e-01 2.96594655e-01 1.84194546e-02 2.21516801e+02] [-2.96539397e-01 9.55003461e-01 -5.72500420e-03 -5.05237848e+01] [-1.92886485e-02 4.28783690e-06 9.99813957e-01 -5.65621061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.958623853 meters 0.01669717123725653 Centerline is valid? [True, True] Translation: X:221.54, Y:-50.53, Z:-5.66 [[ 9.55063362e-01 2.95826861e-01 1.84510982e-02 2.21542877e+02] [-2.95771342e-01 9.55241576e-01 -5.73107354e-03 -5.05332910e+01] [-1.93206616e-02 1.62322873e-05 9.99813338e-01 -5.65673996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.988623853 meters 0.016885206483319076 Centerline is valid? [True, True] Translation: X:221.57, Y:-50.54, Z:-5.66 [[ 9.55295668e-01 2.95085578e-01 1.82944760e-02 2.21568218e+02] [-2.95030941e-01 9.55470827e-01 -5.67827777e-03 -5.05433533e+01] [-1.91554160e-02 2.69976977e-05 9.99816518e-01 -5.65963396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.018623853 meters 0.03129204367783978 Centerline is valid? [True, True] Translation: X:221.59, Y:-50.56, Z:-5.65 [[ 9.55647722e-01 2.94007173e-01 1.72398667e-02 2.21594736e+02] [-2.93958514e-01 9.55803212e-01 -5.34900609e-03 -5.05552126e+01] [-1.80505661e-02 4.39598855e-05 9.99837074e-01 -5.64965641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.048623853 meters 0.0172849630170772 Centerline is valid? [True, True] Translation: X:221.62, Y:-50.57, Z:-5.66 [[ 9.56022412e-01 2.92765468e-01 1.75934414e-02 2.21619197e+02] [-2.92714656e-01 9.56184280e-01 -5.45469722e-03 -5.05664044e+01] [-1.84195191e-02 6.49546507e-05 9.99830344e-01 -5.66070749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.078623853 meters 0.017414580947353393 Centerline is valid? [True, True] Translation: X:221.65, Y:-50.57, Z:-5.66 [[ 9.56238177e-01 2.92049784e-01 1.77615430e-02 2.21645325e+02] [-2.91997891e-01 9.56403115e-01 -5.50584047e-03 -5.05749616e+01] [-1.85951746e-02 7.85617486e-05 9.99827092e-01 -5.66084566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.108623853 meters 0.017664983211716213 Centerline is valid? [True, True] Translation: X:221.67, Y:-50.58, Z:-5.66 [[ 9.56379248e-01 2.91596815e-01 1.76076947e-02 2.21672164e+02] [-2.91545824e-01 9.56541317e-01 -5.45361207e-03 -5.05837400e+01] [-1.84327434e-02 8.22715435e-05 9.99830099e-01 -5.66214965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.138623853 meters 0.01805098213571523 Centerline is valid? [True, True] Translation: X:221.70, Y:-50.59, Z:-5.66 [[ 9.56743374e-01 2.90415569e-01 1.73468411e-02 2.21699350e+02] [-2.90365889e-01 9.56900615e-01 -5.37248180e-03 -5.05944689e+01] [-1.81594552e-02 1.03155435e-04 9.99835098e-01 -5.66350623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.168623853 meters 0.018317787500524624 Centerline is valid? [True, True] Translation: X:221.73, Y:-50.61, Z:-5.67 [[ 9.56900068e-01 2.89903772e-01 1.72644837e-02 2.21725110e+02] [-2.89854549e-01 9.57055793e-01 -5.34314498e-03 -5.06056105e+01] [-1.80720720e-02 1.08666668e-04 9.99836681e-01 -5.66526674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.19862385300002 meters 0.01890039751706412 Centerline is valid? [True, True] Translation: X:221.75, Y:-50.62, Z:-5.67 [[ 9.57343672e-01 2.88442562e-01 1.71458834e-02 2.21750682e+02] [-2.88393784e-01 9.57497191e-01 -5.30616322e-03 -5.06190026e+01] [-1.79476585e-02 1.35055583e-04 9.99838919e-01 -5.66541420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22862385300002 meters 0.01940115190195191 Centerline is valid? [True, True] Translation: X:221.78, Y:-50.63, Z:-5.67 [[ 9.57545155e-01 2.87779172e-01 1.70418277e-02 2.21776799e+02] [-2.87730943e-01 9.57696783e-01 -5.27033925e-03 -5.06291796e+01] [-1.78375974e-02 1.43126661e-04 9.99840887e-01 -5.66635170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.25862385300002 meters 0.01956693156292848 Centerline is valid? [True, True] Translation: X:221.80, Y:-50.64, Z:-5.67 [[ 9.57733345e-01 2.87167804e-01 1.67777434e-02 2.21803573e+02] [-2.87120982e-01 9.57880279e-01 -5.18768379e-03 -5.06399180e+01] [-1.75608053e-02 1.51175593e-04 9.99845786e-01 -5.66656271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28862385300002 meters 0.01937665718280891 Centerline is valid? [True, True] Translation: X:221.83, Y:-50.65, Z:-5.67 [[ 9.57782008e-01 2.87006115e-01 1.67664987e-02 2.21830591e+02] [-2.86959380e-01 9.57928738e-01 -5.18144639e-03 -5.06489445e+01] [-1.75482178e-02 1.51392056e-04 9.99846007e-01 -5.66702142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.31862385300002 meters 0.019336300516396468 Centerline is valid? [True, True] Translation: X:221.86, Y:-50.66, Z:-5.67 [[ 9.57752039e-01 2.87111447e-01 1.66747986e-02 2.21856462e+02] [-2.87065313e-01 9.57897174e-01 -5.14879711e-03 -5.06580438e+01] [-1.74510210e-02 1.44514656e-04 9.99847709e-01 -5.66770660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34862385300002 meters 0.019002103830144442 Centerline is valid? [True, True] Translation: X:221.88, Y:-50.67, Z:-5.67 [[ 9.57677067e-01 2.87328379e-01 1.72347668e-02 2.21883825e+02] [-2.87279147e-01 9.57832126e-01 -5.32068494e-03 -5.06674752e+01] [-1.80367971e-02 1.44308851e-04 9.99837313e-01 -5.66779251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.37862385300002 meters 0.01849693274448648 Centerline is valid? [True, True] Translation: X:221.91, Y:-50.68, Z:-5.67 [[ 9.57453125e-01 2.88045044e-01 1.77077769e-02 2.21909645e+02] [-2.87993267e-01 9.57616852e-01 -5.46286198e-03 -5.06775498e+01] [-1.85308159e-02 1.30713755e-04 9.99828281e-01 -5.66737670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.40862385300002 meters 0.018424839842978383 Centerline is valid? [True, True] Translation: X:221.94, Y:-50.69, Z:-5.67 [[ 9.57437337e-01 2.88110273e-01 1.74990488e-02 2.21935763e+02] [-2.88059738e-01 9.57597230e-01 -5.39751004e-03 -5.06864902e+01] [-1.83121187e-02 1.27006233e-04 9.99832311e-01 -5.66834815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.43862385300002 meters 0.018273672590450592 Centerline is valid? [True, True] Translation: X:221.96, Y:-50.70, Z:-5.67 [[ 9.57280733e-01 2.88658925e-01 1.70183237e-02 2.21960885e+02] [-2.88611288e-01 9.57431989e-01 -5.24509503e-03 -5.06969106e+01] [-1.78079310e-02 1.09348092e-04 9.99841420e-01 -5.67035053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.46862385300003 meters 0.01904556510058063 Centerline is valid? [True, True] Translation: X:221.99, Y:-50.71, Z:-5.67 [[ 9.57164722e-01 2.89038340e-01 1.71035727e-02 2.21985549e+02] [-2.88990313e-01 9.57317517e-01 -5.26984755e-03 -5.07078251e+01] [-1.78967377e-02 1.01345328e-04 9.99839835e-01 -5.67376863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.49862385300003 meters 0.01783612881449907 Centerline is valid? [True, True] Translation: X:222.01, Y:-50.71, Z:-5.67 [[ 9.57036863e-01 2.89465358e-01 1.70366915e-02 2.22012717e+02] [-2.89417786e-01 9.57188486e-01 -5.24854419e-03 -5.07147638e+01] [-1.78265967e-02 9.23287150e-05 9.99841089e-01 -5.67151689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.52862385300003 meters 0.017354586717142965 Centerline is valid? [True, True] Translation: X:222.04, Y:-50.72, Z:-5.67 [[ 9.56556979e-01 2.91034959e-01 1.72452479e-02 2.22038896e+02] [-2.90986547e-01 9.56712417e-01 -5.30854377e-03 -5.07237325e+01] [-1.80437146e-02 5.97894582e-05 9.99837197e-01 -5.67121571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.55862385300003 meters 0.01698059414155671 Centerline is valid? [True, True] Translation: X:222.07, Y:-50.73, Z:-5.67 [[ 9.56358821e-01 2.91655657e-01 1.77421467e-02 2.22066144e+02] [-2.91604541e-01 9.56523379e-01 -5.46044562e-03 -5.07315482e+01] [-1.85633480e-02 4.84547984e-05 9.99827685e-01 -5.67165031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.58862385300003 meters 0.016818367341128106 Centerline is valid? [True, True] Translation: X:222.09, Y:-50.74, Z:-5.67 [[ 9.55663321e-01 2.93947365e-01 1.73943480e-02 2.22092859e+02] [-2.93898688e-01 9.55821608e-01 -5.34927681e-03 -5.07381550e+01] [-1.81982995e-02 -6.84126888e-08 9.99834397e-01 -5.67258626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.61862385300003 meters 0.017031493273460895 Centerline is valid? [True, True] Translation: X:222.12, Y:-50.75, Z:-5.67 [[ 9.55313153e-01 2.95092605e-01 1.72375859e-02 2.22119834e+02] [-2.95045001e-01 9.55468657e-01 -5.30034325e-03 -5.07455170e+01] [-1.80340651e-02 -2.23759185e-05 9.99837373e-01 -5.67337615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.648623853 meters 0.01729844285571787 Centerline is valid? [True, True] Translation: X:222.15, Y:-50.75, Z:-5.67 [[ 9.54858625e-01 2.96553394e-01 1.73519831e-02 2.22147517e+02] [-2.96505459e-01 9.55016273e-01 -5.33207033e-03 -5.07519212e+01] [-1.81526698e-02 -5.35843727e-05 9.99835225e-01 -5.67429027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.678623853 meters 0.01791841856224424 Centerline is valid? [True, True] Translation: X:222.17, Y:-50.76, Z:-5.68 [[ 9.54391855e-01 2.98071701e-01 1.70131865e-02 2.22174417e+02] [-2.98025932e-01 9.54543479e-01 -5.22397329e-03 -5.07576857e+01] [-1.77969448e-02 -8.46531899e-05 9.99841618e-01 -5.67575352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.708623853 meters 0.0198771231948683 Centerline is valid? [True, True] Translation: X:222.20, Y:-50.76, Z:-5.68 [[ 9.53495222e-01 3.00941348e-01 1.67680144e-02 2.22202259e+02] [-3.00897363e-01 9.53642641e-01 -5.14696900e-03 -5.07619854e+01] [-1.75396293e-02 -1.37840969e-04 9.99846159e-01 -5.67715991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.738623853 meters 0.020338702517017197 Centerline is valid? [True, True] Translation: X:222.23, Y:-50.77, Z:-5.68 [[ 9.53191134e-01 3.01880357e-01 1.71730011e-02 2.22230164e+02] [-3.01834379e-01 9.53345805e-01 -5.27096966e-03 -5.07695191e+01] [-1.79630107e-02 -1.59160571e-04 9.99838639e-01 -5.67770425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.768623853 meters 0.02142325291329672 Centerline is valid? [True, True] Translation: X:222.26, Y:-50.78, Z:-5.68 [[ 9.52954167e-01 3.02630954e-01 1.71132077e-02 2.22257468e+02] [-3.02585479e-01 9.53107798e-01 -5.24913027e-03 -5.07761948e+01] [-1.78992810e-02 -1.76027575e-04 9.99839780e-01 -5.67862062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.798623853 meters 0.025192408557670996 Centerline is valid? [True, True] Translation: X:222.29, Y:-50.78, Z:-5.67 [[ 9.52668518e-01 3.03570623e-01 1.63576275e-02 2.22285117e+02] [-3.03529242e-01 9.52808922e-01 -5.01573247e-03 -5.07830232e+01] [-1.71083224e-02 -1.86687842e-04 9.99853625e-01 -5.67478024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.828623853 meters 0.023757714309339678 Centerline is valid? [True, True] Translation: X:222.31, Y:-50.79, Z:-5.68 [[ 9.52282440e-01 3.04778894e-01 1.63700898e-02 2.22311536e+02] [-3.04737644e-01 9.52423111e-01 -5.01857260e-03 -5.07897092e+01] [-1.71208069e-02 -2.09484039e-04 9.99853406e-01 -5.68183076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.858623853 meters 0.024383171274517054 Centerline is valid? [True, True] Translation: X:222.34, Y:-50.80, Z:-5.68 [[ 9.52152022e-01 3.05203556e-01 1.60411174e-02 2.22338347e+02] [-3.05164024e-01 9.52287112e-01 -4.91679026e-03 -5.07972101e+01] [-1.67763712e-02 -2.13640142e-04 9.99859244e-01 -5.68339390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.888623853 meters 0.025912885107886266 Centerline is valid? [True, True] Translation: X:222.37, Y:-50.81, Z:-5.68 [[ 9.51697610e-01 3.06620879e-01 1.59779814e-02 2.22365676e+02] [-3.06581856e-01 9.51831697e-01 -4.89745912e-03 -5.08058705e+01] [-1.67100124e-02 -2.37659065e-04 9.99860350e-01 -5.67701905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.918623853 meters 0.025862514714584575 Centerline is valid? [True, True] Translation: X:222.39, Y:-50.81, Z:-5.68 [[ 9.51643152e-01 3.06768915e-01 1.63750683e-02 2.22392826e+02] [-3.06728008e-01 9.51783994e-01 -5.01583506e-03 -5.08103218e+01] [-1.71242302e-02 -2.49406993e-04 9.99853339e-01 -5.68311119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.94862385300002 meters 0.02697084181966925 Centerline is valid? [True, True] Translation: X:222.42, Y:-50.82, Z:-5.68 [[ 9.51502965e-01 3.07182827e-01 1.67576707e-02 2.22420419e+02] [-3.07140102e-01 9.51650482e-01 -5.13004985e-03 -5.08164721e+01] [-1.75233086e-02 -2.65695043e-04 9.99846420e-01 -5.68395068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.97862385300002 meters 0.027314629618264287 Centerline is valid? [True, True] Translation: X:222.45, Y:-50.82, Z:-5.68 [[ 9.51397821e-01 3.07504788e-01 1.68223356e-02 2.22447715e+02] [-3.07461787e-01 9.51546494e-01 -5.14960239e-03 -5.08245701e+01] [-1.75907619e-02 -2.72904884e-04 9.99845233e-01 -5.68424526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00862385300002 meters 0.02599164148609137 Centerline is valid? [True, True] Translation: X:222.47, Y:-50.83, Z:-5.68 [[ 9.51457376e-01 3.07310045e-01 1.70116846e-02 2.22474189e+02] [-3.07266086e-01 9.51609406e-01 -5.20495782e-03 -5.08348617e+01] [-1.77880149e-02 -2.74818236e-04 9.99841743e-01 -5.68399842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.03862385300002 meters 0.023934437095224314 Centerline is valid? [True, True] Translation: X:222.50, Y:-50.85, Z:-5.68 [[ 9.51569500e-01 3.06946476e-01 1.73016533e-02 2.22499840e+02] [-3.06901006e-01 9.51726739e-01 -5.29030702e-03 -5.08453512e+01] [-1.80902871e-02 -2.75799985e-04 9.99836319e-01 -5.68294744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06862385300002 meters 0.023695284514055205 Centerline is valid? [True, True] Translation: X:222.53, Y:-50.85, Z:-5.68 [[ 9.51741901e-01 3.06411246e-01 1.73061147e-02 2.22527252e+02] [-3.06365748e-01 9.51899194e-01 -5.28707980e-03 -5.08520798e+01] [-1.80936974e-02 -2.70065403e-04 9.99836259e-01 -5.68328488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.09862385300002 meters 0.02355174229778727 Centerline is valid? [True, True] Translation: X:222.55, Y:-50.86, Z:-5.68 [[ 9.51916491e-01 3.05875132e-01 1.71871152e-02 2.22554172e+02] [-3.05830190e-01 9.52071603e-01 -5.24961526e-03 -5.08604791e+01] [-1.79690911e-02 -2.59143373e-04 9.99838509e-01 -5.68441879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12862385300002 meters 0.02454809645584663 Centerline is valid? [True, True] Translation: X:222.58, Y:-50.87, Z:-5.69 [[ 9.52065801e-01 3.05420968e-01 1.69924153e-02 2.22581083e+02] [-3.05376985e-01 9.52217397e-01 -5.18906535e-03 -5.08674132e+01] [-1.77653228e-02 -2.48760886e-04 9.99842153e-01 -5.68713241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.15862385300002 meters 0.02430851106261381 Centerline is valid? [True, True] Translation: X:222.61, Y:-50.88, Z:-5.69 [[ 9.52247931e-01 3.04879543e-01 1.65027950e-02 2.22606796e+02] [-3.04837992e-01 9.52390892e-01 -5.03869467e-03 -5.08756192e+01] [-1.72533066e-02 -2.32592311e-04 9.99851124e-01 -5.68848654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18862385300002 meters 0.02254457459072113 Centerline is valid? [True, True] Translation: X:222.63, Y:-50.89, Z:-5.69 [[ 9.52489788e-01 3.04125605e-01 1.64566303e-02 2.22633624e+02] [-3.04084186e-01 9.52631916e-01 -5.02391894e-03 -5.08864107e+01] [-1.72050136e-02 -2.18969540e-04 9.99851959e-01 -5.68815236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.21862385300003 meters 0.02254457459072113 Centerline is valid? [True, True] Translation: X:222.66, Y:-50.89, Z:-5.69 [[ 9.52546641e-01 3.03947448e-01 1.64573984e-02 2.22659963e+02] [-3.03906045e-01 9.52688775e-01 -5.02140123e-03 -5.08942446e+01] [-1.72050208e-02 -2.18383992e-04 9.99851959e-01 -5.68884360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.24862385300003 meters 0.021996985738545423 Centerline is valid? [True, True] Translation: X:222.69, Y:-50.90, Z:-5.69 [[ 9.52835050e-01 3.03016092e-01 1.69297102e-02 2.22686783e+02] [-3.02972213e-01 9.52985416e-01 -5.16090492e-03 -5.09016739e+01] [-1.76976042e-02 -2.11740663e-04 9.99843363e-01 -5.68892510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.27862385300003 meters 0.021775963751115054 Centerline is valid? [True, True] Translation: X:222.71, Y:-50.91, Z:-5.69 [[ 9.53014439e-01 3.02440197e-01 1.71291214e-02 2.22713260e+02] [-3.02395188e-01 9.53168341e-01 -5.22155754e-03 -5.09091117e+01] [-1.79061451e-02 -2.03544167e-04 9.99839651e-01 -5.68964268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.30862385300003 meters 0.021098961250873453 Centerline is valid? [True, True] Translation: X:222.74, Y:-50.92, Z:-5.69 [[ 9.53199293e-01 3.01858903e-01 1.70971200e-02 2.22740803e+02] [-3.01814030e-01 9.53352592e-01 -5.20836194e-03 -5.09161981e+01] [-1.78717741e-02 -1.95543763e-04 9.99840268e-01 -5.68944904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.33862385300003 meters 0.029670285132435546 Centerline is valid? [True, True] Translation: X:222.77, Y:-50.92, Z:-5.68 [[ 9.53125198e-01 3.02116800e-01 1.66672281e-02 2.22768198e+02] [-3.02074271e-01 9.53270895e-01 -5.07302054e-03 -5.09215305e+01] [-1.74210282e-02 -1.99517089e-04 9.99848222e-01 -5.68149476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36862385300003 meters 0.021777520027851913 Centerline is valid? [True, True] Translation: X:222.80, Y:-50.93, Z:-5.69 [[ 9.53141047e-01 3.02001249e-01 1.78154357e-02 2.22795226e+02] [-3.01952657e-01 9.53307506e-01 -5.42145210e-03 -5.09273119e+01] [-1.86208739e-02 -2.12009622e-04 9.99826594e-01 -5.69050270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.398623853 meters 0.02216361367368793 Centerline is valid? [True, True] Translation: X:222.82, Y:-50.93, Z:-5.69 [[ 9.52927582e-01 3.02653716e-01 1.81590800e-02 2.22824483e+02] [-3.02603375e-01 9.53100559e-01 -5.52472860e-03 -5.09313361e+01] [-1.89795089e-02 -2.30332610e-04 9.99819846e-01 -5.69030413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.428623853 meters 0.02335242561856591 Centerline is valid? [True, True] Translation: X:222.85, Y:-50.94, Z:-5.69 [[ 9.52855438e-01 3.02903348e-01 1.77785245e-02 2.22851884e+02] [-3.02855208e-01 9.53021252e-01 -5.40517211e-03 -5.09351065e+01] [-1.85805564e-02 -2.33971109e-04 9.99827339e-01 -5.69251028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.458623853 meters 0.02307725823237662 Centerline is valid? [True, True] Translation: X:222.88, Y:-50.94, Z:-5.69 [[ 9.52948491e-01 3.02645533e-01 1.71713245e-02 2.22879349e+02] [-3.02600586e-01 9.53103159e-01 -5.22045535e-03 -5.09394564e+01] [-1.79459911e-02 -2.21227815e-04 9.99838933e-01 -5.69445767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.488623853 meters 0.02243990019778793 Centerline is valid? [True, True] Translation: X:222.91, Y:-50.95, Z:-5.70 [[ 9.53136880e-01 3.02075681e-01 1.67443071e-02 2.22906355e+02] [-3.02032908e-01 9.53283924e-01 -5.08749683e-03 -5.09467747e+01] [-1.74988878e-02 -2.08250906e-04 9.99846861e-01 -5.69581616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.518623853 meters 0.021724284348726496 Centerline is valid? [True, True] Translation: X:222.93, Y:-50.95, Z:-5.70 [[ 9.53376592e-01 3.01341325e-01 1.63242348e-02 2.22933128e+02] [-3.01300617e-01 9.53516318e-01 -4.95673537e-03 -5.09537916e+01] [-1.70590934e-02 -1.92866543e-04 9.99854464e-01 -5.69645094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.548623853 meters 0.020673976980793377 Centerline is valid? [True, True] Translation: X:222.96, Y:-50.96, Z:-5.70 [[ 9.53657989e-01 3.00449353e-01 1.63287017e-02 2.22960601e+02] [-3.00408553e-01 9.53797753e-01 -4.95458543e-03 -5.09615781e+01] [-1.70628810e-02 -1.80301676e-04 9.99854402e-01 -5.69644914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.578623853 meters 0.020044760044834943 Centerline is valid? [True, True] Translation: X:222.99, Y:-50.97, Z:-5.70 [[ 9.54352976e-01 2.98182008e-01 1.72593895e-02 2.22988334e+02] [-2.98136115e-01 9.54509019e-01 -5.23352407e-03 -5.09673118e+01] [-1.80347856e-02 -1.51018050e-04 9.99837349e-01 -5.69764936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.608623853 meters 0.0191324618850178 Centerline is valid? [True, True] Translation: X:223.01, Y:-50.98, Z:-5.70 [[ 9.54759924e-01 2.96845061e-01 1.77903616e-02 2.23014700e+02] [-2.96796146e-01 9.54925647e-01 -5.39035696e-03 -5.09752662e+01] [-1.85885734e-02 -1.33613940e-04 9.99827209e-01 -5.69710496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.638623853 meters 0.01706117309579377 Centerline is valid? [True, True] Translation: X:223.04, Y:-50.99, Z:-5.69 [[ 9.55776403e-01 2.93491598e-01 1.88188709e-02 2.23041803e+02] [-2.93436224e-01 9.55961650e-01 -5.70138716e-03 -5.09855554e+01] [-1.96634281e-02 -7.28871107e-05 9.99806653e-01 -5.69488691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.668623853 meters 0.016828064100550908 Centerline is valid? [True, True] Translation: X:223.07, Y:-50.99, Z:-5.70 [[ 9.56289622e-01 2.91819739e-01 1.87456287e-02 2.23068133e+02] [-2.91764552e-01 9.56473334e-01 -5.67518026e-03 -5.09938504e+01] [-1.95858236e-02 -4.21939680e-05 9.99808178e-01 -5.69669799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.69862385300002 meters 0.01658826996990652 Centerline is valid? [True, True] Translation: X:223.09, Y:-51.00, Z:-5.70 [[ 9.56895374e-01 2.89824502e-01 1.87883122e-02 2.23094532e+02] [-2.89768688e-01 9.57079808e-01 -5.68763453e-03 -5.10030276e+01] [-1.96303301e-02 -1.79341191e-06 9.99807306e-01 -5.69722209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72862385300002 meters 0.017093966157863346 Centerline is valid? [True, True] Translation: X:223.12, Y:-51.01, Z:-5.70 [[ 9.57916609e-01 2.86486113e-01 1.79297835e-02 2.23120583e+02] [-2.86434779e-01 9.58084393e-01 -5.42341417e-03 -5.10125717e+01] [-1.87319786e-02 5.94649309e-05 9.99824539e-01 -5.69946652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.75862385300002 meters 0.017590519114563705 Centerline is valid? [True, True] Translation: X:223.15, Y:-51.02, Z:-5.70 [[ 9.58332677e-01 2.85131892e-01 1.72708898e-02 2.23147823e+02] [-2.85084048e-01 9.58488288e-01 -5.22383567e-03 -5.10207175e+01] [-1.80434277e-02 8.25172715e-05 9.99837201e-01 -5.70155230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78862385300002 meters 0.017934397209022637 Centerline is valid? [True, True] Translation: X:223.18, Y:-51.03, Z:-5.70 [[ 9.58706269e-01 2.83877030e-01 1.72081797e-02 2.23175291e+02] [-2.83829385e-01 9.58860689e-01 -5.20186254e-03 -5.10288848e+01] [-1.79769363e-02 1.02871180e-04 9.99838397e-01 -5.70234104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.81862385300002 meters 0.018247631483536357 Centerline is valid? [True, True] Translation: X:223.20, Y:-51.04, Z:-5.70 [[ 9.59003539e-01 2.82896596e-01 1.67847754e-02 2.23202861e+02] [-2.82851167e-01 9.59150407e-01 -5.07096498e-03 -5.10368660e+01] [-1.75336829e-02 1.15480047e-04 9.99846266e-01 -5.70331588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84862385300002 meters 0.030934361955637764 Centerline is valid? [True, True] Translation: X:223.23, Y:-51.04, Z:-5.70 [[ 9.59328666e-01 2.81877707e-01 1.52796971e-02 2.23230137e+02] [-2.81839986e-01 9.59450335e-01 -4.61277183e-03 -5.10444330e+01] [-1.59603480e-02 1.18734624e-04 9.99872618e-01 -5.69560948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.87862385300002 meters 0.019338451149713737 Centerline is valid? [True, True] Translation: X:223.26, Y:-51.05, Z:-5.70 [[ 9.59593378e-01 2.80902445e-01 1.65639915e-02 2.23256790e+02] [-2.80857975e-01 9.59736315e-01 -5.00030696e-03 -5.10517827e+01] [-1.73016626e-02 1.46132332e-04 9.99850304e-01 -5.70462165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.90862385300002 meters 0.019851166169022567 Centerline is valid? [True, True] Translation: X:223.28, Y:-51.06, Z:-5.70 [[ 9.59838601e-01 2.80008113e-01 1.74733185e-02 2.23283028e+02] [-2.79958562e-01 9.59997619e-01 -5.27018854e-03 -5.10578573e+01] [-1.82500397e-02 1.66725283e-04 9.99833440e-01 -5.70439244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.93862385300002 meters 0.019998363571200727 Centerline is valid? [True, True] Translation: X:223.31, Y:-51.07, Z:-5.70 [[ 9.60024319e-01 2.79347125e-01 1.78462893e-02 2.23310482e+02] [-2.79295338e-01 9.60190164e-01 -5.38176160e-03 -5.10651040e+01] [-1.86392111e-02 1.82236611e-04 9.99826258e-01 -5.70394092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.96862385300003 meters 0.020914381660519944 Centerline is valid? [True, True] Translation: X:223.34, Y:-51.07, Z:-5.70 [[ 9.60304068e-01 2.78333678e-01 1.86134633e-02 2.23337014e+02] [-2.78277245e-01 9.60484420e-01 -5.60832099e-03 -5.10725798e+01] [-1.94389261e-02 2.05990183e-04 9.99811025e-01 -5.70370436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.99862385300003 meters 0.03143615315619815 Centerline is valid? [True, True] Translation: X:223.36, Y:-51.08, Z:-5.69 [[ 9.60476956e-01 2.77751004e-01 1.83955375e-02 2.23364905e+02] [-2.77695789e-01 9.60653077e-01 -5.54215514e-03 -5.10793497e+01] [-1.92110689e-02 2.14748995e-04 9.99815427e-01 -5.69432907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.02862385300003 meters 0.02108276596429056 Centerline is valid? [True, True] Translation: X:223.39, Y:-51.09, Z:-5.70 [[ 9.60729754e-01 2.76790345e-01 1.96327370e-02 2.23391808e+02] [-2.76727327e-01 9.60930301e-01 -5.91122018e-03 -5.10873512e+01] [-2.05018605e-02 2.46170298e-04 9.99789784e-01 -5.70360559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.05862385300003 meters 0.022069210500703526 Centerline is valid? [True, True] Translation: X:223.42, Y:-51.10, Z:-5.70 [[ 9.60902681e-01 2.76175062e-01 1.98336399e-02 2.23418431e+02] [-2.76110714e-01 9.61107314e-01 -5.96697533e-03 -5.10966324e+01] [-2.07101861e-02 2.57402125e-04 9.99785488e-01 -5.70412640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.08862385300003 meters 0.022476388405815333 Centerline is valid? [True, True] Translation: X:223.45, Y:-51.10, Z:-5.71 [[ 9.61265630e-01 2.74950567e-01 1.92502990e-02 2.23446269e+02] [-2.74889715e-01 9.61458325e-01 -5.79085023e-03 -5.11037856e+01] [-2.01005578e-02 2.74836067e-04 9.99797926e-01 -5.70557871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.11862385300003 meters 0.023995354404001603 Centerline is valid? [True, True] Translation: X:223.47, Y:-51.11, Z:-5.71 [[ 9.61438751e-01 2.74360927e-01 1.90160326e-02 2.23472573e+02] [-2.74301507e-01 9.61626749e-01 -5.71662297e-03 -5.11133287e+01] [-1.98547436e-02 2.80056447e-04 9.99802836e-01 -5.70783876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.148623853 meters 0.024281094595802914 Centerline is valid? [True, True] Translation: X:223.50, Y:-51.12, Z:-5.71 [[ 9.61642923e-01 2.73679791e-01 1.85002785e-02 2.23500614e+02] [-2.73623449e-01 9.61820821e-01 -5.56032160e-03 -5.11216132e+01] [-1.93157007e-02 2.84933900e-04 9.99813394e-01 -5.70916024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.178623853 meters 0.025873810887849017 Centerline is valid? [True, True] Translation: X:223.53, Y:-51.13, Z:-5.71 [[ 9.61995602e-01 2.72471807e-01 1.79881999e-02 2.23526297e+02] [-2.72418394e-01 9.62163721e-01 -5.40304984e-03 -5.11308230e+01] [-1.87797721e-02 2.97393662e-04 9.99823600e-01 -5.71138004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.208623853 meters 0.026128023459829376 Centerline is valid? [True, True] Translation: X:223.55, Y:-51.14, Z:-5.71 [[ 9.62204838e-01 2.71705170e-01 1.83888614e-02 2.23553984e+02] [-2.71649242e-01 9.62380486e-01 -5.52173236e-03 -5.11390078e+01] [-1.91973646e-02 3.17717324e-04 9.99815663e-01 -5.71124236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.238623853 meters 0.026000723958435657 Centerline is valid? [True, True] Translation: X:223.58, Y:-51.15, Z:-5.71 [[ 9.62401810e-01 2.70993727e-01 1.85783960e-02 2.23581248e+02] [-2.70936581e-01 9.62581056e-01 -5.57485824e-03 -5.11468597e+01] [-1.93939637e-02 3.31686553e-04 9.99811864e-01 -5.71085334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.268623853 meters 0.027382551039041605 Centerline is valid? [True, True] Translation: X:223.61, Y:-51.16, Z:-5.71 [[ 9.62946491e-01 2.68990175e-01 1.94510209e-02 2.23607720e+02] [-2.68927140e-01 9.63142842e-01 -5.83595956e-03 -5.11577236e+01] [-2.03039273e-02 3.88809349e-04 9.99793778e-01 -5.71027460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.298623853 meters 0.02892388641427614 Centerline is valid? [True, True] Translation: X:223.63, Y:-51.17, Z:-5.71 [[ 9.63187655e-01 2.68107396e-01 1.96968511e-02 2.23633781e+02] [-2.68042656e-01 9.63388944e-01 -5.90572387e-03 -5.11684111e+01] [-2.05590968e-02 4.08724047e-04 9.99788556e-01 -5.71050089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.328623853 meters 0.029978114763746573 Centerline is valid? [True, True] Translation: X:223.66, Y:-51.18, Z:-5.71 [[ 9.63475323e-01 2.67055473e-01 1.99167509e-02 2.23660580e+02] [-2.66989071e-01 9.63681060e-01 -5.97085633e-03 -5.11781077e+01] [-2.07879454e-02 4.35217920e-04 9.99783813e-01 -5.71104702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.358623853 meters 0.032052922127793655 Centerline is valid? [True, True] Translation: X:223.69, Y:-51.19, Z:-5.71 [[ 9.63941244e-01 2.65398139e-01 1.95219389e-02 2.23687411e+02] [-2.65334071e-01 9.64138796e-01 -5.84919552e-03 -5.11902779e+01] [-2.03742243e-02 4.58445283e-04 9.99792319e-01 -5.71270771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.388623853 meters 0.030773561614646405 Centerline is valid? [True, True] Translation: X:223.71, Y:-51.20, Z:-5.71 [[ 9.64206301e-01 2.64450241e-01 1.92945666e-02 2.23714875e+02] [-2.64387525e-01 9.64399217e-01 -5.77817810e-03 -5.11976920e+01] [-2.01357055e-02 4.70113021e-04 9.99797146e-01 -5.71360388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.418623853 meters 0.03496254380573232 Centerline is valid? [True, True] Translation: X:223.74, Y:-51.21, Z:-5.71 [[ 9.64308713e-01 2.64118211e-01 1.87156691e-02 2.23740403e+02] [-2.64059215e-01 9.64490207e-01 -5.60100137e-03 -5.12100572e+01] [-1.95304061e-02 4.59049520e-04 9.99809158e-01 -5.70941187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.44862385300002 meters 0.03197774630151811 Centerline is valid? [True, True] Translation: X:223.77, Y:-51.22, Z:-5.71 [[ 9.64423954e-01 2.63633088e-01 1.95967289e-02 2.23767565e+02] [-2.63568333e-01 9.64622908e-01 -5.86331541e-03 -5.12183129e+01] [-2.04492176e-02 4.89644659e-04 9.99790773e-01 -5.71343580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.47862385300002 meters 0.03395540613920841 Centerline is valid? [True, True] Translation: X:223.79, Y:-51.23, Z:-5.71 [[ 9.64419787e-01 2.63641727e-01 1.96853668e-02 2.23792091e+02] [-2.63576404e-01 9.64620547e-01 -5.88901472e-03 -5.12300871e+01] [-2.05414993e-02 4.90884142e-04 9.99788881e-01 -5.71488681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50862385300002 meters 0.03240228962464366 Centerline is valid? [True, True] Translation: X:223.82, Y:-51.24, Z:-5.72 [[ 9.64423641e-01 2.63612719e-01 1.98840256e-02 2.23819225e+02] [-2.63546102e-01 9.64628472e-01 -5.94666159e-03 -5.12372406e+01] [-2.07483129e-02 4.94743572e-04 9.99784608e-01 -5.71507073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.53862385300002 meters 0.03259279386447338 Centerline is valid? [True, True] Translation: X:223.85, Y:-51.25, Z:-5.72 [[ 9.64387222e-01 2.63743125e-01 1.99210880e-02 2.23845034e+02] [-2.63676318e-01 9.64592827e-01 -5.95621559e-03 -5.12475016e+01] [-2.07866496e-02 4.91379052e-04 9.99783813e-01 -5.71551326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56862385300002 meters 0.032326513127976984 Centerline is valid? [True, True] Translation: X:223.87, Y:-51.26, Z:-5.72 [[ 9.64324641e-01 2.64001047e-01 1.95303199e-02 2.23872047e+02] [-2.63936914e-01 9.64522276e-01 -5.83815167e-03 -5.12565857e+01] [-2.03787067e-02 4.75101155e-04 9.99792220e-01 -5.71666659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.59862385300002 meters 0.03076347795714273 Centerline is valid? [True, True] Translation: X:223.90, Y:-51.26, Z:-5.72 [[ 9.64281938e-01 2.64138470e-01 1.97790730e-02 2.23899953e+02] [-2.64072742e-01 9.64484650e-01 -5.91153440e-03 -5.12645713e+01] [-2.06380760e-02 4.77271800e-04 9.99786898e-01 -5.71770173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.62862385300002 meters 0.031107207805465907 Centerline is valid? [True, True] Translation: X:223.93, Y:-51.28, Z:-5.72 [[ 9.64211952e-01 2.64399413e-01 1.97043573e-02 2.23925409e+02] [-2.64334254e-01 9.64413153e-01 -5.88826670e-03 -5.12753341e+01] [-2.05599956e-02 4.69000548e-04 9.99788511e-01 -5.71885060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.65862385300002 meters 0.03337767206105566 Centerline is valid? [True, True] Translation: X:223.95, Y:-51.29, Z:-5.72 [[ 9.63959853e-01 2.65319858e-01 1.96666090e-02 2.23949760e+02] [-2.65255165e-01 9.64160346e-01 -5.87574940e-03 -5.12908793e+01] [-2.05207175e-02 4.47316931e-04 9.99789328e-01 -5.72048305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.68862385300002 meters 0.0294982027495095 Centerline is valid? [True, True] Translation: X:223.98, Y:-51.30, Z:-5.72 [[ 9.63858198e-01 2.65696104e-01 1.95692240e-02 2.23979092e+02] [-2.65632143e-01 9.64056736e-01 -5.84590113e-03 -5.12952529e+01] [-2.04190753e-02 4.36404827e-04 9.99791414e-01 -5.72002750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.71862385300003 meters 0.029793814523781666 Centerline is valid? [True, True] Translation: X:224.00, Y:-51.31, Z:-5.72 [[ 9.63104463e-01 2.68481415e-01 1.86419690e-02 2.24004565e+02] [-2.68423959e-01 9.63284799e-01 -5.56551413e-03 -5.13061071e+01] [-1.94517624e-02 3.56220374e-04 9.99810733e-01 -5.72294608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.74862385300003 meters 0.02795759485894144 Centerline is valid? [True, True] Translation: X:224.03, Y:-51.31, Z:-5.72 [[ 9.62577434e-01 2.70365900e-01 1.86269361e-02 2.24031649e+02] [-2.70308913e-01 9.62757591e-01 -5.55984653e-03 -5.13124905e+01] [-1.94364171e-02 3.16755951e-04 9.99811045e-01 -5.72390709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.77862385300003 meters 0.025968497547867876 Centerline is valid? [True, True] Translation: X:224.06, Y:-51.32, Z:-5.73 [[ 9.62008499e-01 2.72402221e-01 1.83488016e-02 2.24059253e+02] [-2.72347301e-01 9.62183432e-01 -5.47638502e-03 -5.13190240e+01] [-1.91466923e-02 2.71082325e-04 9.99816649e-01 -5.72528460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.80862385300003 meters 0.02145457803383087 Centerline is valid? [True, True] Translation: X:224.09, Y:-51.32, Z:-5.73 [[ 9.60661786e-01 2.77101095e-01 1.85450051e-02 2.24088932e+02] [-2.77045929e-01 9.60840753e-01 -5.53184278e-03 -5.13223867e+01] [-1.93516763e-02 1.76411816e-04 9.99812723e-01 -5.72522299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.83862385300003 meters 0.019198285925894464 Centerline is valid? [True, True] Translation: X:224.12, Y:-51.33, Z:-5.73 [[ 9.60015567e-01 2.79331174e-01 1.85527875e-02 2.24117893e+02] [-2.79276429e-01 9.60194813e-01 -5.53152506e-03 -5.13263985e+01] [-1.93594177e-02 1.28993930e-04 9.99812581e-01 -5.72500148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86862385300003 meters 0.01809299387602471 Centerline is valid? [True, True] Translation: X:224.15, Y:-51.33, Z:-5.73 [[ 9.59398091e-01 2.81425999e-01 1.88337382e-02 2.24146024e+02] [-2.81370051e-01 9.59582930e-01 -5.61200270e-03 -5.13318902e+01] [-1.96518971e-02 8.48948140e-05 9.99806879e-01 -5.72524045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.898623853 meters 0.017427886655901708 Centerline is valid? [True, True] Translation: X:224.17, Y:-51.34, Z:-5.73 [[ 9.58180732e-01 2.85510744e-01 1.93209872e-02 2.24174057e+02] [-2.85452773e-01 9.58375508e-01 -5.75323816e-03 -5.13355461e+01] [-2.01593723e-02 -2.58743392e-06 9.99796779e-01 -5.72659208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.928623853 meters 0.017756922894171228 Centerline is valid? [True, True] Translation: X:224.20, Y:-51.34, Z:-5.73 [[ 9.57656993e-01 2.87249863e-01 1.95089891e-02 2.24201609e+02] [-2.87191132e-01 9.57855686e-01 -5.80856659e-03 -5.13409316e+01] [-2.03553061e-02 -4.01942416e-05 9.99792808e-01 -5.72639749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.958623853 meters 0.019188716214414054 Centerline is valid? [True, True] Translation: X:224.23, Y:-51.34, Z:-5.73 [[ 9.56730138e-01 2.90294511e-01 1.99133178e-02 2.24230195e+02] [-2.90234057e-01 9.56937346e-01 -5.92515677e-03 -5.13445522e+01] [-2.07758380e-02 -1.10746961e-04 9.99784153e-01 -5.72696519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.988623853 meters 0.019680283262993255 Centerline is valid? [True, True] Translation: X:224.26, Y:-51.35, Z:-5.73 [[ 9.56240890e-01 2.91932581e-01 1.94609321e-02 2.24258314e+02] [-2.91875241e-01 9.56438888e-01 -5.78762104e-03 -5.13514775e+01] [-2.03027875e-02 -1.45804362e-04 9.99793867e-01 -5.72749754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.018623853 meters 0.022008357135829586 Centerline is valid? [True, True] Translation: X:224.29, Y:-51.35, Z:-5.73 [[ 9.55823881e-01 2.93305187e-01 1.93073889e-02 2.24286593e+02] [-2.93249102e-01 9.56018847e-01 -5.73828171e-03 -5.13545639e+01] [-2.01412955e-02 -1.77087766e-04 9.99797128e-01 -5.73020014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.048623853 meters 0.02100035471054492 Centerline is valid? [True, True] Translation: X:224.31, Y:-51.36, Z:-5.73 [[ 9.55496421e-01 2.94357196e-01 1.95046584e-02 2.24313767e+02] [-2.94300207e-01 9.55695454e-01 -5.79550798e-03 -5.13647078e+01] [-2.03464629e-02 -2.02637879e-04 9.99792969e-01 -5.72890344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.078623853 meters 0.024541394412834754 Centerline is valid? [True, True] Translation: X:224.34, Y:-51.37, Z:-5.73 [[ 9.54662299e-01 2.97080787e-01 1.90499379e-02 2.24342295e+02] [-2.97027040e-01 9.54852313e-01 -5.65667130e-03 -5.13668898e+01] [-1.98703656e-02 -2.58135849e-04 9.99802531e-01 -5.73133803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.108623853 meters 0.02406254720491466 Centerline is valid? [True, True] Translation: X:224.37, Y:-51.38, Z:-5.73 [[ 9.54398857e-01 2.97945949e-01 1.87358891e-02 2.24369701e+02] [-2.97894152e-01 9.54582703e-01 -5.56211213e-03 -5.13758489e+01] [-1.95421644e-02 -2.72838338e-04 9.99808996e-01 -5.73244959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.138623853 meters 0.02406254720491466 Centerline is valid? [True, True] Translation: X:224.40, Y:-51.38, Z:-5.73 [[ 9.54454503e-01 2.97767586e-01 1.87367631e-02 2.24396095e+02] [-2.97715812e-01 9.54638356e-01 -5.55916618e-03 -5.13834800e+01] [-1.95421722e-02 -2.72259451e-04 9.99808996e-01 -5.73314082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.168623853 meters 0.02697481195112711 Centerline is valid? [True, True] Translation: X:224.42, Y:-51.39, Z:-5.74 [[ 9.54200807e-01 2.98607178e-01 1.82913286e-02 2.24424447e+02] [-2.98558076e-01 9.54376064e-01 -5.42258911e-03 -5.13863958e+01] [-1.90760302e-02 -2.86784974e-04 9.99817995e-01 -5.73569131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.19862385300002 meters 0.024985304939427307 Centerline is valid? [True, True] Translation: X:224.45, Y:-51.40, Z:-5.73 [[ 9.54399399e-01 2.97940207e-01 1.87994828e-02 2.24451121e+02] [-2.97888221e-01 9.54584493e-01 -5.57259666e-03 -5.13972442e+01] [-1.96059953e-02 -2.81661582e-04 9.99807744e-01 -5.73478453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22862385300002 meters 0.02262941862029055 Centerline is valid? [True, True] Translation: X:224.48, Y:-51.41, Z:-5.73 [[ 9.55215011e-01 2.95253205e-01 1.97440716e-02 2.24478297e+02] [-2.95195366e-01 9.55419011e-01 -5.84888969e-03 -5.14085014e+01] [-2.05907648e-02 -2.41411205e-04 9.99787959e-01 -5.73359975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.25862385300002 meters 0.021274422741460606 Centerline is valid? [True, True] Translation: X:224.50, Y:-51.42, Z:-5.73 [[ 9.55820019e-01 2.93254420e-01 2.02468823e-02 2.24504685e+02] [-2.93193218e-01 9.56034415e-01 -5.99450179e-03 -5.14194899e+01] [-2.11146304e-02 -2.06583771e-04 9.99777040e-01 -5.73357535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28862385300002 meters 0.019887426299489093 Centerline is valid? [True, True] Translation: X:224.53, Y:-51.43, Z:-5.73 [[ 9.56563231e-01 2.90839746e-01 1.99756647e-02 2.24529960e+02] [-2.90779728e-01 9.56771769e-01 -5.91031076e-03 -5.14308425e+01] [-2.08311054e-02 -1.54932411e-04 9.99782997e-01 -5.73477700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.31862385300002 meters 0.01865289455899143 Centerline is valid? [True, True] Translation: X:224.56, Y:-51.44, Z:-5.74 [[ 9.57379000e-01 2.88150640e-01 1.98660389e-02 2.24555994e+02] [-2.88090715e-01 9.57585087e-01 -5.87712788e-03 -5.14435585e+01] [-2.07169208e-02 -9.65825489e-05 9.99785377e-01 -5.73568208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34862385300002 meters 0.01769242503940479 Centerline is valid? [True, True] Translation: X:224.58, Y:-51.46, Z:-5.74 [[ 9.59110102e-01 2.82372612e-01 1.93266569e-02 2.24579950e+02] [-2.82314798e-01 9.59304804e-01 -5.71378839e-03 -5.14612205e+01] [-2.01535721e-02 2.39509357e-05 9.99796896e-01 -5.73733708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.37862385300002 meters 0.018532159466788874 Centerline is valid? [True, True] Translation: X:224.60, Y:-51.47, Z:-5.74 [[ 9.59997029e-01 2.79351198e-01 1.91992944e-02 2.24604912e+02] [-2.79293563e-01 9.60188992e-01 -5.67496211e-03 -5.14748223e+01] [-2.00202586e-02 8.57074347e-05 9.99799571e-01 -5.73827966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.40862385300002 meters 0.021712753417825612 Centerline is valid? [True, True] Translation: X:224.63, Y:-51.49, Z:-5.74 [[ 9.61717357e-01 2.73365132e-01 1.92673268e-02 2.24629236e+02] [-2.73305897e-01 9.61910318e-01 -5.69443107e-03 -5.14941816e+01] [-2.00900993e-02 2.10559162e-04 9.99798151e-01 -5.73854122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.43862385300002 meters 0.022144657767107785 Centerline is valid? [True, True] Translation: X:224.66, Y:-51.50, Z:-5.74 [[ 9.62521709e-01 2.70496272e-01 1.95889297e-02 2.24656561e+02] [-2.70434529e-01 9.62720984e-01 -5.78551725e-03 -5.15047149e+01] [-2.04236345e-02 2.71162978e-04 9.99791379e-01 -5.73731993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.46862385300003 meters 0.024112462450373143 Centerline is valid? [True, True] Translation: X:224.68, Y:-51.52, Z:-5.74 [[ 9.63268967e-01 2.67790532e-01 2.00281938e-02 2.24682771e+02] [-2.67725426e-01 9.63477098e-01 -5.91415899e-03 -5.15179476e+01] [-2.08804618e-02 3.34869099e-04 9.99781923e-01 -5.73711154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.49862385300003 meters 0.03687791403960662 Centerline is valid? [True, True] Translation: X:224.71, Y:-51.54, Z:-5.73 [[ 9.64443969e-01 2.63532337e-01 1.99634309e-02 2.24706468e+02] [-2.63466760e-01 9.64650469e-01 -5.89399522e-03 -5.15388091e+01] [-2.08109913e-02 4.24727686e-04 9.99783338e-01 -5.72729180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.52862385300003 meters 0.03064704996045093 Centerline is valid? [True, True] Translation: X:224.73, Y:-51.55, Z:-5.74 [[ 9.64922317e-01 2.61698752e-01 2.09448099e-02 2.24731937e+02] [-2.61626164e-01 9.65149484e-01 -6.18249960e-03 -5.15522235e+01] [-2.18328249e-02 4.85921583e-04 9.99761517e-01 -5.73743013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.55862385300003 meters 0.03197076505127241 Centerline is valid? [True, True] Translation: X:224.76, Y:-51.57, Z:-5.74 [[ 9.65514902e-01 2.59454811e-01 2.15447209e-02 2.24757567e+02] [-2.59377470e-01 9.65755092e-01 -6.35849771e-03 -5.15653606e+01] [-2.24566667e-02 5.51009100e-04 9.99747665e-01 -5.73656008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.58862385300003 meters 0.031552188223851176 Centerline is valid? [True, True] Translation: X:224.79, Y:-51.57, Z:-5.74 [[ 9.65659897e-01 2.58914037e-01 2.15519257e-02 2.24785241e+02] [-2.58836541e-01 9.65900205e-01 -6.35921878e-03 -5.15746731e+01] [-2.24635005e-02 5.62416633e-04 9.99747506e-01 -5.73658833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.61862385300003 meters 0.03284339729418138 Centerline is valid? [True, True] Translation: X:224.81, Y:-51.59, Z:-5.74 [[ 9.65689882e-01 2.58793642e-01 2.16541611e-02 2.24810740e+02] [-2.58715404e-01 9.65932466e-01 -6.38828602e-03 -5.15865800e+01] [-2.25697051e-02 5.66838132e-04 9.99745111e-01 -5.73744498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.648623853 meters 0.03180746180602365 Centerline is valid? [True, True] Translation: X:224.84, Y:-51.60, Z:-5.74 [[ 9.65695806e-01 2.58729134e-01 2.21550241e-02 2.24837518e+02] [-2.58647251e-01 9.65949739e-01 -6.53455675e-03 -5.15961732e+01] [-2.30913199e-02 5.80057968e-04 9.99733192e-01 -5.73717508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.678623853 meters 0.03255781615657955 Centerline is valid? [True, True] Translation: X:224.86, Y:-51.61, Z:-5.74 [[ 9.65527551e-01 2.59414951e-01 2.14576737e-02 2.24861811e+02] [-2.59338335e-01 9.65765803e-01 -6.32783938e-03 -5.16111955e+01] [-2.23646237e-02 5.44905884e-04 9.99749732e-01 -5.73865059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.708623853 meters 0.03135634196071846 Centerline is valid? [True, True] Translation: X:224.89, Y:-51.62, Z:-5.74 [[ 9.65285296e-01 2.60347708e-01 2.10563082e-02 2.24889400e+02] [-2.60274184e-01 9.65514789e-01 -6.20810568e-03 -5.16203396e+01] [-2.19464431e-02 5.12179692e-04 9.99759017e-01 -5.74032502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.738623853 meters 0.029627817875488627 Centerline is valid? [True, True] Translation: X:224.92, Y:-51.63, Z:-5.74 [[ 9.64936132e-01 2.61654817e-01 2.08571077e-02 2.24917107e+02] [-2.61583005e-01 9.65161401e-01 -6.14833416e-03 -5.16284818e+01] [-2.17392165e-02 4.76884877e-04 9.99763562e-01 -5.74138689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.768623853 meters 0.026795621512079926 Centerline is valid? [True, True] Translation: X:224.94, Y:-51.64, Z:-5.74 [[ 9.64014272e-01 2.65058701e-01 2.05028754e-02 2.24943179e+02] [-2.64990097e-01 9.64232198e-01 -6.04292917e-03 -5.16375420e+01] [-2.13712636e-02 3.92411006e-04 9.99771531e-01 -5.74307223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.798623853 meters 0.024970755899894365 Centerline is valid? [True, True] Translation: X:224.97, Y:-51.65, Z:-5.74 [[ 9.63448027e-01 2.67140339e-01 2.00982446e-02 2.24970887e+02] [-2.67074897e-01 9.63657577e-01 -5.92236201e-03 -5.16454495e+01] [-2.09499275e-02 3.38151392e-04 9.99780469e-01 -5.74396738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.828623853 meters 0.02102836186253782 Centerline is valid? [True, True] Translation: X:225.00, Y:-51.65, Z:-5.75 [[ 9.61902571e-01 2.72652924e-01 2.00954221e-02 2.24997786e+02] [-2.72588722e-01 9.62112434e-01 -5.92055304e-03 -5.16516205e+01] [-2.09483116e-02 2.17209762e-04 9.99780536e-01 -5.74514048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.858623853 meters 0.018694223489630107 Centerline is valid? [True, True] Translation: X:225.03, Y:-51.66, Z:-5.74 [[ 9.61004866e-01 2.75787422e-01 2.02717774e-02 2.25026030e+02] [-2.75722812e-01 9.61218641e-01 -5.97118495e-03 -5.16569791e+01] [-2.11323880e-02 1.48946324e-04 9.99776675e-01 -5.74478502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.888623853 meters 0.0211256292688753 Centerline is valid? [True, True] Translation: X:225.05, Y:-51.66, Z:-5.74 [[ 9.59941339e-01 2.79483394e-01 2.00414373e-02 2.25053652e+02] [-2.79421070e-01 9.60150524e-01 -5.90232637e-03 -5.16632545e+01] [-2.08923987e-02 6.58872361e-05 9.99781728e-01 -5.73969442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.918623853 meters 0.017306790925875015 Centerline is valid? [True, True] Translation: X:225.08, Y:-51.67, Z:-5.75 [[ 9.58773309e-01 2.83416259e-01 2.07115104e-02 2.25082598e+02] [-2.83350646e-01 9.58996988e-01 -6.09816600e-03 -5.16675804e+01] [-2.15905955e-02 -2.18610745e-05 9.99766896e-01 -5.74556868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.94862385300002 meters 0.020087635762855365 Centerline is valid? [True, True] Translation: X:225.11, Y:-51.67, Z:-5.75 [[ 9.56244299e-01 2.91865579e-01 2.02811411e-02 2.25112589e+02] [-2.91804581e-01 9.56459325e-01 -5.97044294e-03 -5.16671626e+01] [-2.11406533e-02 -2.08927860e-04 9.99776490e-01 -5.74629307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.97862385300002 meters 0.023635419785528196 Centerline is valid? [True, True] Translation: X:225.14, Y:-51.67, Z:-5.75 [[ 9.54799681e-01 2.96585924e-01 1.98584666e-02 2.25141359e+02] [-2.96528484e-01 9.55006123e-01 -5.84497586e-03 -5.16693179e+01] [-2.06984948e-02 -3.07819903e-04 9.99785716e-01 -5.74832202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00862385300002 meters 0.028873759871650178 Centerline is valid? [True, True] Translation: X:225.17, Y:-51.67, Z:-5.75 [[ 9.53374858e-01 3.01171619e-01 1.92882640e-02 2.25171028e+02] [-3.01118387e-01 9.53569871e-01 -5.67609108e-03 -5.16695603e+01] [-2.01021849e-02 -3.96608413e-04 9.99797852e-01 -5.75058070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.03862385300002 meters 0.03760739624365849 Centerline is valid? [True, True] Translation: X:225.20, Y:-51.67, Z:-5.75 [[ 9.50725161e-01 3.09465633e-01 1.87800711e-02 2.25203907e+02] [-3.09416800e-01 9.50910464e-01 -5.52564025e-03 -5.16660701e+01] [-1.95681619e-02 -5.57504280e-04 9.99808370e-01 -5.75229377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06862385300002 meters 0.04333956164902284 Centerline is valid? [True, True] Translation: X:225.23, Y:-51.67, Z:-5.75 [[ 9.49424344e-01 3.13435083e-01 1.87580373e-02 2.25234157e+02] [-3.13387135e-01 9.49609415e-01 -5.51924156e-03 -5.16664635e+01] [-1.95427327e-02 -6.38425265e-04 9.99808819e-01 -5.75330693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.09862385300002 meters 0.0462685463878225 Centerline is valid? [True, True] Translation: X:225.26, Y:-51.67, Z:-5.75 [[ 9.47173358e-01 3.20178372e-01 1.86665645e-02 2.25264959e+02] [-3.20132207e-01 9.47356961e-01 -5.49173818e-03 -5.16703261e+01] [-1.94422356e-02 -7.74140394e-04 9.99810682e-01 -5.75309283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.12862385300002 meters 0.05194786372616521 Centerline is valid? [True, True] Translation: X:225.30, Y:-51.67, Z:-5.75 [[ 9.46177416e-01 3.23108448e-01 1.86876514e-02 2.25295664e+02] [-3.23062748e-01 9.46361576e-01 -5.49801179e-03 -5.16704598e+01] [-1.94617293e-02 -8.35189415e-04 9.99810254e-01 -5.75431591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.15862385300002 meters 0.05870246343883993 Centerline is valid? [True, True] Translation: X:225.33, Y:-51.67, Z:-5.76 [[ 9.45356378e-01 3.25500532e-01 1.87275599e-02 2.25326050e+02] [-3.25455107e-01 9.45541442e-01 -5.50957937e-03 -5.16689290e+01] [-1.95010550e-02 -8.86464029e-04 9.99809443e-01 -5.75535330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.18862385300002 meters 0.05510301817099924 Centerline is valid? [True, True] Translation: X:225.35, Y:-51.68, Z:-5.75 [[ 9.44327401e-01 3.28412256e-01 1.97774947e-02 2.25354403e+02] [-3.28362242e-01 9.44533954e-01 -5.81789534e-03 -5.16787597e+01] [-2.05911834e-02 -1.00018451e-03 9.99787479e-01 -5.75289337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.21862385300003 meters 0.056644343353037675 Centerline is valid? [True, True] Translation: X:225.38, Y:-51.68, Z:-5.75 [[ 9.44102471e-01 3.29031084e-01 2.02254535e-02 2.25381891e+02] [-3.28978921e-01 9.44318522e-01 -5.94965171e-03 -5.16825319e+01] [-2.10568907e-02 -1.03666700e-03 9.99777742e-01 -5.75265723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.24862385300003 meters 0.0575689076023912 Centerline is valid? [True, True] Translation: X:225.41, Y:-51.69, Z:-5.75 [[ 9.44022103e-01 3.29226936e-01 2.07820364e-02 2.25410825e+02] [-3.29171937e-01 9.44250220e-01 -6.11209928e-03 -5.16876428e+01] [-2.16357102e-02 -1.07090638e-03 9.99765347e-01 -5.75270748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.27862385300003 meters 0.05778610350235422 Centerline is valid? [True, True] Translation: X:225.44, Y:-51.69, Z:-5.75 [[ 9.44171412e-01 3.28764595e-01 2.13116304e-02 2.25438688e+02] [-3.28706730e-01 9.44411272e-01 -6.26379169e-03 -5.16903769e+01] [-2.21862569e-02 -1.09118330e-03 9.99753259e-01 -5.75232015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.30862385300003 meters 0.057669834809284205 Centerline is valid? [True, True] Translation: X:225.47, Y:-51.70, Z:-5.75 [[ 9.44517739e-01 3.27782253e-01 2.10958630e-02 2.25467046e+02] [-3.27725346e-01 9.44752705e-01 -6.19870286e-03 -5.16958844e+01] [-2.19621984e-02 -1.05886419e-03 9.99758241e-01 -5.75370559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.33862385300003 meters 0.055698640774257235 Centerline is valid? [True, True] Translation: X:225.50, Y:-51.70, Z:-5.75 [[ 9.45481339e-01 3.25057626e-01 2.00643136e-02 2.25497033e+02] [-3.25005618e-01 9.45693733e-01 -5.89168811e-03 -5.17019259e+01] [-2.08898337e-02 -9.50533464e-04 9.99781332e-01 -5.75141071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36862385300003 meters 0.05284235777115303 Centerline is valid? [True, True] Translation: X:225.52, Y:-51.71, Z:-5.76 [[ 9.46257008e-01 3.22783714e-01 2.02076604e-02 2.25524727e+02] [-3.22730447e-01 9.46472319e-01 -5.93357702e-03 -5.17094054e+01] [-2.10412532e-02 -9.06938437e-04 9.99778197e-01 -5.75782793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.398623853 meters 0.050111641147563356 Centerline is valid? [True, True] Translation: X:225.55, Y:-51.72, Z:-5.76 [[ 9.47097896e-01 3.20310898e-01 2.01619638e-02 2.25553386e+02] [-3.20257323e-01 9.47312095e-01 -5.91961708e-03 -5.17180688e+01] [-2.09957901e-02 -8.50559692e-04 9.99779202e-01 -5.75882219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.428623853 meters 0.044032868307380554 Centerline is valid? [True, True] Translation: X:225.58, Y:-51.73, Z:-5.76 [[ 9.49051702e-01 3.14457876e-01 2.04232832e-02 2.25581452e+02] [-3.14401553e-01 9.49271147e-01 -5.99606670e-03 -5.17288935e+01] [-2.12727439e-02 -7.30534650e-04 9.99773443e-01 -5.75927573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.458623853 meters 0.04176462104893878 Centerline is valid? [True, True] Translation: X:225.61, Y:-51.74, Z:-5.76 [[ 9.50107785e-01 3.11242677e-01 2.05716359e-02 2.25609020e+02] [-3.11184781e-01 9.50330235e-01 -6.03954789e-03 -5.17372106e+01] [-2.14296126e-02 -6.63358540e-04 9.99770139e-01 -5.75948243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.488623853 meters 0.037892698383004846 Centerline is valid? [True, True] Translation: X:225.64, Y:-51.75, Z:-5.76 [[ 9.51232572e-01 3.07782179e-01 2.06572897e-02 2.25636353e+02] [-3.07722995e-01 9.51456664e-01 -6.06418610e-03 -5.17474004e+01] [-2.15209644e-02 -5.88271704e-04 9.99768224e-01 -5.76018962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.518623853 meters 0.03357296440745676 Centerline is valid? [True, True] Translation: X:225.66, Y:-51.76, Z:-5.76 [[ 9.52426054e-01 3.04054230e-01 2.08719384e-02 2.25663879e+02] [-3.03992925e-01 9.52654589e-01 -6.12668810e-03 -5.17586315e+01] [-2.17465933e-02 -5.09704231e-04 9.99763385e-01 -5.76045312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.548623853 meters 0.026119131370164052 Centerline is valid? [True, True] Translation: X:225.69, Y:-51.77, Z:-5.76 [[ 9.54731283e-01 2.96694200e-01 2.14645975e-02 2.25689773e+02] [-2.96627512e-01 9.54972475e-01 -6.30010796e-03 -5.17733529e+01] [-2.23673053e-02 -3.52079994e-04 9.99749759e-01 -5.76030552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.578623853 meters 0.02267753190316877 Centerline is valid? [True, True] Translation: X:225.72, Y:-51.78, Z:-5.76 [[ 9.55942962e-01 2.92769664e-01 2.14237690e-02 2.25715112e+02] [-2.92702249e-01 9.56182962e-01 -6.28786243e-03 -5.17848049e+01] [-2.23259383e-02 -2.59947527e-04 9.99750711e-01 -5.76060765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.608623853 meters 0.018017022337591254 Centerline is valid? [True, True] Translation: X:225.74, Y:-51.80, Z:-5.76 [[ 9.58173207e-01 2.85433094e-01 2.07859241e-02 2.25741032e+02] [-2.85367940e-01 9.58398634e-01 -6.09895985e-03 -5.18005836e+01] [-2.16620463e-02 -8.77764355e-05 9.99765346e-01 -5.76283945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.638623853 meters 0.017267374125523302 Centerline is valid? [True, True] Translation: X:225.77, Y:-51.81, Z:-5.76 [[ 9.59129162e-01 2.82234381e-01 2.03716659e-02 2.25767817e+02] [-2.82171115e-01 9.59345482e-01 -5.97562490e-03 -5.18122737e+01] [-2.12299924e-02 -1.68995674e-05 9.99774618e-01 -5.76336407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.668623853 meters 0.01749906059675413 Centerline is valid? [True, True] Translation: X:225.79, Y:-51.82, Z:-5.77 [[ 9.59956023e-01 2.79419917e-01 2.02223656e-02 2.25793449e+02] [-2.79356964e-01 9.60169000e-01 -5.93113185e-03 -5.18222802e+01] [-2.10741649e-02 4.43670922e-05 9.99777914e-01 -5.76584066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.69862385300002 meters 0.019590497736652914 Centerline is valid? [True, True] Translation: X:225.82, Y:-51.83, Z:-5.77 [[ 9.61432567e-01 2.74314357e-01 1.99762766e-02 2.25819749e+02] [-2.74251880e-01 9.61640063e-01 -5.85627238e-03 -5.18344840e+01] [-2.08164475e-02 1.51879580e-04 9.99783303e-01 -5.76660618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72862385300002 meters 0.020642338373853264 Centerline is valid? [True, True] Translation: X:225.85, Y:-51.84, Z:-5.77 [[ 9.62102058e-01 2.71953158e-01 2.00277527e-02 2.25846616e+02] [-2.71889924e-01 9.62310470e-01 -5.86765098e-03 -5.18436860e+01] [-2.08686423e-02 1.99934920e-04 9.99782206e-01 -5.76638665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.75862385300002 meters 0.022022445108530155 Centerline is valid? [True, True] Translation: X:225.87, Y:-51.85, Z:-5.77 [[ 9.62682205e-01 2.69873498e-01 2.02797271e-02 2.25874029e+02] [-2.69808245e-01 9.62895755e-01 -5.93938396e-03 -5.18533962e+01] [-2.11301455e-02 2.46101655e-04 9.99776703e-01 -5.76698401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78862385300002 meters 0.025030991291075923 Centerline is valid? [True, True] Translation: X:225.90, Y:-51.86, Z:-5.77 [[ 9.63647467e-01 2.66428485e-01 1.99855531e-02 2.25899653e+02] [-2.66364389e-01 9.63854638e-01 -5.85235058e-03 -5.18636381e+01] [-2.08224009e-02 3.16163193e-04 9.99783140e-01 -5.76776902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.81862385300002 meters 0.026304390872737584 Centerline is valid? [True, True] Translation: X:225.93, Y:-51.87, Z:-5.77 [[ 9.64019904e-01 2.65056065e-01 2.02708495e-02 2.25926780e+02] [-2.64989857e-01 9.64232939e-01 -5.93426445e-03 -5.18728859e+01] [-2.11187336e-02 3.49179549e-04 9.99776914e-01 -5.76832057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84862385300002 meters 0.029263402361387487 Centerline is valid? [True, True] Translation: X:225.95, Y:-51.88, Z:-5.77 [[ 9.64328012e-01 2.63939527e-01 2.01844489e-02 2.25952214e+02] [-2.63873656e-01 9.64539159e-01 -5.90803659e-03 -5.18843168e+01] [-2.10280557e-02 3.71140857e-04 9.99778817e-01 -5.76972244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.87862385300002 meters 0.027975377715091936 Centerline is valid? [True, True] Translation: X:225.98, Y:-51.89, Z:-5.77 [[ 9.64480829e-01 2.63370239e-01 2.03186377e-02 2.25980550e+02] [-2.63303391e-01 9.64694754e-01 -5.94601760e-03 -5.18900070e+01] [-2.11672873e-02 3.84853778e-04 9.99775874e-01 -5.76941643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.90862385300002 meters 0.030525519433305462 Centerline is valid? [True, True] Translation: X:226.01, Y:-51.90, Z:-5.77 [[ 9.64564958e-01 2.63064320e-01 2.02880441e-02 2.26006364e+02] [-2.62997626e-01 9.64778219e-01 -5.93612471e-03 -5.19005527e+01] [-2.11350456e-02 3.90070471e-04 9.99776554e-01 -5.77107265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.93862385300002 meters 0.02854489054370192 Centerline is valid? [True, True] Translation: X:226.03, Y:-51.91, Z:-5.77 [[ 9.64506387e-01 2.63278950e-01 2.02885227e-02 2.26034788e+02] [-2.63212327e-01 9.64719673e-01 -5.93498981e-03 -5.19052421e+01] [-2.11352949e-02 3.84146300e-04 9.99776551e-01 -5.77161271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.96862385300003 meters 0.026824454945457217 Centerline is valid? [True, True] Translation: X:226.06, Y:-51.91, Z:-5.77 [[ 9.64010351e-01 2.65136609e-01 1.96626879e-02 2.26062080e+02] [-2.65074434e-01 9.64210801e-01 -5.75118573e-03 -5.19098141e+01] [-2.04838260e-02 3.32126701e-04 9.99790129e-01 -5.77324467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.99862385300003 meters 0.025568800411292548 Centerline is valid? [True, True] Translation: X:226.09, Y:-51.92, Z:-5.77 [[ 9.63665989e-01 2.66404571e-01 1.94027155e-02 2.26090902e+02] [-2.66344320e-01 9.63861253e-01 -5.67348030e-03 -5.19154321e+01] [-2.02129667e-02 2.99536943e-04 9.99795652e-01 -5.77452170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.02862385300003 meters 0.025568800411292548 Centerline is valid? [True, True] Translation: X:226.12, Y:-51.92, Z:-5.78 [[ 9.63683379e-01 2.66341623e-01 1.94032057e-02 2.26117326e+02] [-2.66281393e-01 9.63878649e-01 -5.67180307e-03 -5.19230140e+01] [-2.02129730e-02 2.99109696e-04 9.99795652e-01 -5.77521321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.05862385300003 meters 0.023055304183448103 Centerline is valid? [True, True] Translation: X:226.15, Y:-51.93, Z:-5.78 [[ 9.62862146e-01 2.69327295e-01 1.89551028e-02 2.26146662e+02] [-2.69270410e-01 9.63048678e-01 -5.53993976e-03 -5.19258265e+01] [-1.97467437e-02 2.30149982e-04 9.99804988e-01 -5.77730455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.08862385300003 meters 0.021774471470051883 Centerline is valid? [True, True] Translation: X:226.18, Y:-51.93, Z:-5.78 [[ 9.62444184e-01 2.70827389e-01 1.88074027e-02 2.26175063e+02] [-2.70771729e-01 9.62627907e-01 -5.49398292e-03 -5.19309064e+01] [-1.95924517e-02 1.95138970e-04 9.99808030e-01 -5.77784328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.11862385300003 meters 0.020421552423704224 Centerline is valid? [True, True] Translation: X:226.20, Y:-51.94, Z:-5.78 [[ 9.61990086e-01 2.72420768e-01 1.90262673e-02 2.26204018e+02] [-2.72364179e-01 9.62178206e-01 -5.55472878e-03 -5.19358898e+01] [-1.98198832e-02 1.61520345e-04 9.99803554e-01 -5.77806870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.148623853 meters 0.01869106327397705 Centerline is valid? [True, True] Translation: X:226.23, Y:-51.94, Z:-5.78 [[ 9.61477950e-01 2.74195095e-01 1.94216585e-02 2.26233169e+02] [-2.74136568e-01 9.61674079e-01 -5.66634128e-03 -5.19390060e+01] [-2.02309885e-02 1.23875391e-04 9.99795325e-01 -5.77682050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.178623853 meters 0.018473168597996137 Centerline is valid? [True, True] Translation: X:226.26, Y:-51.95, Z:-5.78 [[ 9.61043865e-01 2.75683147e-01 1.98366476e-02 2.26260591e+02] [-2.75622430e-01 9.61248560e-01 -5.78642471e-03 -5.19455202e+01] [-2.06631687e-02 9.35829640e-05 9.99786490e-01 -5.77805851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.208623853 meters 0.01734356725022529 Centerline is valid? [True, True] Translation: X:226.29, Y:-51.95, Z:-5.78 [[ 9.60150203e-01 2.78762226e-01 2.00800485e-02 2.26289837e+02] [-2.78700701e-01 9.60360151e-01 -5.85654643e-03 -5.19476421e+01] [-2.09166623e-02 2.68406702e-05 9.99781222e-01 -5.77738531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.238623853 meters 0.017389482979569524 Centerline is valid? [True, True] Translation: X:226.32, Y:-51.95, Z:-5.78 [[ 9.59818652e-01 2.79899698e-01 2.01075877e-02 2.26316222e+02] [-2.79838329e-01 9.60029249e-01 -5.86092306e-03 -5.19528200e+01] [-2.09443429e-02 -1.45046586e-06 9.99780643e-01 -5.77996168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.268623853 meters 0.017993045011596265 Centerline is valid? [True, True] Translation: X:226.35, Y:-51.95, Z:-5.78 [[ 9.59019102e-01 2.82649742e-01 1.97860018e-02 2.26345533e+02] [-2.82590935e-01 9.59223186e-01 -5.76576784e-03 -5.19549516e+01] [-2.06088844e-02 -6.18632284e-05 9.99787612e-01 -5.78200885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.298623853 meters 0.020297392020315722 Centerline is valid? [True, True] Translation: X:226.37, Y:-51.96, Z:-5.78 [[ 9.58654155e-01 2.83909626e-01 1.94302550e-02 2.26374144e+02] [-2.83853235e-01 9.58851040e-01 -5.65903041e-03 -5.19597723e+01] [-2.02373734e-02 -9.02877269e-05 9.99795199e-01 -5.77930066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.328623853 meters 0.019468586447005835 Centerline is valid? [True, True] Translation: X:226.40, Y:-51.96, Z:-5.78 [[ 9.58254924e-01 2.85245515e-01 1.95575465e-02 2.26401841e+02] [-2.85188736e-01 9.58454475e-01 -5.69244153e-03 -5.19642071e+01] [-2.03687614e-02 -1.22781856e-04 9.99792528e-01 -5.78410730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.358623853 meters 0.020099201912068834 Centerline is valid? [True, True] Translation: X:226.43, Y:-51.97, Z:-5.78 [[ 9.57522776e-01 2.87733753e-01 1.89584177e-02 2.26430583e+02] [-2.87680895e-01 9.57710425e-01 -5.51765691e-03 -5.19685331e+01] [-1.97442904e-02 -1.70692395e-04 9.99805048e-01 -5.78423120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.388623853 meters 0.02068181299050769 Centerline is valid? [True, True] Translation: X:226.46, Y:-51.97, Z:-5.79 [[ 9.57319049e-01 2.88420481e-01 1.88113080e-02 2.26459065e+02] [-2.88368639e-01 9.57503834e-01 -5.47146041e-03 -5.19745086e+01] [-1.95899808e-02 -1.86657999e-04 9.99808080e-01 -5.78538116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.418623853 meters 0.02145736975445099 Centerline is valid? [True, True] Translation: X:226.49, Y:-51.98, Z:-5.79 [[ 9.57044505e-01 2.89336213e-01 1.87182172e-02 2.26487387e+02] [-2.89285123e-01 9.57227514e-01 -5.44102002e-03 -5.19802788e+01] [-1.94918766e-02 -2.07603456e-04 9.99809994e-01 -5.78620966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.44862385300002 meters 0.021808098876426072 Centerline is valid? [True, True] Translation: X:226.51, Y:-51.99, Z:-5.79 [[ 9.56974506e-01 2.89545801e-01 1.90531738e-02 2.26513977e+02] [-2.89492987e-01 9.57164135e-01 -5.53441250e-03 -5.19866559e+01] [-1.98394806e-02 -2.19468536e-04 9.99803154e-01 -5.78681850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.47862385300002 meters 0.021747526603408823 Centerline is valid? [True, True] Translation: X:226.54, Y:-51.99, Z:-5.79 [[ 9.57030245e-01 2.89335164e-01 1.94492668e-02 2.26540763e+02] [-2.89280112e-01 9.57227828e-01 -5.64822711e-03 -5.19937895e+01] [-2.02516101e-02 -2.20761906e-04 9.99794891e-01 -5.78685608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50862385300002 meters 0.020976073121335027 Centerline is valid? [True, True] Translation: X:226.57, Y:-52.00, Z:-5.79 [[ 9.57346852e-01 2.88245158e-01 2.00432956e-02 2.26567433e+02] [-2.88186552e-01 9.57556622e-01 -5.81602544e-03 -5.20014594e+01] [-2.08690316e-02 -2.08254587e-04 9.99782196e-01 -5.78637893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.53862385300002 meters 0.0200757534020999 Centerline is valid? [True, True] Translation: X:226.59, Y:-52.01, Z:-5.79 [[ 9.57605612e-01 2.87374737e-01 2.01805065e-02 2.26594380e+02] [-2.87315162e-01 9.57818210e-01 -5.85437133e-03 -5.20104778e+01] [-2.10116550e-02 -1.91986654e-04 9.99779212e-01 -5.78641427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56862385300002 meters 0.019499553981120143 Centerline is valid? [True, True] Translation: X:226.62, Y:-52.02, Z:-5.79 [[ 9.58092661e-01 2.85757862e-01 2.00224129e-02 2.26620556e+02] [-2.85698964e-01 9.58301841e-01 -5.80372151e-03 -5.20190084e+01] [-2.08459742e-02 -1.59879654e-04 9.99782686e-01 -5.78808375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.59862385300002 meters 0.018865602222687336 Centerline is valid? [True, True] Translation: X:226.65, Y:-52.03, Z:-5.79 [[ 9.58412813e-01 2.84684823e-01 1.99857985e-02 2.26647214e+02] [-2.84625922e-01 9.58621162e-01 -5.79239584e-03 -5.20285780e+01] [-2.08078166e-02 -1.36969939e-04 9.99783485e-01 -5.78877843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.62862385300002 meters 0.018640882002748608 Centerline is valid? [True, True] Translation: X:226.67, Y:-52.04, Z:-5.79 [[ 9.58680608e-01 2.83778954e-01 2.00249296e-02 2.26673596e+02] [-2.83719724e-01 9.58889718e-01 -5.79896149e-03 -5.20372849e+01] [-2.08473223e-02 -1.22115553e-04 9.99782663e-01 -5.78995846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.65862385300002 meters 0.01822853290706377 Centerline is valid? [True, True] Translation: X:226.70, Y:-52.05, Z:-5.79 [[ 9.59020487e-01 2.82666014e-01 1.94840886e-02 2.26700564e+02] [-2.82609722e-01 9.59218388e-01 -5.64178564e-03 -5.20460899e+01] [-2.02842371e-02 -9.58048448e-05 9.99794249e-01 -5.79125170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.68862385300002 meters 0.017805847174293784 Centerline is valid? [True, True] Translation: X:226.73, Y:-52.06, Z:-5.79 [[ 9.59570566e-01 2.80805065e-01 1.93091897e-02 2.26727003e+02] [-2.80749492e-01 9.59764821e-01 -5.58666312e-03 -5.20564393e+01] [-2.01010443e-02 -6.02477123e-05 9.99797952e-01 -5.79252163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.71862385300003 meters 0.01757547475447222 Centerline is valid? [True, True] Translation: X:226.75, Y:-52.07, Z:-5.79 [[ 9.59891206e-01 2.79715060e-01 1.91926477e-02 2.26753671e+02] [-2.79659963e-01 9.60083061e-01 -5.55167796e-03 -5.20655607e+01] [-1.99794239e-02 -3.84083013e-05 9.99800391e-01 -5.79232610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.74862385300003 meters 0.022581514682203742 Centerline is valid? [True, True] Translation: X:226.78, Y:-52.07, Z:-5.79 [[ 9.60376866e-01 2.78080162e-01 1.86467034e-02 2.26779520e+02] [-2.78027921e-01 9.60557871e-01 -5.38992193e-03 -5.20746673e+01] [-1.94100680e-02 -7.94784965e-06 9.99811607e-01 -5.78774688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.77862385300003 meters 0.017350119773711026 Centerline is valid? [True, True] Translation: X:226.81, Y:-52.08, Z:-5.79 [[ 9.60646068e-01 2.77095065e-01 1.94282699e-02 2.26805868e+02] [-2.77038240e-01 9.60842508e-01 -5.61149692e-03 -5.20836174e+01] [-2.02224257e-02 8.28876117e-06 9.99795506e-01 -5.79376590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.80862385300003 meters 0.017349751296660866 Centerline is valid? [True, True] Translation: X:226.83, Y:-52.09, Z:-5.79 [[ 9.60880473e-01 2.76267994e-01 1.96140922e-02 2.26831402e+02] [-2.76210002e-01 9.61080639e-01 -5.66039692e-03 -5.20935524e+01] [-2.04145107e-02 2.13564321e-05 9.99791602e-01 -5.79404404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.83862385300003 meters 0.01913468422753786 Centerline is valid? [True, True] Translation: X:226.86, Y:-52.10, Z:-5.79 [[ 9.60929201e-01 2.76103999e-01 1.95359140e-02 2.26856905e+02] [-2.76046465e-01 9.61127765e-01 -5.63627901e-03 -5.21012222e+01] [-2.03327085e-02 2.32450877e-05 9.99793269e-01 -5.79129874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86862385300003 meters 0.017356288995656697 Centerline is valid? [True, True] Translation: X:226.88, Y:-52.11, Z:-5.80 [[ 9.60997787e-01 2.75840602e-01 1.98800315e-02 2.26883663e+02] [-2.75781020e-01 9.61203393e-01 -5.73300222e-03 -5.21087125e+01] [-2.06901485e-02 2.68670910e-05 9.99785936e-01 -5.79547315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.898623853 meters 0.01735233322152075 Centerline is valid? [True, True] Translation: X:226.91, Y:-52.12, Z:-5.80 [[ 9.60942437e-01 2.76026685e-01 1.99725329e-02 2.26909667e+02] [-2.75966683e-01 9.61149972e-01 -5.75510585e-03 -5.21154620e+01] [-2.07851622e-02 1.85717871e-05 9.99783965e-01 -5.79637072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.928623853 meters 0.01727998786609822 Centerline is valid? [True, True] Translation: X:226.94, Y:-52.12, Z:-5.80 [[ 9.60636345e-01 2.77099764e-01 1.98376859e-02 2.26937337e+02] [-2.77040823e-01 9.60841153e-01 -5.71501545e-03 -5.21216958e+01] [-2.06444945e-02 -5.79729577e-06 9.99786880e-01 -5.79669729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.958623853 meters 0.017326996199715197 Centerline is valid? [True, True] Translation: X:226.96, Y:-52.13, Z:-5.80 [[ 9.60408976e-01 2.77917793e-01 1.93984167e-02 2.26964761e+02] [-2.77861680e-01 9.60604861e-01 -5.58457809e-03 -5.21281813e+01] [-2.01862670e-02 -2.65977300e-05 9.99796236e-01 -5.79781133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.988623853 meters 0.018150703021957863 Centerline is valid? [True, True] Translation: X:226.99, Y:-52.13, Z:-5.80 [[ 9.59631194e-01 2.80626926e-01 1.88812132e-02 2.26992570e+02] [-2.80574376e-01 9.59816921e-01 -5.43125963e-03 -5.21309651e+01] [-1.96466656e-02 -8.55784499e-05 9.99806982e-01 -5.79968131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.018623853 meters 0.01858158985918 Centerline is valid? [True, True] Translation: X:227.02, Y:-52.14, Z:-5.80 [[ 9.59266917e-01 2.81873584e-01 1.88219353e-02 2.27021122e+02] [-2.81821630e-01 9.59451547e-01 -5.41284134e-03 -5.21369007e+01] [-1.95844719e-02 -1.12068860e-04 9.99808200e-01 -5.80024676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.048623853 meters 0.01950627886830998 Centerline is valid? [True, True] Translation: X:227.05, Y:-52.14, Z:-5.80 [[ 9.58793859e-01 2.83477144e-01 1.88426355e-02 2.27048747e+02] [-2.83425465e-01 9.58978981e-01 -5.41467420e-03 -5.21411913e+01] [-1.96046277e-02 -1.48926351e-04 9.99807800e-01 -5.80104380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.078623853 meters 0.022227887051534636 Centerline is valid? [True, True] Translation: X:227.08, Y:-52.14, Z:-5.80 [[ 9.57872461e-01 2.86523833e-01 1.96071965e-02 2.27077481e+02] [-2.86468541e-01 9.58073089e-01 -5.63302383e-03 -5.21415382e+01] [-2.03991229e-02 -2.21126573e-04 9.99791892e-01 -5.80069196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.108623853 meters 0.022095538126557793 Centerline is valid? [True, True] Translation: X:227.10, Y:-52.15, Z:-5.80 [[ 9.57456718e-01 2.87882473e-01 2.00078506e-02 2.27104884e+02] [-2.87825222e-01 9.57665712e-01 -5.74682567e-03 -5.21490246e+01] [-2.08152429e-02 -2.56427178e-04 9.99783306e-01 -5.79976117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.138623853 meters 0.02336943238232009 Centerline is valid? [True, True] Translation: X:227.13, Y:-52.15, Z:-5.80 [[ 9.57137060e-01 2.88918997e-01 2.03583158e-02 2.27132752e+02] [-2.88859982e-01 9.57353504e-01 -5.84626642e-03 -5.21537293e+01] [-2.11792024e-02 -2.85024476e-04 9.99775655e-01 -5.80003377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.168623853 meters 0.02341813973893257 Centerline is valid? [True, True] Translation: X:227.16, Y:-52.16, Z:-5.80 [[ 9.56819569e-01 2.89932839e-01 2.08629123e-02 2.27160465e+02] [-2.89871141e-01 9.57046942e-01 -5.98939106e-03 -5.21605123e+01] [-2.17033076e-02 -3.16789631e-04 9.99764405e-01 -5.79955280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.19862385300002 meters 0.026440516354631023 Centerline is valid? [True, True] Translation: X:227.19, Y:-52.16, Z:-5.80 [[ 9.56190392e-01 2.91945800e-01 2.16237017e-02 2.27189339e+02] [-2.91880133e-01 9.56434789e-01 -6.20345566e-03 -5.21618325e+01] [-2.24927334e-02 -3.79844229e-04 9.99746934e-01 -5.79966032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22862385300002 meters 0.02634719041743577 Centerline is valid? [True, True] Translation: X:227.22, Y:-52.17, Z:-5.80 [[ 9.56029850e-01 2.92460317e-01 2.17689942e-02 2.27217313e+02] [-2.92393941e-01 9.56277578e-01 -6.24318667e-03 -5.21691677e+01] [-2.26430854e-02 -3.96449198e-04 9.99743534e-01 -5.80010422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.25862385300002 meters 0.026805905130960147 Centerline is valid? [True, True] Translation: X:227.25, Y:-52.17, Z:-5.80 [[ 9.55710426e-01 2.93493217e-01 2.18932169e-02 2.27246065e+02] [-2.93426441e-01 9.55961061e-01 -6.27490265e-03 -5.21742791e+01] [-2.27707042e-02 -4.27058826e-04 9.99740623e-01 -5.80041852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28862385300002 meters 0.03375374068901414 Centerline is valid? [True, True] Translation: X:227.28, Y:-52.17, Z:-5.80 [[ 9.55564377e-01 2.93992676e-01 2.15645234e-02 2.27276406e+02] [-2.93928111e-01 9.55807573e-01 -6.17653236e-03 -5.21707053e+01] [-2.24273901e-02 -4.36345330e-04 9.99748379e-01 -5.80338128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.31862385300002 meters 0.02873262498917342 Centerline is valid? [True, True] Translation: X:227.30, Y:-52.18, Z:-5.80 [[ 9.55487402e-01 2.94270083e-01 2.11882892e-02 2.27301982e+02] [-2.94207841e-01 9.55722202e-01 -6.06776124e-03 -5.21844333e+01] [-2.20356790e-02 -4.36091401e-04 9.99757090e-01 -5.80347808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34862385300002 meters 0.02944317924321915 Centerline is valid? [True, True] Translation: X:227.33, Y:-52.19, Z:-5.81 [[ 9.55382029e-01 2.94661302e-01 2.04913654e-02 2.27330952e+02] [-2.94603252e-01 9.55601658e-01 -5.86470942e-03 -5.21880245e+01] [-2.13096857e-02 -4.33784902e-04 9.99772829e-01 -5.80556361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.37862385300002 meters 0.029431786078935002 Centerline is valid? [True, True] Translation: X:227.36, Y:-52.19, Z:-5.81 [[ 9.55265380e-01 2.95022589e-01 2.07298284e-02 2.27359028e+02] [-2.94963345e-01 9.55490172e-01 -5.92927740e-03 -5.21941353e+01] [-2.15564181e-02 -4.50506088e-04 9.99767532e-01 -5.80624919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.40862385300002 meters 0.031378105507157056 Centerline is valid? [True, True] Translation: X:227.39, Y:-52.20, Z:-5.81 [[ 9.55081856e-01 2.95582790e-01 2.12005175e-02 2.27387440e+02] [-2.95521055e-01 9.55317008e-01 -6.05969495e-03 -5.21950276e+01] [-2.20443565e-02 -4.77694607e-04 9.99756880e-01 -5.80643868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.43862385300002 meters 0.03172967573777949 Centerline is valid? [True, True] Translation: X:227.41, Y:-52.20, Z:-5.81 [[ 9.55120975e-01 2.95454484e-01 2.12266579e-02 2.27414811e+02] [-2.95392586e-01 9.55356698e-01 -6.06621545e-03 -5.22000852e+01] [-2.20713204e-02 -4.76227767e-04 9.99756285e-01 -5.80774432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.46862385300003 meters 0.031534111128490395 Centerline is valid? [True, True] Translation: X:227.44, Y:-52.21, Z:-5.81 [[ 9.55236942e-01 2.95119880e-01 2.06553101e-02 2.27442313e+02] [-2.95061275e-01 9.55460122e-01 -5.89902839e-03 -5.22058469e+01] [-2.14762456e-02 -4.59612292e-04 9.99769253e-01 -5.80956430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.49862385300003 meters 0.031761914969325185 Centerline is valid? [True, True] Translation: X:227.47, Y:-52.21, Z:-5.81 [[ 9.55365779e-01 2.94724021e-01 2.03465057e-02 2.27469489e+02] [-2.94667160e-01 9.55582310e-01 -5.80641263e-03 -5.22112922e+01] [-2.11540502e-02 -4.48199129e-04 9.99776128e-01 -5.81117587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.52862385300003 meters 0.028236494723407023 Centerline is valid? [True, True] Translation: X:227.50, Y:-52.22, Z:-5.81 [[ 9.56068315e-01 2.92457756e-01 2.00458857e-02 2.27496565e+02] [-2.92402080e-01 9.56278363e-01 -5.71990470e-03 -5.22203032e+01] [-2.08422773e-02 -3.92839022e-04 9.99782699e-01 -5.81283866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.55862385300003 meters 0.026020782142659096 Centerline is valid? [True, True] Translation: X:227.52, Y:-52.23, Z:-5.81 [[ 9.56635776e-01 2.90611294e-01 1.98259593e-02 2.27524093e+02] [-2.90556506e-01 9.56841132e-01 -5.65373306e-03 -5.22292886e+01] [-2.06133320e-02 -3.51998163e-04 9.99787461e-01 -5.81332456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.58862385300003 meters 0.022282169767882862 Centerline is valid? [True, True] Translation: X:227.55, Y:-52.24, Z:-5.81 [[ 9.57933479e-01 2.86318593e-01 1.96243026e-02 2.27551304e+02] [-2.86264084e-01 9.58134435e-01 -5.59268972e-03 -5.22403047e+01] [-2.04040111e-02 -2.60308296e-04 9.99791783e-01 -5.81435395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.61862385300003 meters 0.02085969409785252 Centerline is valid? [True, True] Translation: X:227.58, Y:-52.25, Z:-5.82 [[ 9.58711143e-01 2.83689819e-01 1.98250173e-02 2.27577326e+02] [-2.83633705e-01 9.58916077e-01 -5.64612486e-03 -5.22494199e+01] [-2.06122759e-02 -2.10040280e-04 9.99787522e-01 -5.81599409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64862385300003 meters 0.019177846770750042 Centerline is valid? [True, True] Translation: X:227.60, Y:-52.26, Z:-5.82 [[ 9.59503361e-01 2.81009032e-01 1.96780290e-02 2.27604547e+02] [-2.80953214e-01 9.59705111e-01 -5.60275907e-03 -5.22605521e+01] [-2.04595309e-02 -1.52739330e-04 9.99790670e-01 -5.81627566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.678623853 meters 0.017887252647166958 Centerline is valid? [True, True] Translation: X:227.63, Y:-52.27, Z:-5.82 [[ 9.60347286e-01 2.78098717e-01 1.98543023e-02 2.27630647e+02] [-2.78041358e-01 9.60552494e-01 -5.64881938e-03 -5.22708825e+01] [-2.06420290e-02 -9.54888034e-05 9.99786926e-01 -5.81659004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.708623853 meters 0.017251194666887206 Centerline is valid? [True, True] Translation: X:227.66, Y:-52.29, Z:-5.82 [[ 9.62109147e-01 2.71894873e-01 2.04735722e-02 2.27655026e+02] [-2.71832501e-01 9.62326959e-01 -5.82365257e-03 -5.22862292e+01] [-2.12856917e-02 3.76070847e-05 9.99773433e-01 -5.81697551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.738623853 meters 0.017860410393453333 Centerline is valid? [True, True] Translation: X:227.68, Y:-52.30, Z:-5.82 [[ 9.62977716e-01 2.68765862e-01 2.09482882e-02 2.27681972e+02] [-2.68699844e-01 9.63205534e-01 -5.95769333e-03 -5.22978205e+01] [-2.17787317e-02 1.08324147e-04 9.99762809e-01 -5.81660869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.768623853 meters 0.02028221585717328 Centerline is valid? [True, True] Translation: X:227.71, Y:-52.31, Z:-5.81 [[ 9.64476620e-01 2.63244722e-01 2.20695536e-02 2.27708469e+02] [-2.63170094e-01 9.64729059e-01 -6.27244412e-03 -5.23116220e+01] [-2.29423275e-02 2.41579202e-04 9.99736761e-01 -5.81492949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.798623853 meters 0.02192702461502107 Centerline is valid? [True, True] Translation: X:227.73, Y:-52.32, Z:-5.82 [[ 9.65203868e-01 2.60551459e-01 2.22357783e-02 2.27734963e+02] [-2.60475080e-01 9.65459914e-01 -6.31570884e-03 -5.23223853e+01] [-2.31133198e-02 3.04080474e-04 9.99732805e-01 -5.81577866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.828623853 meters 0.023946384329962205 Centerline is valid? [True, True] Translation: X:227.76, Y:-52.33, Z:-5.82 [[ 9.65888905e-01 2.58010771e-01 2.21148336e-02 2.27760396e+02] [-2.57934649e-01 9.66141974e-01 -6.27724406e-03 -5.23338634e+01] [-2.29856656e-02 3.58938534e-04 9.99735730e-01 -5.81703579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.858623853 meters 0.027703617799174983 Centerline is valid? [True, True] Translation: X:227.79, Y:-52.35, Z:-5.82 [[ 9.67039503e-01 2.53673500e-01 2.20080786e-02 2.27785814e+02] [-2.53597038e-01 9.67289794e-01 -6.24473269e-03 -5.23497832e+01] [-2.28723131e-02 4.57719650e-04 9.99738290e-01 -5.81863754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.888623853 meters 0.02939724004567825 Centerline is valid? [True, True] Translation: X:227.81, Y:-52.36, Z:-5.82 [[ 9.67469115e-01 2.52072583e-01 2.15156947e-02 2.27811940e+02] [-2.51999122e-01 9.67708210e-01 -6.10437513e-03 -5.23603155e+01] [-2.23596600e-02 4.83858228e-04 9.99749874e-01 -5.82013723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.918623853 meters 0.030840886734094256 Centerline is valid? [True, True] Translation: X:227.84, Y:-52.37, Z:-5.82 [[ 9.67880616e-01 2.50549778e-01 2.07827559e-02 2.27839160e+02] [-2.50480930e-01 9.68103589e-01 -5.89441600e-03 -5.23709482e+01] [-2.15967052e-02 4.99406952e-04 9.99766639e-01 -5.82220824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.94862385300002 meters 0.030840886734094256 Centerline is valid? [True, True] Translation: X:227.87, Y:-52.38, Z:-5.82 [[ 9.67897904e-01 2.50482962e-01 2.07830051e-02 2.27865644e+02] [-2.50414118e-01 9.68120879e-01 -5.89353739e-03 -5.23783235e+01] [-2.15966918e-02 4.99984614e-04 9.99766639e-01 -5.82289985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.97862385300002 meters 0.03128861264445248 Centerline is valid? [True, True] Translation: X:227.89, Y:-52.39, Z:-5.82 [[ 9.67969475e-01 2.50214886e-01 2.06786303e-02 2.27891807e+02] [-2.50146704e-01 9.68190198e-01 -5.86236143e-03 -5.23867894e+01] [-2.14876973e-02 5.01895690e-04 9.99768987e-01 -5.82392810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00862385300002 meters 0.033120276449787725 Centerline is valid? [True, True] Translation: X:227.92, Y:-52.39, Z:-5.82 [[ 9.67884814e-01 2.50577788e-01 2.02425248e-02 2.27919282e+02] [-2.50512558e-01 9.68096348e-01 -5.73745574e-03 -5.23948604e+01] [-2.10343933e-02 4.82189606e-04 9.99778636e-01 -5.81934181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.03862385300002 meters 0.030172870672078307 Centerline is valid? [True, True] Translation: X:227.95, Y:-52.40, Z:-5.83 [[ 9.67531027e-01 2.51903731e-01 2.06935362e-02 2.27945762e+02] [-2.51835887e-01 9.67752187e-01 -5.86428717e-03 -5.24025356e+01] [-2.15034508e-02 4.62504725e-04 9.99768667e-01 -5.82562009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06862385300002 meters 0.029519422098187885 Centerline is valid? [True, True] Translation: X:227.97, Y:-52.41, Z:-5.83 [[ 9.67321013e-01 2.52706583e-01 2.07229531e-02 2.27972302e+02] [-2.52638755e-01 9.67542860e-01 -5.87145480e-03 -5.24093198e+01] [-2.15341006e-02 4.44160529e-04 9.99768016e-01 -5.82627567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.09862385300002 meters 0.02745020864962654 Centerline is valid? [True, True] Translation: X:228.00, Y:-52.41, Z:-5.83 [[ 9.66776928e-01 2.54812973e-01 2.03155019e-02 2.28000610e+02] [-2.54748282e-01 9.66990278e-01 -5.75453309e-03 -5.24148162e+01] [-2.11112225e-02 3.88010633e-04 9.99777058e-01 -5.82807976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.12862385300002 meters 0.03355262322335784 Centerline is valid? [True, True] Translation: X:228.03, Y:-52.42, Z:-5.82 [[ 9.66442109e-01 2.56137512e-01 1.95761568e-02 2.28027645e+02] [-2.56077790e-01 9.66640294e-01 -5.54143469e-03 -5.24207702e+01] [-2.03424713e-02 3.42456850e-04 9.99793012e-01 -5.82060789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.15862385300002 meters 0.025370291093938638 Centerline is valid? [True, True] Translation: X:228.06, Y:-52.43, Z:-5.83 [[ 9.66152034e-01 2.57165033e-01 2.04056985e-02 2.28055231e+02] [-2.57100390e-01 9.66367443e-01 -5.77536913e-03 -5.24270486e+01] [-2.12046257e-02 3.33571586e-04 9.99775101e-01 -5.83005488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.18862385300002 meters 0.02437450502381734 Centerline is valid? [True, True] Translation: X:228.08, Y:-52.43, Z:-5.83 [[ 9.65866216e-01 2.58235438e-01 2.04183932e-02 2.28083646e+02] [-2.58171026e-01 9.66081966e-01 -5.77553851e-03 -5.24335076e+01] [-2.12172901e-02 3.06960016e-04 9.99774841e-01 -5.83128854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.21862385300003 meters 0.022274304050585083 Centerline is valid? [True, True] Translation: X:228.11, Y:-52.44, Z:-5.83 [[ 9.65230593e-01 2.60617596e-01 2.02082016e-02 2.28110655e+02] [-2.60555104e-01 9.65442079e-01 -5.71231849e-03 -5.24391815e+01] [-2.09985789e-02 2.48354481e-04 9.99779475e-01 -5.83234275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.24862385300003 meters 0.02140467249632176 Centerline is valid? [True, True] Translation: X:228.14, Y:-52.45, Z:-5.83 [[ 9.64901405e-01 2.61810268e-01 2.05100432e-02 2.28137490e+02] [-2.61746191e-01 9.65119336e-01 -5.79639984e-03 -5.24459482e+01] [-2.13121963e-02 2.24528674e-04 9.99772844e-01 -5.83257909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.27862385300003 meters 0.019837513040533866 Centerline is valid? [True, True] Translation: X:228.16, Y:-52.45, Z:-5.83 [[ 9.64313264e-01 2.63938628e-01 2.08884871e-02 2.28164969e+02] [-2.63872688e-01 9.64539459e-01 -5.90218625e-03 -5.24515074e+01] [-2.17055850e-02 1.79655249e-04 9.99764390e-01 -5.83330990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.30862385300003 meters 0.028092100150578298 Centerline is valid? [True, True] Translation: X:228.19, Y:-52.46, Z:-5.83 [[ 9.64115927e-01 2.64703398e-01 2.03123425e-02 2.28192246e+02] [-2.64641244e-01 9.64329864e-01 -5.73807130e-03 -5.24580557e+01] [-2.11066854e-02 1.56682347e-04 9.99777217e-01 -5.82503981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.33862385300003 meters 0.031130528113796282 Centerline is valid? [True, True] Translation: X:228.22, Y:-52.46, Z:-5.82 [[ 9.63953128e-01 2.65284718e-01 2.04544539e-02 2.28219497e+02] [-2.65221904e-01 9.64170109e-01 -5.77437208e-03 -5.24638470e+01] [-2.12534257e-02 1.41254835e-04 9.99774110e-01 -5.82386530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.36862385300003 meters 0.018411805560679662 Centerline is valid? [True, True] Translation: X:228.25, Y:-52.47, Z:-5.84 [[ 9.63761168e-01 2.65937633e-01 2.10139623e-02 2.28245853e+02] [-2.65871593e-01 9.63990228e-01 -5.92760696e-03 -5.24730447e+01] [-2.18336281e-02 1.25781771e-04 9.99761610e-01 -5.83511322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.39862385300003 meters 0.018206649803077703 Centerline is valid? [True, True] Translation: X:228.27, Y:-52.48, Z:-5.84 [[ 9.63818701e-01 2.65689153e-01 2.15124394e-02 2.28272845e+02] [-2.65619902e-01 9.64058741e-01 -6.06722475e-03 -5.24808348e+01] [-2.23512510e-02 1.33572638e-04 9.99750171e-01 -5.83527243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.428623853 meters 0.02015696564582997 Centerline is valid? [True, True] Translation: X:228.30, Y:-52.49, Z:-5.83 [[ 9.63895996e-01 2.65419347e-01 2.13794261e-02 2.28298253e+02] [-2.65350982e-01 9.64133057e-01 -6.02530414e-03 -5.24887478e+01] [-2.22118438e-02 1.34714819e-04 9.99753277e-01 -5.83131681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.458623853 meters 0.018357562043582527 Centerline is valid? [True, True] Translation: X:228.32, Y:-52.50, Z:-5.84 [[ 9.63952218e-01 2.65198936e-01 2.15788279e-02 2.28324866e+02] [-2.65129276e-01 9.64193707e-01 -6.07964311e-03 -5.24970081e+01] [-2.24184849e-02 1.39306451e-04 9.99748664e-01 -5.83598321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.488623853 meters 0.01830025735949191 Centerline is valid? [True, True] Translation: X:228.35, Y:-52.51, Z:-5.84 [[ 9.64271441e-01 2.64043740e-01 2.14823500e-02 2.28352398e+02] [-2.63974515e-01 9.64510693e-01 -6.04794653e-03 -5.25069301e+01] [-2.23168787e-02 1.61069184e-04 9.99750934e-01 -5.83675030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.518623853 meters 0.02002231605780281 Centerline is valid? [True, True] Translation: X:228.38, Y:-52.52, Z:-5.84 [[ 9.64496987e-01 2.63214436e-01 2.15342420e-02 2.28377857e+02] [-2.63144694e-01 9.64737337e-01 -6.06145450e-03 -5.25202988e+01] [-2.23703496e-02 1.79633059e-04 9.99749736e-01 -5.83872757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.548623853 meters 0.027022601667669625 Centerline is valid? [True, True] Translation: X:228.40, Y:-52.53, Z:-5.83 [[ 9.65087986e-01 2.61037348e-01 2.15564913e-02 2.28404192e+02] [-2.60966945e-01 9.65328675e-01 -6.06658415e-03 -5.25325284e+01] [-2.23927042e-02 2.29255799e-04 9.99749226e-01 -5.82985950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.578623853 meters 0.028380162840887985 Centerline is valid? [True, True] Translation: X:228.43, Y:-52.54, Z:-5.83 [[ 9.65372137e-01 2.59953062e-01 2.19326759e-02 2.28431612e+02] [-2.59879990e-01 9.65621220e-01 -6.16849624e-03 -5.25406157e+01] [-2.27821767e-02 2.55030814e-04 9.99740420e-01 -5.82864460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.608623853 meters 0.023736526032238425 Centerline is valid? [True, True] Translation: X:228.46, Y:-52.56, Z:-5.84 [[ 9.65707135e-01 2.58629671e-01 2.28127705e-02 2.28456221e+02] [-2.58550275e-01 9.65976504e-01 -6.41481376e-03 -5.25560307e+01] [-2.36956614e-02 2.96583330e-04 9.99719174e-01 -5.83788465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.638623853 meters 0.024893090676922757 Centerline is valid? [True, True] Translation: X:228.48, Y:-52.57, Z:-5.84 [[ 9.66253452e-01 2.56526371e-01 2.34197997e-02 2.28482509e+02] [-2.56442111e-01 9.66537166e-01 -6.58404900e-03 -5.25692902e+01] [-2.43250891e-02 3.56037197e-04 9.99704038e-01 -5.83717236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.668623853 meters 0.026135149336222994 Centerline is valid? [True, True] Translation: X:228.51, Y:-52.58, Z:-5.84 [[ 9.66547007e-01 2.55419505e-01 2.34042565e-02 2.28509679e+02] [-2.55335127e-01 9.66830250e-01 -6.57574861e-03 -5.25807318e+01] [-2.43075176e-02 3.79841345e-04 9.99704456e-01 -5.83805655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.69862385300002 meters 0.027288349103491344 Centerline is valid? [True, True] Translation: X:228.54, Y:-52.59, Z:-5.84 [[ 9.66824578e-01 2.54398243e-01 2.30601334e-02 2.28536465e+02] [-2.54316064e-01 9.67099465e-01 -6.47800661e-03 -5.25918649e+01] [-2.39494361e-02 3.98533660e-04 9.99713092e-01 -5.83964571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72862385300002 meters 0.029573146066615357 Centerline is valid? [True, True] Translation: X:228.56, Y:-52.61, Z:-5.84 [[ 9.67328485e-01 2.52458618e-01 2.32432553e-02 2.28561168e+02] [-2.52374594e-01 9.67607588e-01 -6.52837181e-03 -5.26068341e+01] [-2.41384940e-02 4.49072888e-04 9.99708523e-01 -5.84033568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.75862385300002 meters 0.030540539413847642 Centerline is valid? [True, True] Translation: X:228.59, Y:-52.62, Z:-5.84 [[ 9.67501797e-01 2.51804030e-01 2.31301279e-02 2.28586419e+02] [-2.51720667e-01 9.67778134e-01 -6.49526936e-03 -5.26180744e+01] [-2.40203670e-02 4.61853568e-04 9.99711363e-01 -5.84195822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78862385300002 meters 0.03108369216450821 Centerline is valid? [True, True] Translation: X:228.61, Y:-52.63, Z:-5.84 [[ 9.67622243e-01 2.51367853e-01 2.28341318e-02 2.28613524e+02] [-2.51286520e-01 9.67891516e-01 -6.41084138e-03 -5.26293641e+01] [-2.37124419e-02 4.65363200e-04 9.99718712e-01 -5.84334073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.81862385300002 meters 0.032713316767464785 Centerline is valid? [True, True] Translation: X:228.64, Y:-52.64, Z:-5.84 [[ 9.67680595e-01 2.51150276e-01 2.27553291e-02 2.28637328e+02] [-2.51069465e-01 9.67947994e-01 -6.38779309e-03 -5.26432281e+01] [-2.36302712e-02 4.68175105e-04 9.99720657e-01 -5.84466457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84862385300002 meters 0.030677821079225343 Centerline is valid? [True, True] Translation: X:228.67, Y:-52.65, Z:-5.85 [[ 9.67551589e-01 2.51694223e-01 2.22247768e-02 2.28665104e+02] [-2.51617347e-01 9.67806708e-01 -6.23598610e-03 -5.26505913e+01] [-2.30788497e-02 4.41498897e-04 9.99733550e-01 -5.84601847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.87862385300002 meters 0.030463509659417357 Centerline is valid? [True, True] Translation: X:228.69, Y:-52.66, Z:-5.85 [[ 9.67445751e-01 2.52148995e-01 2.16703178e-02 2.28690855e+02] [-2.52076043e-01 9.67688332e-01 -6.07948314e-03 -5.26600207e+01] [-2.25030492e-02 4.19002189e-04 9.99746687e-01 -5.84805189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.90862385300002 meters 0.02885847517032123 Centerline is valid? [True, True] Translation: X:228.72, Y:-52.67, Z:-5.85 [[ 9.67021426e-01 2.53835459e-01 2.09074595e-02 2.28716511e+02] [-2.53767972e-01 9.67247345e-01 -5.86432815e-03 -5.26701687e+01] [-2.17112592e-02 3.65287363e-04 9.99764216e-01 -5.85029850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.93862385300002 meters 0.023286812742323092 Centerline is valid? [True, True] Translation: X:228.75, Y:-52.67, Z:-5.85 [[ 9.66663782e-01 2.55189715e-01 2.09604691e-02 2.28745843e+02] [-2.55122229e-01 9.66890944e-01 -5.87799519e-03 -5.26714791e+01] [-2.17664917e-02 3.34563462e-04 9.99763026e-01 -5.84945488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.96862385300003 meters 0.021294329310912203 Centerline is valid? [True, True] Translation: X:228.77, Y:-52.68, Z:-5.85 [[ 9.65465260e-01 2.59652913e-01 2.13821603e-02 2.28772684e+02] [-2.59583802e-01 9.65701977e-01 -5.99511700e-03 -5.26799494e+01] [-2.22054441e-02 2.37614711e-04 9.99753400e-01 -5.84994793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.99862385300003 meters 0.03078070545720475 Centerline is valid? [True, True] Translation: X:228.80, Y:-52.69, Z:-5.84 [[ 9.64755683e-01 2.62299439e-01 2.11063161e-02 2.28800183e+02] [-2.62232755e-01 9.64986515e-01 -5.91673202e-03 -5.26858904e+01] [-2.19192659e-02 1.73433414e-04 9.99759729e-01 -5.84084192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.02862385300003 meters 0.01776775859825276 Centerline is valid? [True, True] Translation: X:228.83, Y:-52.69, Z:-5.85 [[ 9.63844116e-01 2.65552670e-01 2.20522090e-02 2.28829561e+02] [-2.65480753e-01 9.64096348e-01 -6.18070059e-03 -5.26889199e+01] [-2.29017557e-02 1.02794855e-04 9.99737715e-01 -5.85007572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.05862385300003 meters 0.016512146312709607 Centerline is valid? [True, True] Translation: X:228.86, Y:-52.69, Z:-5.85 [[ 9.62846340e-01 2.69122046e-01 2.23662754e-02 2.28859357e+02] [-2.69049103e-01 9.63106082e-01 -6.26544597e-03 -5.26906305e+01] [-2.32272655e-02 1.50353872e-05 9.99730211e-01 -5.85001443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.08862385300003 meters 0.01825426996874187 Centerline is valid? [True, True] Translation: X:228.89, Y:-52.69, Z:-5.85 [[ 9.60748416e-01 2.76461662e-01 2.30527744e-02 2.28889894e+02] [-2.76386371e-01 9.61024932e-01 -6.45396159e-03 -5.26889691e+01] [-2.39385639e-02 -1.70839271e-04 9.99713417e-01 -5.84922035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.11862385300003 meters 0.023371129525641753 Centerline is valid? [True, True] Translation: X:228.92, Y:-52.69, Z:-5.85 [[ 9.59714130e-01 2.80047116e-01 2.28561087e-02 2.28919790e+02] [-2.79974176e-01 9.59986221e-01 -6.39654194e-03 -5.26863284e+01] [-2.37328825e-02 -2.60268502e-04 9.99718302e-01 -5.85062115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14862385300003 meters 0.02573321307504315 Centerline is valid? [True, True] Translation: X:228.95, Y:-52.69, Z:-5.85 [[ 9.57785639e-01 2.86590578e-01 2.26386925e-02 2.28949008e+02] [-2.86520896e-01 9.58053059e-01 -6.33341789e-03 -5.26897192e+01] [-2.35041665e-02 -4.20401761e-04 9.99723651e-01 -5.85132958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.178623853 meters 0.02923957398875285 Centerline is valid? [True, True] Translation: X:228.98, Y:-52.69, Z:-5.85 [[ 9.57011711e-01 2.89204812e-01 2.21170187e-02 2.28977034e+02] [-2.89139019e-01 9.57267127e-01 -6.18671722e-03 -5.26909306e+01] [-2.29611233e-02 -4.74132266e-04 9.99736246e-01 -5.85277553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.208623853 meters 0.03153955980435841 Centerline is valid? [True, True] Translation: X:229.01, Y:-52.69, Z:-5.85 [[ 9.56356571e-01 2.91400345e-01 2.16320975e-02 2.29005538e+02] [-2.91338004e-01 9.56601052e-01 -6.04942891e-03 -5.26938874e+01] [-2.24560929e-02 -5.16841008e-04 9.99747697e-01 -5.85433234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.238623853 meters 0.034309933705890285 Centerline is valid? [True, True] Translation: X:229.04, Y:-52.70, Z:-5.86 [[ 9.55534932e-01 2.94077669e-01 2.17098619e-02 2.29035445e+02] [-2.94015600e-01 9.55781348e-01 -6.06976157e-03 -5.26954886e+01] [-2.25348624e-02 -5.83168857e-04 9.99745888e-01 -5.85533451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.268623853 meters 0.03389292477994467 Centerline is valid? [True, True] Translation: X:229.06, Y:-52.70, Z:-5.86 [[ 9.55470781e-01 2.94281870e-01 2.17662103e-02 2.29063506e+02] [-2.94219543e-01 9.55718490e-01 -6.08504354e-03 -5.27032732e+01] [-2.25930876e-02 -5.89963144e-04 9.99744570e-01 -5.85667305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.298623853 meters 0.03436689692980154 Centerline is valid? [True, True] Translation: X:229.09, Y:-52.71, Z:-5.86 [[ 9.55713736e-01 2.93459406e-01 2.21998021e-02 2.29091182e+02] [-2.93394446e-01 9.55971356e-01 -6.20202259e-03 -5.27089569e+01] [-2.30424168e-02 -5.85940473e-04 9.99734317e-01 -5.85672168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.328623853 meters 0.0323059769865693 Centerline is valid? [True, True] Translation: X:229.12, Y:-52.72, Z:-5.86 [[ 9.56049931e-01 2.92364290e-01 2.21732336e-02 2.29117902e+02] [-2.92299218e-01 9.56306859e-01 -6.19344265e-03 -5.27188767e+01] [-2.30151568e-02 -5.59978407e-04 9.99734959e-01 -5.85774049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.358623853 meters 0.03445864279801247 Centerline is valid? [True, True] Translation: X:229.15, Y:-52.73, Z:-5.85 [[ 9.56592420e-01 2.90646357e-01 2.13456707e-02 2.29145600e+02] [-2.90585704e-01 9.56830415e-01 -5.95869055e-03 -5.27271037e+01] [-2.21560587e-02 -5.02708550e-04 9.99754398e-01 -5.85184791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.388623853 meters 0.02787060059171323 Centerline is valid? [True, True] Translation: X:229.17, Y:-52.74, Z:-5.86 [[ 9.57616636e-01 2.87246959e-01 2.14374376e-02 2.29172230e+02] [-2.87185023e-01 9.57856461e-01 -5.98018802e-03 -5.27385066e+01] [-2.22517790e-02 -4.29783494e-04 9.99752306e-01 -5.86123644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.418623853 meters 0.02729810357113787 Centerline is valid? [True, True] Translation: X:229.20, Y:-52.75, Z:-5.86 [[ 9.58238575e-01 2.85191888e-01 2.10812968e-02 2.29198962e+02] [-2.85131518e-01 9.58470367e-01 -5.87985260e-03 -5.27466212e+01] [-2.18826845e-02 -3.76640572e-04 9.99760474e-01 -5.86255824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.44862385300002 meters 0.024784379374419917 Centerline is valid? [True, True] Translation: X:229.23, Y:-52.76, Z:-5.86 [[ 9.58993728e-01 2.82635956e-01 2.11647204e-02 2.29225792e+02] [-2.82574505e-01 9.59227196e-01 -5.90212689e-03 -5.27577994e+01] [-2.19699287e-02 -3.20507734e-04 9.99758581e-01 -5.86358022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.47862385300002 meters 0.02074825250197101 Centerline is valid? [True, True] Translation: X:229.25, Y:-52.77, Z:-5.86 [[ 9.60448965e-01 2.77632901e-01 2.13952840e-02 2.29250746e+02] [-2.77568949e-01 9.60687216e-01 -5.96244597e-03 -5.27722155e+01] [-2.22095470e-02 -2.12041433e-04 9.99753315e-01 -5.86368426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50862385300002 meters 0.018366234116549918 Centerline is valid? [True, True] Translation: X:229.28, Y:-52.79, Z:-5.86 [[ 9.61236494e-01 2.74885088e-01 2.15079218e-02 2.29277459e+02] [-2.74819796e-01 9.61477075e-01 -5.99283075e-03 -5.27855983e+01] [-2.23267136e-02 -1.50275057e-04 9.99750717e-01 -5.86370949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.53862385300002 meters 0.01699372934772934 Centerline is valid? [True, True] Translation: X:229.30, Y:-52.80, Z:-5.86 [[ 9.62652562e-01 2.69879352e-01 2.15680491e-02 2.29302951e+02] [-2.69812526e-01 9.62894145e-01 -6.00561426e-03 -5.27994868e+01] [-2.23885395e-02 -3.80098486e-05 9.99749345e-01 -5.86496129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56862385300002 meters 0.016868467508988575 Centerline is valid? [True, True] Translation: X:229.33, Y:-52.81, Z:-5.86 [[ 9.63317129e-01 2.67498707e-01 2.15534289e-02 2.29329347e+02] [-2.67431398e-01 9.63558219e-01 -6.00049718e-03 -5.28105253e+01] [-2.23731088e-02 1.63180850e-05 9.99749691e-01 -5.86462081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.59862385300002 meters 0.017127529471898304 Centerline is valid? [True, True] Translation: X:229.36, Y:-52.82, Z:-5.87 [[ 9.63894887e-01 2.65417073e-01 2.14575144e-02 2.29356068e+02] [-2.65349883e-01 9.64133691e-01 -5.97207802e-03 -5.28206709e+01] [-2.22730040e-02 6.27065160e-05 9.99751924e-01 -5.86549425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.62862385300002 meters 0.018152943996656047 Centerline is valid? [True, True] Translation: X:229.38, Y:-52.83, Z:-5.87 [[ 9.64777658e-01 2.62170578e-01 2.16946794e-02 2.29382203e+02] [-2.62101099e-01 9.65021538e-01 -6.03695805e-03 -5.28330665e+01] [-2.25185457e-02 1.38122920e-04 9.99746416e-01 -5.86559870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.65862385300002 meters 0.01893737336264811 Centerline is valid? [True, True] Translation: X:229.41, Y:-52.84, Z:-5.87 [[ 9.65189790e-01 2.60672074e-01 2.14181798e-02 2.29408241e+02] [-2.60604009e-01 9.65427388e-01 -5.95896217e-03 -5.28434265e+01] [-2.22310324e-02 1.69865917e-04 9.99752846e-01 -5.86717811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.68862385300002 meters 0.01991105712590798 Centerline is valid? [True, True] Translation: X:229.43, Y:-52.85, Z:-5.87 [[ 9.65564417e-01 2.59309596e-01 2.10687063e-02 2.29433984e+02] [-2.59243440e-01 9.65794230e-01 -5.86040709e-03 -5.28539325e+01] [-2.18676948e-02 1.96676657e-04 9.99760854e-01 -5.86870262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.71862385300003 meters 0.020971918049375173 Centerline is valid? [True, True] Translation: X:229.46, Y:-52.86, Z:-5.87 [[ 9.66093602e-01 2.57384018e-01 2.04112320e-02 2.29461226e+02] [-2.57321524e-01 9.66309171e-01 -5.67622770e-03 -5.28647769e+01] [-2.11845309e-02 2.31517935e-04 9.99775556e-01 -5.87072918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.74862385300003 meters 0.020937774855536825 Centerline is valid? [True, True] Translation: X:229.49, Y:-52.87, Z:-5.87 [[ 9.66228685e-01 2.56922167e-01 1.98274633e-02 2.29489245e+02] [-2.56863120e-01 9.66432070e-01 -5.51292490e-03 -5.28726683e+01] [-2.05782890e-02 2.33802087e-04 9.99788217e-01 -5.87190047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.77862385300003 meters 0.021427924511790396 Centerline is valid? [True, True] Translation: X:229.52, Y:-52.88, Z:-5.87 [[ 9.66290500e-01 2.56713277e-01 1.95182923e-02 2.29516091e+02] [-2.56656033e-01 9.66487578e-01 -5.42602488e-03 -5.28813720e+01] [-2.02571197e-02 2.33628811e-04 9.99794776e-01 -5.87309151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.80862385300003 meters 0.02096986492092428 Centerline is valid? [True, True] Translation: X:229.54, Y:-52.89, Z:-5.87 [[ 9.66091810e-01 2.57487371e-01 1.91538304e-02 2.29544035e+02] [-2.57432422e-01 9.66281641e-01 -5.32342178e-03 -5.28878153e+01] [-1.98787085e-02 2.12097225e-04 9.99802376e-01 -5.87426030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.83862385300003 meters 0.02096986492092428 Centerline is valid? [True, True] Translation: X:229.57, Y:-52.90, Z:-5.87 [[ 9.66110059e-01 2.57418875e-01 1.91540484e-02 2.29570556e+02] [-2.57363929e-01 9.66299890e-01 -5.32263713e-03 -5.28950469e+01] [-1.98787022e-02 2.12692116e-04 9.99802376e-01 -5.87495180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.86862385300003 meters 0.021857976055049567 Centerline is valid? [True, True] Translation: X:229.60, Y:-52.90, Z:-5.87 [[ 9.65957643e-01 2.57992438e-01 1.91241766e-02 2.29598872e+02] [-2.57937807e-01 9.66146916e-01 -5.31275114e-03 -5.29011606e+01] [-1.98474139e-02 1.99044385e-04 9.99803001e-01 -5.87136936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.89862385300003 meters 0.019409326002165935 Centerline is valid? [True, True] Translation: X:229.63, Y:-52.91, Z:-5.87 [[ 9.65450061e-01 2.59813973e-01 2.00718362e-02 2.29626115e+02] [-2.59754208e-01 9.65658672e-01 -5.57497175e-03 -5.29080584e+01] [-2.08309982e-02 1.68612908e-04 9.99782997e-01 -5.87469943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.928623853 meters 0.01897929927339093 Centerline is valid? [True, True] Translation: X:229.65, Y:-52.92, Z:-5.87 [[ 9.65225181e-01 2.60609625e-01 2.05663351e-02 2.29653468e+02] [-2.60547088e-01 9.65444250e-01 -5.71096381e-03 -5.29153679e+01] [-2.13439821e-02 1.53867356e-04 9.99772179e-01 -5.87442098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.958623853 meters 0.01845329240545493 Centerline is valid? [True, True] Translation: X:229.68, Y:-52.92, Z:-5.87 [[ 9.64954174e-01 2.61561084e-01 2.11953055e-02 2.29682040e+02] [-2.61494924e-01 9.65186915e-01 -5.88415872e-03 -5.29222054e+01] [-2.19964984e-02 1.35478720e-04 9.99758039e-01 -5.87419146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.988623853 meters 0.018029106939453827 Centerline is valid? [True, True] Translation: X:229.71, Y:-52.93, Z:-5.87 [[ 9.64787601e-01 2.62161335e-01 2.13616486e-02 2.29710399e+02] [-2.62094298e-01 9.65024051e-01 -5.92956469e-03 -5.29283354e+01] [-2.21690073e-02 1.22004197e-04 9.99754230e-01 -5.87461816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.018623853 meters 0.018048672642686066 Centerline is valid? [True, True] Translation: X:229.74, Y:-52.94, Z:-5.88 [[ 9.64665475e-01 2.62656619e-01 2.07851425e-02 2.29735857e+02] [-2.62593286e-01 9.64889366e-01 -5.76862713e-03 -5.29356545e+01] [-2.15705311e-02 1.06756576e-04 9.99767323e-01 -5.87647971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.048623853 meters 0.01813182410281142 Centerline is valid? [True, True] Translation: X:229.76, Y:-52.94, Z:-5.88 [[ 9.64731669e-01 2.62464038e-01 2.01354374e-02 2.29763229e+02] [-2.62404601e-01 9.64941769e-01 -5.58639687e-03 -5.29441474e+01] [-2.08957529e-02 1.05742564e-04 9.99781654e-01 -5.87831707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.078623853 meters 0.018241189693695575 Centerline is valid? [True, True] Translation: X:229.79, Y:-52.95, Z:-5.88 [[ 9.64747389e-01 2.62455898e-01 1.94776180e-02 2.29789501e+02] [-2.62400298e-01 9.64943983e-01 -5.40300929e-03 -5.29522015e+01] [-2.02128620e-02 1.01606339e-04 9.99795694e-01 -5.88063374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.108623853 meters 0.018679217691612002 Centerline is valid? [True, True] Translation: X:229.82, Y:-52.96, Z:-5.88 [[ 9.64939338e-01 2.61840992e-01 1.82035641e-02 2.29815949e+02] [-2.61792335e-01 9.65111021e-01 -5.04873150e-03 -5.29619215e+01] [-1.88904252e-02 1.06166083e-04 9.99821554e-01 -5.88398801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.138623853 meters 0.019105388080944887 Centerline is valid? [True, True] Translation: X:229.84, Y:-52.97, Z:-5.89 [[ 9.65126389e-01 2.61177999e-01 1.78074733e-02 2.29842677e+02] [-2.61131357e-01 9.65290650e-01 -4.93706488e-03 -5.29711091e+01] [-1.84788402e-02 1.14801932e-04 9.99829245e-01 -5.88531342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.168623853 meters 0.01962517518853055 Centerline is valid? [True, True] Translation: X:229.87, Y:-52.98, Z:-5.88 [[ 9.65483979e-01 2.59822209e-01 1.82511880e-02 2.29869159e+02] [-2.59772995e-01 9.65656460e-01 -5.05884951e-03 -5.29822757e+01] [-1.89387791e-02 1.43072387e-04 9.99820635e-01 -5.88490852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.19862385300002 meters 0.01981318769620538 Centerline is valid? [True, True] Translation: X:229.90, Y:-52.99, Z:-5.88 [[ 9.65650670e-01 2.59181348e-01 1.85421692e-02 2.29896410e+02] [-2.59130452e-01 9.65828662e-01 -5.13855648e-03 -5.29915733e+01] [-1.92403765e-02 1.57209811e-04 9.99814874e-01 -5.88471554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22862385300002 meters 0.019905814377534102 Centerline is valid? [True, True] Translation: X:229.92, Y:-53.00, Z:-5.88 [[ 9.65720389e-01 2.58907642e-01 1.87340120e-02 2.29923017e+02] [-2.58855652e-01 9.65902069e-01 -5.19090895e-03 -5.30005962e+01] [-1.94391869e-02 1.63561727e-04 9.99811028e-01 -5.88461901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.25862385300002 meters 0.019819220073149724 Centerline is valid? [True, True] Translation: X:229.95, Y:-53.01, Z:-5.88 [[ 9.65793051e-01 2.58621682e-01 1.89369418e-02 2.29949500e+02] [-2.58568532e-01 9.65978673e-01 -5.24571558e-03 -5.30083758e+01] [-1.96493377e-02 1.69778425e-04 9.99806919e-01 -5.88440089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28862385300002 meters 0.019787351363898007 Centerline is valid? [True, True] Translation: X:229.98, Y:-53.02, Z:-5.88 [[ 9.65866493e-01 2.58342694e-01 1.89991857e-02 2.29976262e+02] [-2.58289169e-01 9.66053322e-01 -5.26148143e-03 -5.30184398e+01] [-1.97134917e-02 1.74604733e-04 9.99805655e-01 -5.88474088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.31862385300002 meters 0.019896507119316096 Centerline is valid? [True, True] Translation: X:230.00, Y:-53.03, Z:-5.89 [[ 9.65970842e-01 2.57946698e-01 1.90744115e-02 2.30003252e+02] [-2.57892704e-01 9.66159132e-01 -5.28068798e-03 -5.30278285e+01] [-1.97910529e-02 1.81839054e-04 9.99804121e-01 -5.88535909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34862385300002 meters 0.02073966876106501 Centerline is valid? [True, True] Translation: X:230.03, Y:-53.04, Z:-5.89 [[ 9.66362588e-01 2.56470248e-01 1.91405565e-02 2.30030042e+02] [-2.56415609e-01 9.66552102e-01 -5.29800244e-03 -5.30406330e+01] [-1.98591252e-02 2.11853892e-04 9.99802766e-01 -5.88573473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.37862385300002 meters 0.021457463182682886 Centerline is valid? [True, True] Translation: X:230.06, Y:-53.05, Z:-5.89 [[ 9.66654108e-01 2.55377337e-01 1.90328676e-02 2.30057177e+02] [-2.55323118e-01 9.66841436e-01 -5.26721358e-03 -5.30514671e+01] [-1.97468920e-02 2.32042547e-04 9.99804984e-01 -5.88661712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.40862385300002 meters 0.022915110121186914 Centerline is valid? [True, True] Translation: X:230.08, Y:-53.07, Z:-5.89 [[ 9.67375325e-01 2.52627743e-01 1.90841284e-02 2.30082415e+02] [-2.52572715e-01 9.67563507e-01 -5.28047614e-03 -5.30665916e+01] [-1.97991010e-02 2.88072201e-04 9.99803937e-01 -5.88695502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.43862385300002 meters 0.024784673978050103 Centerline is valid? [True, True] Translation: X:230.11, Y:-53.08, Z:-5.89 [[ 9.67668614e-01 2.51500087e-01 1.91091520e-02 2.30107459e+02] [-2.51444719e-01 9.67857226e-01 -5.28613894e-03 -5.30789726e+01] [-1.98243953e-02 3.10335374e-04 9.99803429e-01 -5.88798460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.46862385300003 meters 0.02531903061030706 Centerline is valid? [True, True] Translation: X:230.13, Y:-53.09, Z:-5.89 [[ 9.67898360e-01 2.50600855e-01 1.92866818e-02 2.30134435e+02] [-2.50544302e-01 9.68090441e-01 -5.33389275e-03 -5.30890748e+01] [-2.00079304e-02 3.30497805e-04 9.99799767e-01 -5.88811088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.49862385300003 meters 0.02532054314682007 Centerline is valid? [True, True] Translation: X:230.16, Y:-53.10, Z:-5.89 [[ 9.68244182e-01 2.49203312e-01 2.00228198e-02 2.30161425e+02] [-2.49142082e-01 9.68451120e-01 -5.53642566e-03 -5.31006475e+01] [-2.07708179e-02 3.72084914e-04 9.99784194e-01 -5.88678362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.52862385300003 meters 0.03589840497742747 Centerline is valid? [True, True] Translation: X:230.19, Y:-53.11, Z:-5.88 [[ 9.68277272e-01 2.49095755e-01 1.97592884e-02 2.30189454e+02] [-2.49036125e-01 9.68478791e-01 -5.46253716e-03 -5.31103386e+01] [-2.04971466e-02 3.68473963e-04 9.99789844e-01 -5.87605555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.55862385300003 meters 0.025245726979801902 Centerline is valid? [True, True] Translation: X:230.22, Y:-53.12, Z:-5.89 [[ 9.68253331e-01 2.49131915e-01 2.04639969e-02 2.30216212e+02] [-2.49067987e-01 9.68469486e-01 -5.65623992e-03 -5.31205030e+01] [-2.12279064e-02 3.79746632e-04 9.99774590e-01 -5.88697699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.58862385300003 meters 0.02546854044957168 Centerline is valid? [True, True] Translation: X:230.24, Y:-53.13, Z:-5.89 [[ 9.67914082e-01 2.50476932e-01 2.00907323e-02 2.30242429e+02] [-2.50415627e-01 9.68122507e-01 -5.55198438e-03 -5.31334857e+01] [-2.08409341e-02 3.42810531e-04 9.99782745e-01 -5.88861551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.61862385300003 meters 0.024776566927585845 Centerline is valid? [True, True] Translation: X:230.27, Y:-53.14, Z:-5.89 [[ 9.67650388e-01 2.51515537e-01 1.98156902e-02 2.30269277e+02] [-2.51456132e-01 9.67853210e-01 -5.47526289e-03 -5.31424494e+01] [-2.05557930e-02 3.15363457e-04 9.99788658e-01 -5.89007772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64862385300003 meters 0.021502869461319605 Centerline is valid? [True, True] Translation: X:230.30, Y:-53.15, Z:-5.89 [[ 9.66941732e-01 2.54285212e-01 1.90451589e-02 2.30297760e+02] [-2.54230892e-01 9.67129242e-01 -5.26146657e-03 -5.31475848e+01] [-1.97570433e-02 2.45663853e-04 9.99804780e-01 -5.89090856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.678623853 meters 0.02129556366667415 Centerline is valid? [True, True] Translation: X:230.32, Y:-53.16, Z:-5.89 [[ 9.66503682e-01 2.55965607e-01 1.87680886e-02 2.30324305e+02] [-2.55913190e-01 9.66685867e-01 -5.18402729e-03 -5.31553044e+01] [-1.94697787e-02 2.07380036e-04 9.99810424e-01 -5.89310962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.708623853 meters 0.019540306125261135 Centerline is valid? [True, True] Translation: X:230.35, Y:-53.16, Z:-5.89 [[ 9.66065622e-01 2.57616640e-01 1.87318186e-02 2.30352919e+02] [-2.57564761e-01 9.66247192e-01 -5.17271467e-03 -5.31603480e+01] [-1.94321445e-02 1.72525420e-04 9.99811163e-01 -5.89312492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.738623853 meters 0.018986483427570176 Centerline is valid? [True, True] Translation: X:230.38, Y:-53.17, Z:-5.89 [[ 9.65625766e-01 2.59286407e-01 1.83695076e-02 2.30379856e+02] [-2.59236834e-01 9.65800466e-01 -5.07179935e-03 -5.31680145e+01] [-1.90563276e-02 1.35407142e-04 9.99818403e-01 -5.89484872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.768623853 meters 0.0177434222007764 Centerline is valid? [True, True] Translation: X:230.41, Y:-53.17, Z:-5.90 [[ 9.64801724e-01 2.62374071e-01 1.78179906e-02 2.30407502e+02] [-2.62327979e-01 9.64966239e-01 -4.91832276e-03 -5.31746972e+01] [-1.84841997e-02 7.10488296e-05 9.99829150e-01 -5.89604511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.798623853 meters 0.017322630520990402 Centerline is valid? [True, True] Translation: X:230.43, Y:-53.18, Z:-5.90 [[ 9.64165797e-01 2.64667292e-01 1.83177572e-02 2.30434896e+02] [-2.64619010e-01 9.64339786e-01 -5.05528314e-03 -5.31819546e+01] [-1.90025102e-02 2.69043180e-05 9.99819436e-01 -5.89609274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.828623853 meters 0.017284668801330703 Centerline is valid? [True, True] Translation: X:230.46, Y:-53.19, Z:-5.90 [[ 9.63953008e-01 2.65431735e-01 1.84551415e-02 2.30462104e+02] [-2.65382882e-01 9.64129656e-01 -5.09236987e-03 -5.31898082e+01] [-1.91448258e-02 1.11266193e-05 9.99816721e-01 -5.89647610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.858623853 meters 0.01711651528332506 Centerline is valid? [True, True] Translation: X:230.49, Y:-53.20, Z:-5.90 [[ 9.63755972e-01 2.66129504e-01 1.86953017e-02 2.30489298e+02] [-2.66079531e-01 9.63937284e-01 -5.15718148e-03 -5.31977185e+01] [-1.93935765e-02 -4.17265781e-06 9.99811927e-01 -5.89689151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.888623853 meters 0.017039623965686247 Centerline is valid? [True, True] Translation: X:230.52, Y:-53.21, Z:-5.90 [[ 9.63443449e-01 2.67217244e-01 1.92786397e-02 2.30516351e+02] [-2.67164349e-01 9.63636313e-01 -5.31663115e-03 -5.32061084e+01] [-1.99982928e-02 -2.82917742e-05 9.99800014e-01 -5.89560499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.918623853 meters 0.01714455846834251 Centerline is valid? [True, True] Translation: X:230.54, Y:-53.21, Z:-5.90 [[ 9.63303402e-01 2.67730373e-01 1.91573083e-02 2.30543579e+02] [-2.67678274e-01 9.63493874e-01 -5.28162648e-03 -5.32133807e+01] [-1.98720010e-02 -4.01864570e-05 9.99802531e-01 -5.89613801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.94862385300002 meters 0.017313293888663917 Centerline is valid? [True, True] Translation: X:230.57, Y:-53.22, Z:-5.90 [[ 9.63087655e-01 2.68526314e-01 1.88623250e-02 2.30571703e+02] [-2.68475985e-01 9.63272348e-01 -5.19903659e-03 -5.32204594e+01] [-1.95656342e-02 -5.69533193e-05 9.99808573e-01 -5.89721145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.97862385300002 meters 0.017549633522938934 Centerline is valid? [True, True] Translation: X:230.60, Y:-53.23, Z:-5.90 [[ 9.62835923e-01 2.69452609e-01 1.85006996e-02 2.30599698e+02] [-2.69404381e-01 9.63013648e-01 -5.09843809e-03 -5.32271111e+01] [-1.91902137e-02 -7.52101762e-05 9.99815848e-01 -5.89866993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00862385300002 meters 0.018445969842454984 Centerline is valid? [True, True] Translation: X:230.63, Y:-53.23, Z:-5.90 [[ 9.62346345e-01 2.71208466e-01 1.83161252e-02 2.30626320e+02] [-2.71161529e-01 9.62520626e-01 -5.04671094e-03 -5.32333890e+01] [-1.89983590e-02 -1.09944677e-04 9.99819509e-01 -5.90009971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.03862385300002 meters 0.01875704058090059 Centerline is valid? [True, True] Translation: X:230.65, Y:-53.24, Z:-5.90 [[ 9.62203351e-01 2.71723440e-01 1.81957311e-02 2.30654004e+02] [-2.71677233e-01 9.62375373e-01 -5.01231026e-03 -5.32408498e+01] [-1.88730857e-02 -1.20504161e-04 9.99821880e-01 -5.90065970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06862385300002 meters 0.019563612237810963 Centerline is valid? [True, True] Translation: X:230.68, Y:-53.25, Z:-5.90 [[ 9.61970805e-01 2.72558860e-01 1.79954957e-02 2.30681506e+02] [-2.72513826e-01 9.62139101e-01 -4.95633752e-03 -5.32463407e+01] [-1.86650638e-02 -1.36169390e-04 9.99825783e-01 -5.90235134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.09862385300002 meters 0.019219250344228347 Centerline is valid? [True, True] Translation: X:230.71, Y:-53.25, Z:-5.90 [[ 9.61980165e-01 2.72542792e-01 1.77366614e-02 2.30709576e+02] [-2.72499063e-01 9.62143653e-01 -4.88387601e-03 -5.32540809e+01] [-1.83962814e-02 -1.35031771e-04 9.99830765e-01 -5.90260856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.12862385300002 meters 0.022752270142309346 Centerline is valid? [True, True] Translation: X:230.74, Y:-53.26, Z:-5.90 [[ 9.62012678e-01 2.72454869e-01 1.73191072e-02 2.30737203e+02] [-2.72413174e-01 9.62168554e-01 -4.76814454e-03 -5.32606770e+01] [-1.79630045e-02 -1.30937461e-04 9.99838644e-01 -5.89859488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.15862385300002 meters 0.018743950405752097 Centerline is valid? [True, True] Translation: X:230.76, Y:-53.27, Z:-5.91 [[ 9.62418839e-01 2.70991962e-01 1.77012818e-02 2.30763935e+02] [-2.70948182e-01 9.62581604e-01 -4.87213800e-03 -5.32710459e+01] [-1.83592385e-02 -1.07092724e-04 9.99831449e-01 -5.90501720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.18862385300002 meters 0.018153354152731553 Centerline is valid? [True, True] Translation: X:230.79, Y:-53.28, Z:-5.91 [[ 9.62710639e-01 2.69942267e-01 1.78717191e-02 2.30791179e+02] [-2.69897475e-01 9.62876505e-01 -4.91815328e-03 -5.32809724e+01] [-1.85358759e-02 -8.87733682e-05 9.99828192e-01 -5.90537029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.21862385300003 meters 0.017759843884540383 Centerline is valid? [True, True] Translation: X:230.82, Y:-53.29, Z:-5.91 [[ 9.63104994e-01 2.68510485e-01 1.81904083e-02 2.30817754e+02] [-2.68463842e-01 9.63276760e-01 -5.00499514e-03 -5.32909948e+01] [-1.88662913e-02 -6.31310976e-05 9.99822014e-01 -5.90567925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.24862385300003 meters 0.025156226716705192 Centerline is valid? [True, True] Translation: X:230.84, Y:-53.30, Z:-5.90 [[ 9.63379156e-01 2.67558192e-01 1.76979117e-02 2.30844902e+02] [-2.67513901e-01 9.63541702e-01 -4.86835772e-03 -5.33009689e+01] [-1.83552450e-02 -4.43630528e-05 9.99831527e-01 -5.89571769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.27862385300003 meters 0.01715179518415181 Centerline is valid? [True, True] Translation: X:230.87, Y:-53.31, Z:-5.91 [[ 9.64129612e-01 2.64776270e-01 1.86445263e-02 2.30869667e+02] [-2.64726612e-01 9.64309871e-01 -5.12778183e-03 -5.33135636e+01] [-1.93368157e-02 8.14403612e-06 9.99813026e-01 -5.90567455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.30862385300003 meters 0.017223048918532456 Centerline is valid? [True, True] Translation: X:230.90, Y:-53.32, Z:-5.91 [[ 9.64392354e-01 2.63791287e-01 1.90143321e-02 2.30896057e+02] [-2.63739473e-01 9.64579782e-01 -5.22820126e-03 -5.33231220e+01] [-1.97199943e-02 2.72073917e-05 9.99805542e-01 -5.90554493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.33862385300003 meters 0.017485342908080966 Centerline is valid? [True, True] Translation: X:230.92, Y:-53.33, Z:-5.91 [[ 9.64912648e-01 2.61871273e-01 1.91576912e-02 2.30922058e+02] [-2.61818321e-01 9.65102809e-01 -5.26642224e-03 -5.33342192e+01] [-1.98682663e-02 6.58028810e-05 9.99802604e-01 -5.90574408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.36862385300003 meters 0.019433428520944925 Centerline is valid? [True, True] Translation: X:230.95, Y:-53.34, Z:-5.90 [[ 9.65088324e-01 2.61230079e-01 1.90623287e-02 2.30948296e+02] [-2.61177549e-01 9.65276561e-01 -5.23905197e-03 -5.33429868e+01] [-1.97690171e-02 7.74955958e-05 9.99804571e-01 -5.90307663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.39862385300003 meters 0.017998089790662912 Centerline is valid? [True, True] Translation: X:230.97, Y:-53.35, Z:-5.91 [[ 9.65360750e-01 2.60177552e-01 1.96536004e-02 2.30974572e+02] [-2.60121519e-01 9.65560786e-01 -5.40037408e-03 -5.33533087e+01] [-2.03818020e-02 1.00984786e-04 9.99792264e-01 -5.90555142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.428623853 meters 0.01829996668955698 Centerline is valid? [True, True] Translation: X:231.00, Y:-53.36, Z:-5.91 [[ 9.65517845e-01 2.59583100e-01 1.97966023e-02 2.31000898e+02] [-2.59526154e-01 9.65720768e-01 -5.43817262e-03 -5.33624044e+01] [-2.05296477e-02 1.12916659e-04 9.99789238e-01 -5.90626396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.458623853 meters 0.018580070824281605 Centerline is valid? [True, True] Translation: X:231.03, Y:-53.37, Z:-5.91 [[ 9.65600964e-01 2.59310038e-01 1.93153420e-02 2.31028248e+02] [-2.59255797e-01 9.65794124e-01 -5.30479433e-03 -5.33713667e+01] [-2.00302302e-02 1.14700147e-04 9.99799368e-01 -5.90766051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.488623853 meters 0.018692497780598467 Centerline is valid? [True, True] Translation: X:231.05, Y:-53.38, Z:-5.91 [[ 9.65660852e-01 2.59079017e-01 1.94211641e-02 2.31054152e+02] [-2.59024150e-01 9.65856122e-01 -5.33301514e-03 -5.33803098e+01] [-2.01397225e-02 1.19333419e-04 9.99797168e-01 -5.90799523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.518623853 meters 0.01852102563975834 Centerline is valid? [True, True] Translation: X:231.08, Y:-53.39, Z:-5.91 [[ 9.65593890e-01 2.59312715e-01 1.96304833e-02 2.31080760e+02] [-2.59256734e-01 9.65793406e-01 -5.38913425e-03 -5.33875983e+01] [-2.03564624e-02 1.14380114e-04 9.99792779e-01 -5.90850013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.548623853 meters 0.01786643683167467 Centerline is valid? [True, True] Translation: X:231.11, Y:-53.39, Z:-5.91 [[ 9.65478535e-01 2.59745393e-01 1.95839083e-02 2.31108598e+02] [-2.59689792e-01 9.65677130e-01 -5.37516255e-03 -5.33933765e+01] [-2.03079061e-02 1.03863001e-04 9.99793768e-01 -5.90809313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.578623853 meters 0.01782172352265774 Centerline is valid? [True, True] Translation: X:231.14, Y:-53.40, Z:-5.91 [[ 9.65046880e-01 2.61408142e-01 1.87163815e-02 2.31135473e+02] [-2.61357686e-01 9.65228356e-01 -5.13622321e-03 -5.33999161e+01] [-1.94082327e-02 6.50260325e-05 9.99811640e-01 -5.91269377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.608623853 meters 0.01746407918177233 Centerline is valid? [True, True] Translation: X:231.16, Y:-53.41, Z:-5.91 [[ 9.64716461e-01 2.62665349e-01 1.81401037e-02 2.31163003e+02] [-2.62618195e-01 9.64886995e-01 -4.97701274e-03 -5.34051473e+01] [-1.88104389e-02 3.74848306e-05 9.99823067e-01 -5.91441141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.638623853 meters 0.01740026610122259 Centerline is valid? [True, True] Translation: X:231.19, Y:-53.41, Z:-5.92 [[ 9.64330225e-01 2.64103176e-01 1.77968747e-02 2.31191212e+02] [-2.64058057e-01 9.64494434e-01 -4.88162858e-03 -5.34099203e+01] [-1.84542402e-02 8.09382972e-06 9.99829706e-01 -5.91571668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.668623853 meters 0.017437600917985845 Centerline is valid? [True, True] Translation: X:231.22, Y:-53.41, Z:-5.92 [[ 9.63555154e-01 2.66928190e-01 1.76297168e-02 2.31220663e+02] [-2.66884411e-01 9.63716420e-01 -4.83444673e-03 -5.34120456e+01] [-1.82804976e-02 -4.68405170e-05 9.99832897e-01 -5.91519806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.69862385300002 meters 0.020438499901960058 Centerline is valid? [True, True] Translation: X:231.25, Y:-53.42, Z:-5.91 [[ 9.63199642e-01 2.68229920e-01 1.72962625e-02 2.31248980e+02] [-2.68188006e-01 9.63354922e-01 -4.74216986e-03 -5.34170559e+01] [-1.79344315e-02 -7.09938586e-05 9.99839163e-01 -5.91025645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72862385300002 meters 0.019138712380008038 Centerline is valid? [True, True] Translation: X:231.28, Y:-53.42, Z:-5.92 [[ 9.62837941e-01 2.69543182e-01 1.70168565e-02 2.31277467e+02] [-2.69502829e-01 9.62988299e-01 -4.66487040e-03 -5.34188698e+01] [-1.76444177e-02 -9.45767577e-05 9.99844321e-01 -5.92002889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.75862385300002 meters 0.019138712380008038 Centerline is valid? [True, True] Translation: X:231.30, Y:-53.43, Z:-5.92 [[ 9.62854908e-01 2.69482545e-01 1.70172010e-02 2.31304019e+02] [-2.69442204e-01 9.63005270e-01 -4.66361340e-03 -5.34259975e+01] [-1.76444166e-02 -9.47690964e-05 9.99844321e-01 -5.92072033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78862385300002 meters 0.019402837000003195 Centerline is valid? [True, True] Translation: X:231.33, Y:-53.43, Z:-5.92 [[ 9.62760185e-01 2.69831157e-01 1.68515098e-02 2.31332274e+02] [-2.69791675e-01 9.62907647e-01 -4.61691259e-03 -5.34319888e+01] [-1.74722345e-02 -1.01417428e-04 9.99847344e-01 -5.92183286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.81862385300002 meters 0.01872207784139123 Centerline is valid? [True, True] Translation: X:231.36, Y:-53.44, Z:-5.92 [[ 9.62682356e-01 2.70094527e-01 1.70771442e-02 2.31359594e+02] [-2.70054031e-01 9.62833804e-01 -4.67816091e-03 -5.34398617e+01] [-1.77059974e-02 -1.08168682e-04 9.99843231e-01 -5.91965696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84862385300002 meters 0.01863294598551729 Centerline is valid? [True, True] Translation: X:231.39, Y:-53.44, Z:-5.92 [[ 9.62651329e-01 2.70196431e-01 1.72135557e-02 2.31387054e+02] [-2.70155326e-01 9.62805212e-01 -4.71423952e-03 -5.34445162e+01] [-1.78470719e-02 -1.12164816e-04 9.99840722e-01 -5.91951494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.87862385300002 meters 0.031011307261632717 Centerline is valid? [True, True] Translation: X:231.42, Y:-53.45, Z:-5.91 [[ 9.62671424e-01 2.70155474e-01 1.67256769e-02 2.31415797e+02] [-2.70116684e-01 9.62816705e-01 -4.57921747e-03 -5.34503706e+01] [-1.73408618e-02 -1.09602584e-04 9.99849630e-01 -5.91038747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.90862385300002 meters 0.01821405724447563 Centerline is valid? [True, True] Translation: X:231.44, Y:-53.46, Z:-5.92 [[ 9.62802556e-01 2.69641808e-01 1.74509140e-02 2.31443659e+02] [-2.69599513e-01 9.62960687e-01 -4.77685125e-03 -5.34578655e+01] [-1.80925829e-02 -1.05593319e-04 9.99836310e-01 -5.92012493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.93862385300002 meters 0.018302204373509774 Centerline is valid? [True, True] Translation: X:231.47, Y:-53.46, Z:-5.92 [[ 9.62970636e-01 2.69038156e-01 1.74935443e-02 2.31471476e+02] [-2.68995570e-01 9.63129514e-01 -4.78768480e-03 -5.34627887e+01] [-1.81366187e-02 -9.52860505e-05 9.99835513e-01 -5.92165633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.96862385300003 meters 0.018189811644260583 Centerline is valid? [True, True] Translation: X:231.50, Y:-53.47, Z:-5.92 [[ 9.63115376e-01 2.68523168e-01 1.74379197e-02 2.31497933e+02] [-2.68480785e-01 9.63273222e-01 -4.77147867e-03 -5.34688577e+01] [-1.80787336e-02 -8.62618940e-05 9.99836563e-01 -5.92299597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.99862385300003 meters 0.01770332051911269 Centerline is valid? [True, True] Translation: X:231.53, Y:-53.48, Z:-5.92 [[ 9.63408472e-01 2.67454382e-01 1.76711654e-02 2.31526239e+02] [-2.67410712e-01 9.63570521e-01 -4.83347476e-03 -5.34755400e+01] [-1.83201480e-02 -6.88483790e-05 9.99832170e-01 -5.92287568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.02862385300003 meters 0.017495903055416193 Centerline is valid? [True, True] Translation: X:231.55, Y:-53.48, Z:-5.92 [[ 9.63601906e-01 2.66728712e-01 1.80875835e-02 2.31553699e+02] [-2.66682848e-01 9.63771649e-01 -4.94651854e-03 -5.34824453e+01] [-1.87516787e-02 -5.71735910e-05 9.99824170e-01 -5.92318743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.05862385300003 meters 0.027970019281817138 Centerline is valid? [True, True] Translation: X:231.58, Y:-53.49, Z:-5.91 [[ 9.63843696e-01 2.65877408e-01 1.77350701e-02 2.31581322e+02] [-2.65833188e-01 9.64006848e-01 -4.84913371e-03 -5.34889725e+01] [-1.83860041e-02 -4.07632593e-05 9.99830962e-01 -5.91457554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.08862385300003 meters 0.01712111730934941 Centerline is valid? [True, True] Translation: X:231.61, Y:-53.50, Z:-5.92 [[ 9.64419590e-01 2.63763545e-01 1.79901667e-02 2.31608822e+02] [-2.63717703e-01 9.64587369e-01 -4.91735727e-03 -5.34977297e+01] [-1.86501071e-02 -1.92975694e-06 9.99826072e-01 -5.92492674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.11862385300003 meters 0.017251984129728247 Centerline is valid? [True, True] Translation: X:231.64, Y:-53.51, Z:-5.93 [[ 9.64706420e-01 2.62727067e-01 1.77767343e-02 2.31635436e+02] [-2.62682146e-01 9.64870192e-01 -4.85820945e-03 -5.35052704e+01] [-1.84286241e-02 1.71151421e-05 9.99830178e-01 -5.92660257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14862385300003 meters 0.017342021386872058 Centerline is valid? [True, True] Translation: X:231.66, Y:-53.51, Z:-5.93 [[ 9.64975316e-01 2.61747569e-01 1.76309094e-02 2.31663626e+02] [-2.61703241e-01 9.65136368e-01 -4.81717749e-03 -5.35128768e+01] [-1.82771164e-02 3.43912375e-05 9.99832959e-01 -5.92674862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.178623853 meters 0.017916596921291255 Centerline is valid? [True, True] Translation: X:231.69, Y:-53.52, Z:-5.93 [[ 9.65542455e-01 2.59681788e-01 1.71212605e-02 2.31689972e+02] [-2.59639672e-01 9.65694239e-01 -4.67725010e-03 -5.35201694e+01] [-1.77484994e-02 7.07250678e-05 9.99842480e-01 -5.92907251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.208623853 meters 0.01851135647368094 Centerline is valid? [True, True] Translation: X:231.72, Y:-53.53, Z:-5.93 [[ 9.65850446e-01 2.58535661e-01 1.70946537e-02 2.31716277e+02] [-2.58493520e-01 9.66001710e-01 -4.66868338e-03 -5.35283271e+01] [-1.77204859e-02 9.03927126e-05 9.99842976e-01 -5.93101071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.238623853 meters 0.03127010865357797 Centerline is valid? [True, True] Translation: X:231.74, Y:-53.53, Z:-5.92 [[ 9.66371691e-01 2.56615030e-01 1.65674433e-02 2.31744601e+02] [-2.56575189e-01 9.66513689e-01 -4.52336641e-03 -5.35348082e+01] [-1.71734246e-02 1.20458354e-04 9.99852519e-01 -5.91998847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.268623853 meters 0.019526463100909615 Centerline is valid? [True, True] Translation: X:231.77, Y:-53.54, Z:-5.93 [[ 9.66607786e-01 2.55676579e-01 1.72880031e-02 2.31771360e+02] [-2.55633060e-01 9.66762363e-01 -4.71934894e-03 -5.35425515e+01] [-1.79200177e-02 1.42374307e-04 9.99839413e-01 -5.93018787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.298623853 meters 0.019765267186933406 Centerline is valid? [True, True] Translation: X:231.80, Y:-53.55, Z:-5.93 [[ 9.66771347e-01 2.55050327e-01 1.73923519e-02 2.31799757e+02] [-2.55006206e-01 9.66927767e-01 -4.74634531e-03 -5.35492404e+01] [-1.80277049e-02 1.53472984e-04 9.99837476e-01 -5.93052431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.328623853 meters 0.025965239505019975 Centerline is valid? [True, True] Translation: X:231.83, Y:-53.55, Z:-5.92 [[ 9.67046915e-01 2.54011087e-01 1.72809385e-02 2.31828085e+02] [-2.53967379e-01 9.67201292e-01 -4.71507114e-03 -5.35545723e+01] [-1.79118264e-02 1.70900329e-04 9.99839556e-01 -5.92244945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.358623853 meters 0.020518138056318996 Centerline is valid? [True, True] Translation: X:231.85, Y:-53.56, Z:-5.93 [[ 9.67156812e-01 2.53544277e-01 1.79722229e-02 2.31854825e+02] [-2.53496937e-01 9.67323764e-01 -4.90289421e-03 -5.35614143e+01] [-1.86280591e-02 1.85964079e-04 9.99826465e-01 -5.93057804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.388623853 meters 0.021024682186322963 Centerline is valid? [True, True] Translation: X:231.88, Y:-53.57, Z:-5.93 [[ 9.67290609e-01 2.53013313e-01 1.82521734e-02 2.31881792e+02] [-2.52964419e-01 9.67462777e-01 -4.97776700e-03 -5.35684066e+01] [-1.89177397e-02 1.97796820e-04 9.99821024e-01 -5.93104805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.418623853 meters 0.021670492081694498 Centerline is valid? [True, True] Translation: X:231.91, Y:-53.57, Z:-5.93 [[ 9.67454601e-01 2.52375148e-01 1.83950826e-02 2.31908920e+02] [-2.52325393e-01 9.67629444e-01 -5.01556004e-03 -5.35731072e+01] [-1.90654262e-02 2.10780199e-04 9.99818216e-01 -5.93204704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.44862385300002 meters 0.021925680576209246 Centerline is valid? [True, True] Translation: X:231.94, Y:-53.58, Z:-5.93 [[ 9.67551945e-01 2.52013264e-01 1.82359297e-02 2.31936599e+02] [-2.51964325e-01 9.67723756e-01 -4.97097342e-03 -5.35794741e+01] [-1.89000936e-02 2.14871288e-04 9.99821354e-01 -5.93239019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.47862385300002 meters 0.02266632286417778 Centerline is valid? [True, True] Translation: X:231.96, Y:-53.59, Z:-5.93 [[ 9.67753273e-01 2.51211958e-01 1.86052211e-02 2.31963381e+02] [-2.51160885e-01 9.67932073e-01 -5.07076194e-03 -5.35875538e+01] [-1.92824263e-02 2.34342674e-04 9.99814049e-01 -5.93338108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50862385300002 meters 0.022727946722170853 Centerline is valid? [True, True] Translation: X:231.99, Y:-53.59, Z:-5.93 [[ 9.68038525e-01 2.50104191e-01 1.86897578e-02 2.31991305e+02] [-2.50052470e-01 9.68218895e-01 -5.09258472e-03 -5.35940188e+01] [-1.93694534e-02 2.56398107e-04 9.99812362e-01 -5.93233000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.53862385300002 meters 0.022496640968287962 Centerline is valid? [True, True] Translation: X:232.02, Y:-53.60, Z:-5.93 [[ 9.68250925e-01 2.49262466e-01 1.89306625e-02 2.32020142e+02] [-2.49209261e-01 9.68435928e-01 -5.15725796e-03 -5.35996184e+01] [-1.96186446e-02 2.75823379e-04 9.99807498e-01 -5.93203127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56862385300002 meters 0.024079216512449472 Centerline is valid? [True, True] Translation: X:232.05, Y:-53.61, Z:-5.93 [[ 9.68634103e-01 2.47791538e-01 1.86367293e-02 2.32047045e+02] [-2.47739717e-01 9.68813328e-01 -5.07628822e-03 -5.36075234e+01] [-1.93133730e-02 3.00007848e-04 9.99813434e-01 -5.93382396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.59862385300002 meters 0.024729538278142654 Centerline is valid? [True, True] Translation: X:232.08, Y:-53.62, Z:-5.93 [[ 9.68859089e-01 2.46900535e-01 1.87667672e-02 2.32075055e+02] [-2.46847847e-01 9.69040775e-01 -5.11038930e-03 -5.36160656e+01] [-1.94475205e-02 3.18711030e-04 9.99810828e-01 -5.93471435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.62862385300002 meters 0.025720007225952992 Centerline is valid? [True, True] Translation: X:232.10, Y:-53.62, Z:-5.94 [[ 9.69134613e-01 2.45844641e-01 1.83987707e-02 2.32102096e+02] [-2.45793825e-01 9.69309188e-01 -5.00933038e-03 -5.36244013e+01] [-1.90656145e-02 3.32411240e-04 9.99818179e-01 -5.93586624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.65862385300002 meters 0.026242588459409213 Centerline is valid? [True, True] Translation: X:232.13, Y:-53.63, Z:-5.94 [[ 9.69368274e-01 2.44931744e-01 1.82644519e-02 2.32130294e+02] [-2.44881529e-01 9.69540263e-01 -4.97152421e-03 -5.36322576e+01] [-1.89258055e-02 3.46610952e-04 9.99820831e-01 -5.93647891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.68862385300002 meters 0.028630038464803612 Centerline is valid? [True, True] Translation: X:232.16, Y:-53.64, Z:-5.94 [[ 9.69847109e-01 2.43021966e-01 1.83551124e-02 2.32156120e+02] [-2.42970925e-01 9.70020709e-01 -4.99536445e-03 -5.36426742e+01] [-1.90188225e-02 3.84981114e-04 9.99819052e-01 -5.93810641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.71862385300003 meters 0.029391154770484623 Centerline is valid? [True, True] Translation: X:232.18, Y:-53.65, Z:-5.94 [[ 9.70014792e-01 2.42337219e-01 1.85465812e-02 2.32184086e+02] [-2.42285011e-01 9.70191997e-01 -5.04597623e-03 -5.36512491e+01] [-1.92165725e-02 4.01112962e-04 9.99815264e-01 -5.93863610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.74862385300003 meters 0.029322924621138217 Centerline is valid? [True, True] Translation: X:232.21, Y:-53.66, Z:-5.94 [[ 9.70159796e-01 2.41776068e-01 1.82839448e-02 2.32212262e+02] [-2.41725246e-01 9.70331989e-01 -4.97363106e-03 -5.36582399e+01] [-1.89440015e-02 4.05525845e-04 9.99820464e-01 -5.93895326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.77862385300003 meters 0.030345705705204003 Centerline is valid? [True, True] Translation: X:232.24, Y:-53.67, Z:-5.94 [[ 9.70188653e-01 2.41685268e-01 1.79501673e-02 2.32238506e+02] [-2.41636284e-01 9.70354612e-01 -4.88202290e-03 -5.36670961e+01] [-1.85979406e-02 3.99071504e-04 9.99826964e-01 -5.94093511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.80862385300003 meters 0.03584032995169154 Centerline is valid? [True, True] Translation: X:232.27, Y:-53.67, Z:-5.93 [[ 9.70323530e-01 2.41208886e-01 1.70446625e-02 2.32266606e+02] [-2.41164666e-01 9.70473144e-01 -4.63464041e-03 -5.36749964e+01] [-1.76593037e-02 3.86530288e-04 9.99843988e-01 -5.93397295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.83862385300003 meters 0.0316733156910886 Centerline is valid? [True, True] Translation: X:232.29, Y:-53.68, Z:-5.94 [[ 9.70461735e-01 2.40621879e-01 1.74680150e-02 2.32292860e+02] [-2.40575355e-01 9.70618847e-01 -4.74894134e-03 -5.36840501e+01] [-1.80974838e-02 4.06291955e-04 9.99836145e-01 -5.94325120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86862385300003 meters 0.03164652628453076 Centerline is valid? [True, True] Translation: X:232.32, Y:-53.69, Z:-5.94 [[ 9.70568779e-01 2.40149242e-01 1.80162845e-02 2.32320632e+02] [-2.40099692e-01 9.70735886e-01 -4.89676492e-03 -5.36913621e+01] [-1.86650083e-02 4.26942776e-04 9.99825702e-01 -5.94281777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.89862385300003 meters 0.031849246603407315 Centerline is valid? [True, True] Translation: X:232.35, Y:-53.70, Z:-5.94 [[ 9.70700235e-01 2.39609528e-01 1.81198480e-02 2.32348873e+02] [-2.39559330e-01 9.70869240e-01 -4.92401494e-03 -5.36991856e+01] [-1.87718439e-02 4.38963823e-04 9.99823697e-01 -5.94277653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.928623853 meters 0.03354165040969169 Centerline is valid? [True, True] Translation: X:232.38, Y:-53.71, Z:-5.94 [[ 9.71048919e-01 2.38174265e-01 1.83580197e-02 2.32375060e+02] [-2.38122500e-01 9.71222321e-01 -4.98780541e-03 -5.37103608e+01] [-1.90176854e-02 4.71945498e-04 9.99819036e-01 -5.94370760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.958623853 meters 0.03480894019401756 Centerline is valid? [True, True] Translation: X:232.40, Y:-53.72, Z:-5.95 [[ 9.71317389e-01 2.37096201e-01 1.81086142e-02 2.32402438e+02] [-2.37045665e-01 9.71486056e-01 -4.91900347e-03 -5.37214809e+01] [-1.87585433e-02 4.85345097e-04 9.99823925e-01 -5.94508645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.988623853 meters 0.036927687349523924 Centerline is valid? [True, True] Translation: X:232.43, Y:-53.74, Z:-5.95 [[ 9.71881376e-01 2.34801063e-01 1.77497046e-02 2.32430514e+02] [-2.34752139e-01 9.72043308e-01 -4.82092314e-03 -5.37355774e+01] [-1.83854394e-02 5.18584285e-04 9.99830839e-01 -5.94596743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.018623853 meters 0.035335649645269994 Centerline is valid? [True, True] Translation: X:232.46, Y:-53.74, Z:-5.95 [[ 9.72134570e-01 2.33759658e-01 1.76295098e-02 2.32460890e+02] [-2.33711226e-01 9.72294265e-01 -4.78810527e-03 -5.37429719e+01] [-1.82603371e-02 5.34468305e-04 9.99833123e-01 -5.94598854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.048623853 meters 0.03823287119628741 Centerline is valid? [True, True] Translation: X:232.49, Y:-53.76, Z:-5.95 [[ 9.72235262e-01 2.33339861e-01 1.76381307e-02 2.32488670e+02] [-2.33291303e-01 9.72395092e-01 -4.79099117e-03 -5.37567231e+01] [-1.82691609e-02 5.43148063e-04 9.99832957e-01 -5.94800665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.078623853 meters 0.03477427577367518 Centerline is valid? [True, True] Translation: X:232.52, Y:-53.76, Z:-5.95 [[ 9.72240221e-01 2.33274874e-01 1.82149742e-02 2.32519393e+02] [-2.33223074e-01 9.72410673e-01 -4.94784136e-03 -5.37632469e+01] [-1.88666424e-02 5.62338105e-04 9.99821851e-01 -5.94606079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.108623853 meters 0.03835677307748304 Centerline is valid? [True, True] Translation: X:232.55, Y:-53.78, Z:-5.95 [[ 9.72090696e-01 2.33885835e-01 1.83601481e-02 2.32547767e+02] [-2.33833320e-01 9.72263909e-01 -4.98691602e-03 -5.37781120e+01] [-1.90172784e-02 5.54520267e-04 9.99819001e-01 -5.94780850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.138623853 meters 0.039836832432776394 Centerline is valid? [True, True] Translation: X:232.57, Y:-53.79, Z:-5.95 [[ 9.72023742e-01 2.34172494e-01 1.82506962e-02 2.32574893e+02] [-2.34120576e-01 9.72194909e-01 -4.96135763e-03 -5.37897207e+01] [-1.89050474e-02 5.49693910e-04 9.99821133e-01 -5.94828812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.168623853 meters 0.03871483034422035 Centerline is valid? [True, True] Translation: X:232.60, Y:-53.80, Z:-5.95 [[ 9.71939949e-01 2.34514464e-01 1.83221559e-02 2.32603183e+02] [-2.34462205e-01 9.72112478e-01 -4.98048572e-03 -5.38006516e+01] [-1.89791923e-02 5.44879977e-04 9.99819730e-01 -5.94890714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.19862385300002 meters 0.0390754405317322 Centerline is valid? [True, True] Translation: X:232.63, Y:-53.81, Z:-5.95 [[ 9.71900017e-01 2.34670091e-01 1.84473560e-02 2.32631762e+02] [-2.34617144e-01 9.72074921e-01 -5.01444889e-03 -5.38115645e+01] [-1.91089533e-02 5.45476995e-04 9.99817258e-01 -5.94944591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22862385300002 meters 0.03379505337890155 Centerline is valid? [True, True] Translation: X:232.66, Y:-53.82, Z:-5.95 [[ 9.71638968e-01 2.35689205e-01 1.91915087e-02 2.32663936e+02] [-2.35632100e-01 9.71828328e-01 -5.21670322e-03 -5.38180398e+01] [-1.98803725e-02 5.46616634e-04 9.99802216e-01 -5.94703502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.25862385300002 meters 0.033321847984143754 Centerline is valid? [True, True] Translation: X:232.69, Y:-53.83, Z:-5.95 [[ 9.71333984e-01 2.36902503e-01 1.96849335e-02 2.32693632e+02] [-2.36842654e-01 9.71533281e-01 -5.35166942e-03 -5.38278540e+01] [-2.03923919e-02 5.36026479e-04 9.99791910e-01 -5.94747379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28862385300002 meters 0.034366121077838076 Centerline is valid? [True, True] Translation: X:232.72, Y:-53.84, Z:-5.95 [[ 9.70977873e-01 2.38350157e-01 1.97780972e-02 2.32722422e+02] [-2.38289967e-01 9.71179150e-01 -5.38060791e-03 -5.38392818e+01] [-2.04905444e-02 5.11529100e-04 9.99789916e-01 -5.94853516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.31862385300002 meters 0.029329395963169563 Centerline is valid? [True, True] Translation: X:232.75, Y:-53.84, Z:-5.95 [[ 9.70123004e-01 2.41819371e-01 1.96150305e-02 2.32753325e+02] [-2.41760829e-01 9.70321184e-01 -5.33858837e-03 -5.38443356e+01] [-2.03238537e-02 4.36941344e-04 9.99793354e-01 -5.94954819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34862385300002 meters 0.027978972819238973 Centerline is valid? [True, True] Translation: X:232.78, Y:-53.85, Z:-5.95 [[ 9.69584989e-01 2.44026357e-01 1.88702300e-02 2.32782924e+02] [-2.43972585e-01 9.69768527e-01 -5.13633895e-03 -5.38528004e+01] [-1.95531572e-02 3.76298365e-04 9.99808748e-01 -5.95173369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.37862385300002 meters 0.024079930267886684 Centerline is valid? [True, True] Translation: X:232.81, Y:-53.86, Z:-5.95 [[ 9.68372229e-01 2.48874436e-01 1.77971950e-02 2.32812602e+02] [-2.48827410e-01 9.68535722e-01 -4.84502301e-03 -5.38583931e+01] [-1.84430215e-02 2.63355780e-04 9.99829878e-01 -5.95462403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.40862385300002 meters 0.022459057339568832 Centerline is valid? [True, True] Translation: X:232.84, Y:-53.86, Z:-5.96 [[ 9.67709263e-01 2.51466206e-01 1.74220841e-02 2.32840903e+02] [-2.51421569e-01 9.67866057e-01 -4.74251226e-03 -5.38648502e+01] [-1.80548254e-02 2.09085325e-04 9.99836976e-01 -5.95652837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.43862385300002 meters 0.02045282683564371 Centerline is valid? [True, True] Translation: X:232.87, Y:-53.87, Z:-5.96 [[ 9.66995475e-01 2.54207516e-01 1.72710569e-02 2.32869722e+02] [-2.54164096e-01 9.67149686e-01 -4.70084855e-03 -5.38695450e+01] [-1.78986883e-02 1.56016719e-04 9.99839793e-01 -5.95679236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.46862385300003 meters 0.019009993715022034 Centerline is valid? [True, True] Translation: X:232.90, Y:-53.87, Z:-5.96 [[ 9.66278620e-01 2.56934298e-01 1.70409754e-02 2.32897870e+02] [-2.56892465e-01 9.66428867e-01 -4.63738497e-03 -5.38742606e+01] [-1.76603938e-02 1.03307773e-04 9.99844038e-01 -5.95745812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.49862385300003 meters 0.017812406536623627 Centerline is valid? [True, True] Translation: X:232.93, Y:-53.88, Z:-5.96 [[ 9.64883283e-01 2.62108071e-01 1.73092241e-02 2.32925889e+02] [-2.62065757e-01 9.65038527e-01 -4.70958456e-03 -5.38760142e+01] [-1.79384883e-02 8.04449854e-06 9.99839092e-01 -5.95800480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.52862385300003 meters 0.017771756660185947 Centerline is valid? [True, True] Translation: X:232.95, Y:-53.88, Z:-5.96 [[ 9.64183372e-01 2.64639357e-01 1.77886216e-02 2.32953330e+02] [-2.64595116e-01 9.64347452e-01 -4.83894513e-03 -5.38806157e+01] [-1.84349872e-02 -4.11519675e-05 9.99830060e-01 -5.95771488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.55862385300003 meters 0.019146106198306076 Centerline is valid? [True, True] Translation: X:232.98, Y:-53.88, Z:-5.96 [[ 9.62850857e-01 2.69348953e-01 1.92189567e-02 2.32982802e+02] [-2.69298281e-01 9.63042637e-01 -5.22634565e-03 -5.38832252e+01] [-1.99163855e-02 -1.43440632e-04 9.99801639e-01 -5.95580678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.58862385300003 meters 0.02073827955009655 Centerline is valid? [True, True] Translation: X:233.01, Y:-53.89, Z:-5.96 [[ 9.62215547e-01 2.71593142e-01 1.94526923e-02 2.33010881e+02] [-2.71541706e-01 9.62412140e-01 -5.28902862e-03 -5.38873009e+01] [-2.01579711e-02 -1.93031684e-04 9.99796789e-01 -5.95639829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.61862385300003 meters 0.024592519681480518 Centerline is valid? [True, True] Translation: X:233.04, Y:-53.89, Z:-5.96 [[ 9.60944633e-01 2.76066433e-01 1.93063669e-02 2.33040445e+02] [-2.76016702e-01 9.61138514e-01 -5.24763028e-03 -5.38885290e+01] [-2.00047873e-02 -2.86197556e-04 9.99799843e-01 -5.95746930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64862385300003 meters 0.024592519681480518 Centerline is valid? [True, True] Translation: X:233.07, Y:-53.90, Z:-5.96 [[ 9.60963089e-01 2.76002177e-01 1.93065004e-02 2.33067012e+02] [-2.75952442e-01 9.61156968e-01 -5.24713896e-03 -5.38956075e+01] [-2.00047992e-02 -2.85369073e-04 9.99799843e-01 -5.95816087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.678623853 meters 0.025208866081555318 Centerline is valid? [True, True] Translation: X:233.09, Y:-53.90, Z:-5.96 [[ 9.60411470e-01 2.77920962e-01 1.92288219e-02 2.33094568e+02] [-2.77872040e-01 9.60603890e-01 -5.22460837e-03 -5.39020448e+01] [-1.99233093e-02 -3.25378151e-04 9.99801458e-01 -5.95844651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.708623853 meters 0.02681730138880894 Centerline is valid? [True, True] Translation: X:233.12, Y:-53.91, Z:-5.96 [[ 9.59937213e-01 2.79569983e-01 1.90045149e-02 2.33123394e+02] [-2.79522543e-01 9.60125251e-01 -5.16241913e-03 -5.39068454e+01] [-1.96899721e-02 -3.56592113e-04 9.99806070e-01 -5.95916775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.738623853 meters 0.029901462891810116 Centerline is valid? [True, True] Translation: X:233.15, Y:-53.91, Z:-5.96 [[ 9.59534952e-01 2.80938195e-01 1.91417262e-02 2.33151974e+02] [-2.80890357e-01 9.59725784e-01 -5.19878559e-03 -5.39090032e+01] [-1.98313456e-02 -3.88309814e-04 9.99803264e-01 -5.96059442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.768623853 meters 0.030389899120885744 Centerline is valid? [True, True] Translation: X:233.18, Y:-53.91, Z:-5.96 [[ 9.58900852e-01 2.83086243e-01 1.92700575e-02 2.33180233e+02] [-2.83038220e-01 9.59094358e-01 -5.23236807e-03 -5.39143969e+01] [-1.99630148e-02 -4.36840584e-04 9.99800624e-01 -5.96042640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.798623853 meters 0.03138821375990035 Centerline is valid? [True, True] Translation: X:233.21, Y:-53.92, Z:-5.96 [[ 9.58715592e-01 2.83700774e-01 1.94495279e-02 2.33207776e+02] [-2.83651997e-01 9.58912751e-01 -5.28017992e-03 -5.39195959e+01] [-2.01483914e-02 -4.54706609e-04 9.99796897e-01 -5.96051928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.828623853 meters 0.03360407089242742 Centerline is valid? [True, True] Translation: X:233.24, Y:-53.92, Z:-5.96 [[ 9.58616531e-01 2.84022608e-01 1.96342963e-02 2.33235580e+02] [-2.83972992e-01 9.58817470e-01 -5.32911865e-03 -5.39227398e+01] [-2.03392965e-02 -4.67028631e-04 9.99793026e-01 -5.96150012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.858623853 meters 0.03397158219074096 Centerline is valid? [True, True] Translation: X:233.26, Y:-53.93, Z:-5.96 [[ 9.58637337e-01 2.83891562e-01 2.04948005e-02 2.33263637e+02] [-2.83837500e-01 9.58856269e-01 -5.56134935e-03 -5.39274781e+01] [-2.12303881e-02 -4.85875795e-04 9.99774492e-01 -5.96047984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.888623853 meters 0.0337370342104462 Centerline is valid? [True, True] Translation: X:233.29, Y:-53.93, Z:-5.96 [[ 9.58753237e-01 2.83462667e-01 2.10035198e-02 2.33290308e+02] [-2.83405812e-01 9.58983147e-01 -5.69811994e-03 -5.39339201e+01] [-2.17572258e-02 -4.89428645e-04 9.99763164e-01 -5.96035179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.918623853 meters 0.030624845180635938 Centerline is valid? [True, True] Translation: X:233.32, Y:-53.94, Z:-5.96 [[ 9.59149437e-01 2.82079113e-01 2.15344090e-02 2.33317566e+02] [-2.82019028e-01 9.59391032e-01 -5.84083172e-03 -5.39434526e+01] [-2.23074955e-02 -4.70882637e-04 9.99751046e-01 -5.96017359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.94862385300002 meters 0.029829077844781823 Centerline is valid? [True, True] Translation: X:233.35, Y:-53.95, Z:-5.96 [[ 9.59414235e-01 2.81188567e-01 2.13849511e-02 2.33345554e+02] [-2.81129115e-01 9.59652431e-01 -5.79927461e-03 -5.39506947e+01] [-2.21528100e-02 -4.48025759e-04 9.99754496e-01 -5.96099174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.97862385300002 meters 0.029020003169952853 Centerline is valid? [True, True] Translation: X:233.37, Y:-53.96, Z:-5.96 [[ 9.59668756e-01 2.80353884e-01 2.09183709e-02 2.33373648e+02] [-2.80296821e-01 9.59896621e-01 -5.67176140e-03 -5.39580655e+01] [-2.16695739e-02 -4.20340651e-04 9.99765099e-01 -5.96228970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00862385300002 meters 0.02713529676438375 Centerline is valid? [True, True] Translation: X:233.40, Y:-53.97, Z:-5.97 [[ 9.60410778e-01 2.77890659e-01 1.96956408e-02 2.33400496e+02] [-2.77839572e-01 9.60612650e-01 -5.33940547e-03 -5.39650647e+01] [-2.04036526e-02 -3.44205851e-04 9.99791765e-01 -5.96579751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.03862385300002 meters 0.02592253276580147 Centerline is valid? [True, True] Translation: X:233.43, Y:-53.97, Z:-5.97 [[ 9.60873774e-01 2.76327417e-01 1.90984171e-02 2.33426985e+02] [-2.76279092e-01 9.61063508e-01 -5.17654518e-03 -5.39722831e+01] [-1.97852131e-02 -3.02486820e-04 9.99804208e-01 -5.96781577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06862385300002 meters 0.023737532053848456 Centerline is valid? [True, True] Translation: X:233.45, Y:-53.98, Z:-5.97 [[ 9.61665630e-01 2.73586239e-01 1.87025705e-02 2.33454757e+02] [-2.73539414e-01 9.61847447e-01 -5.06736703e-03 -5.39796772e+01] [-1.93753816e-02 -2.42777482e-04 9.99812250e-01 -5.96989645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.09862385300002 meters 0.023693495472516018 Centerline is valid? [True, True] Translation: X:233.48, Y:-53.99, Z:-5.97 [[ 9.62016397e-01 2.72370354e-01 1.84076689e-02 2.33481815e+02] [-2.72324781e-01 9.62192467e-01 -4.98696475e-03 -5.39855190e+01] [-1.90700217e-02 -2.15322527e-04 9.99818127e-01 -5.97252802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.12862385300002 meters 0.030791645403832918 Centerline is valid? [True, True] Translation: X:233.51, Y:-53.99, Z:-5.96 [[ 9.62504257e-01 2.70685170e-01 1.77509034e-02 2.33509518e+02] [-2.70642524e-01 9.62667911e-01 -4.80796058e-03 -5.39948453e+01] [-1.83896687e-02 -1.76466764e-04 9.99830880e-01 -5.96372231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.15862385300002 meters 0.02071936248288021 Centerline is valid? [True, True] Translation: X:233.54, Y:-54.00, Z:-5.97 [[ 9.62806325e-01 2.69536316e-01 1.88190121e-02 2.33536319e+02] [-2.69488182e-01 9.62990211e-01 -5.09630484e-03 -5.40032582e+01] [-1.94961637e-02 -1.64746838e-04 9.99809918e-01 -5.97235034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.18862385300002 meters 0.018389751844486192 Centerline is valid? [True, True] Translation: X:233.56, Y:-54.01, Z:-5.97 [[ 9.63686627e-01 2.66319391e-01 1.95465046e-02 2.33563624e+02] [-2.66266822e-01 9.63884833e-01 -5.29230679e-03 -5.40141206e+01] [-2.02500232e-02 -1.04460380e-04 9.99794942e-01 -5.97051346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.21862385300003 meters 0.017943262862288086 Centerline is valid? [True, True] Translation: X:233.59, Y:-54.02, Z:-5.97 [[ 9.64137437e-01 2.64677523e-01 1.96166047e-02 2.33590900e+02] [-2.64624250e-01 9.64336976e-01 -5.31060326e-03 -5.40223336e+01] [-2.03226146e-02 -7.08779093e-05 9.99793472e-01 -5.97096454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.24862385300003 meters 0.017360944527708363 Centerline is valid? [True, True] Translation: X:233.62, Y:-54.03, Z:-5.97 [[ 9.65114212e-01 2.61078290e-01 1.98162831e-02 2.33618092e+02] [-2.61023188e-01 9.65317630e-01 -5.36365409e-03 -5.40322915e+01] [-2.05293411e-02 4.02940641e-06 9.99789251e-01 -5.97108058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.27862385300003 meters 0.01781293771212912 Centerline is valid? [True, True] Translation: X:233.64, Y:-54.04, Z:-5.97 [[ 9.65592874e-01 2.59314039e-01 1.96629416e-02 2.33644682e+02] [-2.59259440e-01 9.65793056e-01 -5.32120073e-03 -5.40414251e+01] [-2.03701945e-02 4.03102816e-05 9.99792505e-01 -5.97387358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.30862385300003 meters 0.018570300084971608 Centerline is valid? [True, True] Translation: X:233.67, Y:-54.05, Z:-5.98 [[ 9.66199500e-01 2.57101289e-01 1.89064238e-02 2.33672182e+02] [-2.57050415e-01 9.66384458e-01 -5.11507683e-03 -5.40510531e+01] [-1.95859669e-02 8.22806020e-05 9.99808173e-01 -5.97552208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.33862385300003 meters 0.018540415777622492 Centerline is valid? [True, True] Translation: X:233.70, Y:-54.06, Z:-5.98 [[ 9.66406847e-01 2.56356224e-01 1.84198943e-02 2.33700349e+02] [-2.56307814e-01 9.66582370e-01 -4.98264942e-03 -5.40578008e+01] [-1.90816783e-02 9.41036647e-05 9.99817924e-01 -5.97621950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.36862385300003 meters 0.019007231986186028 Centerline is valid? [True, True] Translation: X:233.73, Y:-54.07, Z:-5.98 [[ 9.66480497e-01 2.56110991e-01 1.79613578e-02 2.33726935e+02] [-2.56064934e-01 9.66647377e-01 -4.85781847e-03 -5.40652104e+01] [-1.86064401e-02 9.57129210e-05 9.99826881e-01 -5.97863689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.39862385300003 meters 0.018396565311375256 Centerline is valid? [True, True] Translation: X:233.76, Y:-54.07, Z:-5.98 [[ 9.66199293e-01 2.57228425e-01 1.71015653e-02 2.33755124e+02] [-2.57186863e-01 9.66350626e-01 -4.62438518e-03 -5.40676015e+01] [-1.77156316e-02 6.97797634e-05 9.99843063e-01 -5.97963222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.428623853 meters 0.018198715870415615 Centerline is valid? [True, True] Translation: X:233.78, Y:-54.07, Z:-5.98 [[ 9.65880907e-01 2.58423779e-01 1.70652716e-02 2.33782956e+02] [-2.58382603e-01 9.66031650e-01 -4.61331163e-03 -5.40719478e+01] [-1.76777819e-02 4.65403213e-05 9.99843735e-01 -5.98093300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.458623853 meters 0.017857173947479786 Centerline is valid? [True, True] Translation: X:233.81, Y:-54.07, Z:-5.98 [[ 9.64874584e-01 2.62128962e-01 1.74769723e-02 2.33812850e+02] [-2.62086413e-01 9.65032853e-01 -4.72284613e-03 -5.40705756e+01] [-1.81038472e-02 -2.35227881e-05 9.99836112e-01 -5.98085826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.488623853 meters 0.018799642637027363 Centerline is valid? [True, True] Translation: X:233.84, Y:-54.07, Z:-5.98 [[ 9.64218016e-01 2.64531919e-01 1.75066019e-02 2.33841799e+02] [-2.64489636e-01 9.64376928e-01 -4.73006528e-03 -5.40711204e+01] [-1.81342163e-02 -6.95006128e-05 9.99835559e-01 -5.98332402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.518623853 meters 0.019107691397495154 Centerline is valid? [True, True] Translation: X:233.87, Y:-54.07, Z:-5.98 [[ 9.63588994e-01 2.66792015e-01 1.78401685e-02 2.33870649e+02] [-2.66748515e-01 9.63754122e-01 -4.81898599e-03 -5.40744349e+01] [-1.84792029e-02 -1.15316585e-04 9.99829238e-01 -5.98112733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.548623853 meters 0.021273551997974913 Centerline is valid? [True, True] Translation: X:233.90, Y:-54.07, Z:-5.98 [[ 9.62365856e-01 2.71081109e-01 1.91570224e-02 2.33901258e+02] [-2.71031818e-01 9.62556485e-01 -5.17364970e-03 -5.40718652e+01] [-1.98421948e-02 -2.13218782e-04 9.99803102e-01 -5.97884120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.578623853 meters 0.022692571593106923 Centerline is valid? [True, True] Translation: X:233.93, Y:-54.07, Z:-5.98 [[ 9.61859122e-01 2.72842266e-01 1.95991879e-02 2.33929903e+02] [-2.72791058e-01 9.62058747e-01 -5.29208993e-03 -5.40738699e+01] [-2.02994759e-02 -2.56238240e-04 9.99793912e-01 -5.97894984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.608623853 meters 0.025310054435982134 Centerline is valid? [True, True] Translation: X:233.96, Y:-54.07, Z:-5.98 [[ 9.61205844e-01 2.75119931e-01 1.98078097e-02 2.33959412e+02] [-2.75068137e-01 9.61409865e-01 -5.34714179e-03 -5.40722592e+01] [-2.05145290e-02 -3.08793387e-04 9.99789507e-01 -5.97917184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.638623853 meters 0.02521515471417194 Centerline is valid? [True, True] Translation: X:233.99, Y:-54.08, Z:-5.98 [[ 9.61063832e-01 2.75625735e-01 1.96663603e-02 2.33987852e+02] [-2.75574797e-01 9.61264976e-01 -5.30826751e-03 -5.40774777e+01] [-2.03676785e-02 -3.17969332e-04 9.99792507e-01 -5.97993736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.668623853 meters 0.026686526765820725 Centerline is valid? [True, True] Translation: X:234.02, Y:-54.08, Z:-5.98 [[ 9.60955886e-01 2.76029680e-01 1.92717615e-02 2.34015514e+02] [-2.75980920e-01 9.61149058e-01 -5.19814990e-03 -5.40797614e+01] [-1.99578791e-02 -3.23445727e-04 9.99800769e-01 -5.98185365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.69862385300002 meters 0.031006368415258362 Centerline is valid? [True, True] Translation: X:234.05, Y:-54.08, Z:-5.99 [[ 9.60869046e-01 2.76369490e-01 1.87238172e-02 2.34045031e+02] [-2.76323571e-01 9.61051404e-01 -5.04811432e-03 -5.40755753e+01] [-1.93896956e-02 -3.23255251e-04 9.99811950e-01 -5.98579542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72862385300002 meters 0.03278264668962922 Centerline is valid? [True, True] Translation: X:234.07, Y:-54.09, Z:-5.97 [[ 9.61031609e-01 2.75852012e-01 1.79976124e-02 2.34071767e+02] [-2.75809516e-01 9.61200071e-01 -4.85123643e-03 -5.40891153e+01] [-1.86375296e-02 -3.01721197e-04 9.99826261e-01 -5.97492948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.75862385300002 meters 0.025151755308650114 Centerline is valid? [True, True] Translation: X:234.10, Y:-54.09, Z:-5.98 [[ 9.61071923e-01 2.75668612e-01 1.86433520e-02 2.34099103e+02] [-2.75622980e-01 9.61252683e-01 -5.02516326e-03 -5.40947677e+01] [-1.93062519e-02 -3.08992912e-04 9.99813569e-01 -5.98428603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78862385300002 meters 0.03553240179512068 Centerline is valid? [True, True] Translation: X:234.13, Y:-54.10, Z:-5.98 [[ 9.61603736e-01 2.73857262e-01 1.79012778e-02 2.34127835e+02] [-2.73814957e-01 9.61770310e-01 -4.82078680e-03 -5.40956024e+01] [-1.85371250e-02 -2.65951023e-04 9.99828137e-01 -5.97639407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.81862385300002 meters 0.023255354671932824 Centerline is valid? [True, True] Translation: X:234.16, Y:-54.10, Z:-5.99 [[ 9.61840284e-01 2.72969978e-01 1.87258833e-02 2.34155427e+02] [-2.72923529e-01 9.62022517e-01 -5.04223774e-03 -5.41042597e+01] [-1.93911009e-02 -2.60906787e-04 9.99811941e-01 -5.98565539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84862385300002 meters 0.021787936779859882 Centerline is valid? [True, True] Translation: X:234.18, Y:-54.11, Z:-5.99 [[ 9.62506697e-01 2.70653451e-01 1.80988483e-02 2.34183144e+02] [-2.70609722e-01 9.62676823e-01 -4.86961113e-03 -5.41096511e+01] [-1.87413188e-02 -2.10690985e-04 9.99824344e-01 -5.98750253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.87862385300002 meters 0.021482711654568186 Centerline is valid? [True, True] Translation: X:234.21, Y:-54.12, Z:-5.99 [[ 9.62924853e-01 2.69183322e-01 1.77782651e-02 2.34210529e+02] [-2.69140895e-01 9.63088940e-01 -4.78245967e-03 -5.41157011e+01] [-1.84094089e-02 -1.79708913e-04 9.99830516e-01 -5.98971336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.90862385300002 meters 0.02048791456242348 Centerline is valid? [True, True] Translation: X:234.24, Y:-54.12, Z:-5.99 [[ 9.63433200e-01 2.67356711e-01 1.78004955e-02 2.34237961e+02] [-2.67313887e-01 9.63597617e-01 -4.78726467e-03 -5.41233500e+01] [-1.84324224e-02 -1.46109937e-04 9.99830098e-01 -5.99069259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.93862385300002 meters 0.01937792532523295 Centerline is valid? [True, True] Translation: X:234.27, Y:-54.13, Z:-5.99 [[ 9.63995811e-01 2.65325908e-01 1.77267817e-02 2.34265677e+02] [-2.65283150e-01 9.64158779e-01 -4.76445490e-03 -5.41312345e+01] [-1.83555655e-02 -1.09701916e-04 9.99831516e-01 -5.99081443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.96862385300003 meters 0.017853192241749336 Centerline is valid? [True, True] Translation: X:234.29, Y:-54.14, Z:-5.99 [[ 9.65169029e-01 2.60988257e-01 1.82722476e-02 2.34292059e+02] [-2.60942122e-01 9.65341975e-01 -4.90719304e-03 -5.41402856e+01] [-1.89196873e-02 -3.17283055e-05 9.99821006e-01 -5.99065688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.99862385300003 meters 0.017647786977790132 Centerline is valid? [True, True] Translation: X:234.32, Y:-54.15, Z:-5.99 [[ 9.65860159e-01 2.58398345e-01 1.85593108e-02 2.34317253e+02] [-2.58350289e-01 9.66038454e-01 -4.98328167e-03 -5.41490942e+01] [-1.92166796e-02 1.83499187e-05 9.99815342e-01 -5.99072179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.02862385300003 meters 0.01954573866577221 Centerline is valid? [True, True] Translation: X:234.34, Y:-54.16, Z:-5.99 [[ 9.67362661e-01 2.52696778e-01 1.88101308e-02 2.34343715e+02] [-2.52646357e-01 9.67545513e-01 -5.04950459e-03 -5.41621981e+01] [-1.94756512e-02 1.32391168e-04 9.99810323e-01 -5.99107100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.05862385300003 meters 0.021241560565887517 Centerline is valid? [True, True] Translation: X:234.37, Y:-54.17, Z:-5.99 [[ 9.68070991e-01 2.49976370e-01 1.87181859e-02 2.34370293e+02] [-2.49926003e-01 9.68251920e-01 -5.02115484e-03 -5.41725404e+01] [-1.93790895e-02 1.82672960e-04 9.99812191e-01 -5.99208247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.08862385300003 meters 0.02595157228354101 Centerline is valid? [True, True] Translation: X:234.40, Y:-54.19, Z:-5.99 [[ 9.69303564e-01 2.45189128e-01 1.82453646e-02 2.34395875e+02] [-2.45140445e-01 9.69475228e-01 -4.89321272e-03 -5.41857048e+01] [-1.88881915e-02 2.70331735e-04 9.99821566e-01 -5.99428014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.11862385300003 meters 0.026417772959558262 Centerline is valid? [True, True] Translation: X:234.42, Y:-54.19, Z:-5.99 [[ 9.69770803e-01 2.43364938e-01 1.78352690e-02 2.34423289e+02] [-2.43318124e-01 9.69934749e-01 -4.78251196e-03 -5.41925708e+01] [-1.84629429e-02 2.98296265e-04 9.99829501e-01 -5.99459126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14862385300003 meters 0.027963362042356506 Centerline is valid? [True, True] Translation: X:234.45, Y:-54.20, Z:-6.00 [[ 9.70156037e-01 2.41840102e-01 1.76246565e-02 2.34450761e+02] [-2.41794156e-01 9.70316062e-01 -4.72491747e-03 -5.42013772e+01] [-1.82441618e-02 3.22368256e-04 9.99833509e-01 -5.99540607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.178623853 meters 0.02827762736161185 Centerline is valid? [True, True] Translation: X:234.48, Y:-54.21, Z:-6.00 [[ 9.70509522e-01 2.40407272e-01 1.77654634e-02 2.34478412e+02] [-2.40360363e-01 9.70672046e-01 -4.76190075e-03 -5.42076857e+01] [-1.83892343e-02 3.51356768e-04 9.99830842e-01 -5.99534343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.208623853 meters 0.03138452098861863 Centerline is valid? [True, True] Translation: X:234.50, Y:-54.22, Z:-6.00 [[ 9.70992176e-01 2.38390498e-01 1.85516833e-02 2.34504601e+02] [-2.38338998e-01 9.71169298e-01 -4.97150512e-03 -5.42159936e+01] [-1.92019848e-02 4.05702955e-04 9.99815543e-01 -5.99507618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.238623853 meters 0.033298744369483206 Centerline is valid? [True, True] Translation: X:234.53, Y:-54.22, Z:-6.00 [[ 9.71375819e-01 2.36827021e-01 1.84927285e-02 2.34531364e+02] [-2.36775592e-01 9.71551735e-01 -4.95426716e-03 -5.42238469e+01] [-1.91399468e-02 4.33828570e-04 9.99816720e-01 -5.99537404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.268623853 meters 0.0342217278173809 Centerline is valid? [True, True] Translation: X:234.56, Y:-54.23, Z:-6.00 [[ 9.71582333e-01 2.35981877e-01 1.84478598e-02 2.34559108e+02] [-2.35930567e-01 9.71757353e-01 -4.94110206e-03 -5.42319515e+01] [-1.90928540e-02 4.48273436e-04 9.99817614e-01 -5.99654105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.298623853 meters 0.03210710406160044 Centerline is valid? [True, True] Translation: X:234.59, Y:-54.24, Z:-6.00 [[ 9.71796381e-01 2.35109407e-01 1.83128542e-02 2.34587424e+02] [-2.35058707e-01 9.71968803e-01 -4.90411141e-03 -5.42361078e+01] [-1.89525257e-02 4.61201903e-04 9.99820278e-01 -5.99639898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.328623853 meters 0.034098924817068776 Centerline is valid? [True, True] Translation: X:234.61, Y:-54.25, Z:-6.00 [[ 9.71975561e-01 2.34382123e-01 1.81253903e-02 2.34613175e+02] [-2.34332345e-01 9.72144434e-01 -4.85309336e-03 -5.42461661e+01] [-1.87579756e-02 4.69722937e-04 9.99823943e-01 -5.99764314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.358623853 meters 0.039521327448049856 Centerline is valid? [True, True] Translation: X:234.64, Y:-54.26, Z:-5.99 [[ 9.72326250e-01 2.32982105e-01 1.73494069e-02 2.34639133e+02] [-2.32936290e-01 9.72480906e-01 -4.64452881e-03 -5.42559573e+01] [-1.79540590e-02 4.74690811e-04 9.99838700e-01 -5.99221107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.388623853 meters 0.0389246351444513 Centerline is valid? [True, True] Translation: X:234.66, Y:-54.27, Z:-6.00 [[ 9.72412393e-01 2.32598817e-01 1.76614791e-02 2.34664654e+02] [-2.32551310e-01 9.72572646e-01 -4.72619101e-03 -5.42671808e+01] [-1.82763779e-02 4.88606604e-04 9.99832854e-01 -6.00119077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.418623853 meters 0.03325698442250298 Centerline is valid? [True, True] Translation: X:234.69, Y:-54.27, Z:-6.00 [[ 9.72564368e-01 2.31944676e-01 1.78946109e-02 2.34694156e+02] [-2.31895816e-01 9.72728847e-01 -4.78746354e-03 -5.42677644e+01] [-1.85170309e-02 5.06431055e-04 9.99828417e-01 -5.99854092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.44862385300002 meters 0.037741084526437124 Centerline is valid? [True, True] Translation: X:234.72, Y:-54.28, Z:-6.00 [[ 9.72590503e-01 2.31828435e-01 1.79802643e-02 2.34718909e+02] [-2.31779099e-01 9.72756555e-01 -4.80969231e-03 -5.42814175e+01] [-1.86054434e-02 5.10411610e-04 9.99826773e-01 -6.00097499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.47862385300002 meters 0.03734311462311304 Centerline is valid? [True, True] Translation: X:234.75, Y:-54.29, Z:-6.00 [[ 9.72661982e-01 2.31522970e-01 1.80494625e-02 2.34746625e+02] [-2.31473236e-01 9.72829300e-01 -4.82631369e-03 -5.42884540e+01] [-1.86764484e-02 5.16404345e-04 9.99825447e-01 -6.00093698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50862385300002 meters 0.03736321406992399 Centerline is valid? [True, True] Translation: X:234.77, Y:-54.30, Z:-6.00 [[ 9.72711673e-01 2.31295587e-01 1.82853273e-02 2.34774015e+02] [-2.31244521e-01 9.72883382e-01 -4.88849487e-03 -5.42981798e+01] [-1.89201783e-02 5.26714283e-04 9.99820859e-01 -6.00124963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.53862385300002 meters 0.03797969077248964 Centerline is valid? [True, True] Translation: X:234.80, Y:-54.31, Z:-6.00 [[ 9.72739471e-01 2.31181779e-01 1.82457360e-02 2.34799243e+02] [-2.31130927e-01 9.72910431e-01 -4.87725250e-03 -5.43073105e+01] [-1.88789988e-02 5.27142159e-04 9.99821637e-01 -6.00264849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56862385300002 meters 0.03797969077248964 Centerline is valid? [True, True] Translation: X:234.83, Y:-54.31, Z:-6.00 [[ 9.72754873e-01 2.31116929e-01 1.82461322e-02 2.34825845e+02] [-2.31066093e-01 9.72925839e-01 -4.87576967e-03 -5.43142794e+01] [-1.88790064e-02 5.26866228e-04 9.99821637e-01 -6.00334020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.59862385300002 meters 0.03510742252474987 Centerline is valid? [True, True] Translation: X:234.85, Y:-54.32, Z:-6.01 [[ 9.72616266e-01 2.31750097e-01 1.75923510e-02 2.34853731e+02] [-2.31702967e-01 9.72775230e-01 -4.69972419e-03 -5.43203423e+01] [-1.82025648e-02 4.94828270e-04 9.99834197e-01 -6.00508819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.62862385300002 meters 0.03705296675834906 Centerline is valid? [True, True] Translation: X:234.88, Y:-54.33, Z:-6.01 [[ 9.72478461e-01 2.32352023e-01 1.72678930e-02 2.34879226e+02] [-2.32306724e-01 9.72631643e-01 -4.61229825e-03 -5.43316632e+01] [-1.78669760e-02 4.73913052e-04 9.99840261e-01 -6.00730599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.65862385300002 meters 0.0356799893754021 Centerline is valid? [True, True] Translation: X:234.91, Y:-54.34, Z:-6.00 [[ 9.72323069e-01 2.33066532e-01 1.63658435e-02 2.34907943e+02] [-2.33025960e-01 9.72460694e-01 -4.37033035e-03 -5.43361852e+01] [-1.69337172e-02 4.35706633e-04 9.99856519e-01 -6.00280071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.68862385300002 meters 0.031240795841457482 Centerline is valid? [True, True] Translation: X:234.94, Y:-54.34, Z:-6.01 [[ 9.71637325e-01 2.35957137e-01 1.56568598e-02 2.34935789e+02] [-2.35920392e-01 9.71763394e-01 -4.18028959e-03 -5.43417385e+01] [-1.62011324e-02 3.67952890e-04 9.99868685e-01 -6.01079984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.71862385300003 meters 0.03178844929323552 Centerline is valid? [True, True] Translation: X:234.96, Y:-54.35, Z:-6.01 [[ 9.71255341e-01 2.37538486e-01 1.54444150e-02 2.34961991e+02] [-2.37502943e-01 9.71378070e-01 -4.12281886e-03 -5.43499713e+01] [-1.59816942e-02 3.36215824e-04 9.99872228e-01 -6.01303383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.74862385300003 meters 0.026666195253620507 Centerline is valid? [True, True] Translation: X:234.99, Y:-54.35, Z:-6.01 [[ 9.70315033e-01 2.41333568e-01 1.57113426e-02 2.34992062e+02] [-2.41297299e-01 9.70442184e-01 -4.19307076e-03 -5.43514585e+01] [-1.62588784e-02 2.77495062e-04 9.99867777e-01 -6.01204721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.77862385300003 meters 0.024462977431296152 Centerline is valid? [True, True] Translation: X:235.02, Y:-54.36, Z:-6.01 [[ 9.69865549e-01 2.43134792e-01 1.56936059e-02 2.35020885e+02] [-2.43098843e-01 9.69992480e-01 -4.18817219e-03 -5.43564129e+01] [-1.62409701e-02 2.46866482e-04 9.99868076e-01 -6.01203660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.80862385300003 meters 0.026952875131597713 Centerline is valid? [True, True] Translation: X:235.05, Y:-54.36, Z:-6.00 [[ 9.68982878e-01 2.46634695e-01 1.56047602e-02 2.35050414e+02] [-2.46599612e-01 9.69108504e-01 -4.16401408e-03 -5.43597214e+01] [-1.61496962e-02 1.86730546e-04 9.99869568e-01 -6.00477946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.83862385300003 meters 0.0209247645020157 Centerline is valid? [True, True] Translation: X:235.08, Y:-54.37, Z:-6.01 [[ 9.68459318e-01 2.48640802e-01 1.62573382e-02 2.35077713e+02] [-2.48603037e-01 9.68595750e-01 -4.33631306e-03 -5.43664384e+01] [-1.68249731e-02 1.57919130e-04 9.99858438e-01 -6.01317406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.86862385300003 meters 0.028853323786552542 Centerline is valid? [True, True] Translation: X:235.11, Y:-54.37, Z:-6.00 [[ 9.68044906e-01 2.50251208e-01 1.62293504e-02 2.35107157e+02] [-2.50213812e-01 9.68180932e-01 -4.32805301e-03 -5.43690316e+01] [-1.67960481e-02 1.28942041e-04 9.99858928e-01 -6.00311910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.89862385300003 meters 0.018040344529339263 Centerline is valid? [True, True] Translation: X:235.14, Y:-54.37, Z:-6.01 [[ 9.67217083e-01 2.53375678e-01 1.70844846e-02 2.35135101e+02] [-2.53334741e-01 9.67367955e-01 -4.55513889e-03 -5.43734036e+01] [-1.76811444e-02 7.77146546e-05 9.99843673e-01 -6.01249970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.928623853 meters 0.017579767973866334 Centerline is valid? [True, True] Translation: X:235.16, Y:-54.38, Z:-6.01 [[ 9.66890408e-01 2.54596942e-01 1.74165573e-02 2.35163153e+02] [-2.54554613e-01 9.67047255e-01 -4.64273851e-03 -5.43784388e+01] [-1.80246610e-02 5.55543223e-05 9.99837541e-01 -6.01226824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.958623853 meters 0.017305210260817216 Centerline is valid? [True, True] Translation: X:235.19, Y:-54.38, Z:-6.01 [[ 9.66409235e-01 2.56392442e-01 1.77793466e-02 2.35191104e+02] [-2.56348651e-01 9.66572768e-01 -4.73859250e-03 -5.43834500e+01] [-1.83999716e-02 2.17080440e-05 9.99830706e-01 -6.01273190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.988623853 meters 0.01715613422035933 Centerline is valid? [True, True] Translation: X:235.22, Y:-54.39, Z:-6.01 [[ 9.66321103e-01 2.56710798e-01 1.79747595e-02 2.35218565e+02] [-2.56666113e-01 9.66488265e-01 -4.78958506e-03 -5.43905984e+01] [-1.86019323e-02 1.47654770e-05 9.99826969e-01 -6.01290995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.018623853 meters 0.017092905137939856 Centerline is valid? [True, True] Translation: X:235.24, Y:-54.40, Z:-6.01 [[ 9.66303405e-01 2.56746856e-01 1.84059989e-02 2.35244647e+02] [-2.56700034e-01 9.66478687e-01 -4.90312789e-03 -5.43973620e+01] [-1.90478683e-02 1.30886444e-05 9.99818573e-01 -6.01342856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.048623853 meters 0.017293629787771898 Centerline is valid? [True, True] Translation: X:235.27, Y:-54.41, Z:-6.01 [[ 9.66583349e-01 2.55724026e-01 1.79402388e-02 2.35272223e+02] [-2.55679400e-01 9.66749824e-01 -4.77730357e-03 -5.44058153e+01] [-1.85653940e-02 3.07125764e-05 9.99827648e-01 -6.01416288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.078623853 meters 0.01765487795350017 Centerline is valid? [True, True] Translation: X:235.30, Y:-54.42, Z:-6.02 [[ 9.66941324e-01 2.54391185e-01 1.75955031e-02 2.35298406e+02] [-2.54348052e-01 9.67101402e-01 -4.68471885e-03 -5.44152155e+01] [-1.82083869e-02 5.44663092e-05 9.99834212e-01 -6.01583067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.108623853 meters 0.018738535017053762 Centerline is valid? [True, True] Translation: X:235.32, Y:-54.43, Z:-6.02 [[ 9.67683197e-01 2.51569627e-01 1.73767926e-02 2.35324788e+02] [-2.51527125e-01 9.67839197e-01 -4.62531994e-03 -5.44285008e+01] [-1.79815310e-02 1.05109697e-04 9.99838314e-01 -6.01808391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.138623853 meters 0.019616709157029826 Centerline is valid? [True, True] Translation: X:235.35, Y:-54.44, Z:-6.02 [[ 9.68102819e-01 2.50000246e-01 1.66375924e-02 2.35351463e+02] [-2.49961065e-01 9.68245765e-01 -4.42778528e-03 -5.44394475e+01] [-1.72162258e-02 1.27801101e-04 9.99851782e-01 -6.02008146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.168623853 meters 0.020589920571427372 Centerline is valid? [True, True] Translation: X:235.38, Y:-54.45, Z:-6.02 [[ 9.68528489e-01 2.48358588e-01 1.64492584e-02 2.35378107e+02] [-2.48320066e-01 9.68668152e-01 -4.37686700e-03 -5.44504756e+01] [-1.70209053e-02 1.54439445e-04 9.99855122e-01 -6.02119724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.19862385300002 meters 0.02278404021725616 Centerline is valid? [True, True] Translation: X:235.40, Y:-54.46, Z:-6.02 [[ 9.69366216e-01 2.45067187e-01 1.64685536e-02 2.35403569e+02] [-2.45028111e-01 9.69506075e-01 -4.38128670e-03 -5.44646486e+01] [-1.70400724e-02 2.11812723e-04 9.99854785e-01 -6.02182708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22862385300002 meters 0.0236440712531546 Centerline is valid? [True, True] Translation: X:235.43, Y:-54.48, Z:-6.02 [[ 9.69799294e-01 2.43355870e-01 1.63477696e-02 2.35430104e+02] [-2.43317139e-01 9.69937041e-01 -4.34815253e-03 -5.44752032e+01] [-1.69144557e-02 2.39142718e-04 9.99856912e-01 -6.02241356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.25862385300002 meters 0.02636007453339618 Centerline is valid? [True, True] Translation: X:235.46, Y:-54.49, Z:-6.02 [[ 9.70578430e-01 2.40254052e-01 1.59843937e-02 2.35455034e+02] [-2.40216616e-01 9.70710002e-01 -4.25072214e-03 -5.44906879e+01] [-1.65374641e-02 2.85942247e-04 9.99863206e-01 -6.02402240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28862385300002 meters 0.028010439203846188 Centerline is valid? [True, True] Translation: X:235.48, Y:-54.50, Z:-6.02 [[ 9.70943317e-01 2.38764790e-01 1.61384745e-02 2.35480983e+02] [-2.38726450e-01 9.71077380e-01 -4.29009124e-03 -5.45024323e+01] [-1.66960302e-02 3.12754705e-04 9.99860563e-01 -6.02466792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.31862385300002 meters 0.028686900613086073 Centerline is valid? [True, True] Translation: X:235.51, Y:-54.51, Z:-6.02 [[ 9.71244376e-01 2.37505635e-01 1.65962650e-02 2.35508444e+02] [-2.37464925e-01 9.71386100e-01 -4.41061655e-03 -5.45131065e+01] [-1.71689274e-02 3.42755694e-04 9.99852544e-01 -6.02438796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34862385300002 meters 0.030295545837633414 Centerline is valid? [True, True] Translation: X:235.53, Y:-54.53, Z:-6.02 [[ 9.71817269e-01 2.35071967e-01 1.76739028e-02 2.35534673e+02] [-2.35025413e-01 9.71977882e-01 -4.69605764e-03 -5.45272063e+01] [-1.82825542e-02 4.09893598e-04 9.99832776e-01 -6.02246827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.37862385300002 meters 0.03165908051174432 Centerline is valid? [True, True] Translation: X:235.56, Y:-54.54, Z:-6.02 [[ 9.72133495e-01 2.33755634e-01 1.77417918e-02 2.35560823e+02] [-2.33708517e-01 9.72295281e-01 -4.71332869e-03 -5.45384812e+01] [-1.83520276e-02 4.35576837e-04 9.99831492e-01 -6.02309808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.40862385300002 meters 0.031991542669982345 Centerline is valid? [True, True] Translation: X:235.59, Y:-54.55, Z:-6.02 [[ 9.72428245e-01 2.32561632e-01 1.72741538e-02 2.35587598e+02] [-2.32516801e-01 9.72581559e-01 -4.58780483e-03 -5.45485855e+01] [-1.78674708e-02 4.44780025e-04 9.99840265e-01 -6.02415506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.43862385300002 meters 0.03369840692259833 Centerline is valid? [True, True] Translation: X:235.61, Y:-54.56, Z:-6.03 [[ 9.72849713e-01 2.30846728e-01 1.65294783e-02 2.35614242e+02] [-2.30805449e-01 9.72990021e-01 -4.38904517e-03 -5.45637489e+01] [-1.70962141e-02 4.54787686e-04 9.99853746e-01 -6.02650951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.46862385300003 meters 0.035186192557080435 Centerline is valid? [True, True] Translation: X:235.64, Y:-54.58, Z:-6.03 [[ 9.72935950e-01 2.30503522e-01 1.62407746e-02 2.35641048e+02] [-2.30463629e-01 9.73071386e-01 -4.31208471e-03 -5.45756046e+01] [-1.67973838e-02 4.52474375e-04 9.99858812e-01 -6.02793135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.49862385300003 meters 0.03477481208340616 Centerline is valid? [True, True] Translation: X:235.67, Y:-54.59, Z:-6.03 [[ 9.72936789e-01 2.30499191e-01 1.62520294e-02 2.35668692e+02] [-2.30459254e-01 9.73072412e-01 -4.31435180e-03 -5.45880192e+01] [-1.68088560e-02 4.52161021e-04 9.99858619e-01 -6.02858294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.52862385300003 meters 0.03367228547071856 Centerline is valid? [True, True] Translation: X:235.70, Y:-54.60, Z:-6.03 [[ 9.72884069e-01 2.30708816e-01 1.64325849e-02 2.35696736e+02] [-2.30668024e-01 9.73022732e-01 -4.36187019e-03 -5.45965430e+01] [-1.69956005e-02 4.53122131e-04 9.99855462e-01 -6.02819252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.55862385300003 meters 0.03461965382098723 Centerline is valid? [True, True] Translation: X:235.72, Y:-54.61, Z:-6.03 [[ 9.72733377e-01 2.31334183e-01 1.65612101e-02 2.35723133e+02] [-2.31292845e-01 9.72874246e-01 -4.39568374e-03 -5.46081348e+01] [-1.71288467e-02 4.45338892e-04 9.99853191e-01 -6.02942356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.58862385300003 meters 0.033049450399320286 Centerline is valid? [True, True] Translation: X:235.75, Y:-54.62, Z:-6.03 [[ 9.72381393e-01 2.32824412e-01 1.63468849e-02 2.35751041e+02] [-2.32784360e-01 9.72518700e-01 -4.33808094e-03 -5.46187817e+01] [-1.69076624e-02 4.12970028e-04 9.99856970e-01 -6.03016548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.61862385300003 meters 0.03227143195444617 Centerline is valid? [True, True] Translation: X:235.78, Y:-54.63, Z:-6.03 [[ 9.72146720e-01 2.33810379e-01 1.62314970e-02 2.35778091e+02] [-2.33771033e-01 9.72282136e-01 -4.30715972e-03 -5.46271471e+01] [-1.67886532e-02 3.92737377e-04 9.99858983e-01 -6.03101967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64862385300003 meters 0.02781195601800886 Centerline is valid? [True, True] Translation: X:235.81, Y:-54.63, Z:-6.03 [[ 9.71502974e-01 2.36428394e-01 1.68400127e-02 2.35807862e+02] [-2.36386448e-01 9.71648849e-01 -4.46793651e-03 -5.46332947e+01] [-1.74189260e-02 3.59862830e-04 9.99848214e-01 -6.02939843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.678623853 meters 0.027676477429987873 Centerline is valid? [True, True] Translation: X:235.84, Y:-54.64, Z:-6.03 [[ 9.71169073e-01 2.37753414e-01 1.74340189e-02 2.35835028e+02] [-2.37708679e-01 9.71325483e-01 -4.62501160e-03 -5.46431353e+01] [-1.80337191e-02 3.47450629e-04 9.99837319e-01 -6.02942081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.708623853 meters 0.02664518944454185 Centerline is valid? [True, True] Translation: X:235.86, Y:-54.65, Z:-6.03 [[ 9.70845531e-01 2.39059208e-01 1.75968445e-02 2.35862387e+02] [-2.39013861e-01 9.71004938e-01 -4.66750626e-03 -5.46512502e+01] [-1.82024333e-02 3.25537850e-04 9.99834269e-01 -6.02979941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.738623853 meters 0.024072371469117736 Centerline is valid? [True, True] Translation: X:235.89, Y:-54.66, Z:-6.03 [[ 9.70118146e-01 2.41988112e-01 1.76787300e-02 2.35891123e+02] [-2.41942840e-01 9.70279176e-01 -4.68847217e-03 -5.46594016e+01] [-1.82878581e-02 2.71129792e-04 9.99832726e-01 -6.02983674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.768623853 meters 0.022596225673438153 Centerline is valid? [True, True] Translation: X:235.92, Y:-54.67, Z:-6.03 [[ 9.69724414e-01 2.43546485e-01 1.78793464e-02 2.35919703e+02] [-2.43500453e-01 9.69889195e-01 -4.74122321e-03 -5.46663522e+01] [-1.84956932e-02 2.44050930e-04 9.99828910e-01 -6.02983792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.798623853 meters 0.02134845219371327 Centerline is valid? [True, True] Translation: X:235.95, Y:-54.67, Z:-6.03 [[ 9.69319269e-01 2.45152360e-01 1.79018069e-02 2.35948044e+02] [-2.45106491e-01 9.69484541e-01 -4.74689008e-03 -5.46734935e+01] [-1.85192363e-02 2.13402949e-04 9.99828481e-01 -6.03054744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.828623853 meters 0.018927695462744035 Centerline is valid? [True, True] Translation: X:235.98, Y:-54.68, Z:-6.03 [[ 9.68479522e-01 2.48486027e-01 1.73812979e-02 2.35976876e+02] [-2.48443342e-01 9.68635470e-01 -4.60785395e-03 -5.46790495e+01] [-1.79811290e-02 1.44344451e-04 9.99838316e-01 -6.03113904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.858623853 meters 0.018256365649337622 Centerline is valid? [True, True] Translation: X:236.00, Y:-54.69, Z:-6.03 [[ 9.67843263e-01 2.50963783e-01 1.72220370e-02 2.36004047e+02] [-2.50922275e-01 9.67996472e-01 -4.56528129e-03 -5.46878957e+01] [-1.78165913e-02 9.70840290e-05 9.99841267e-01 -6.03368180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.888623853 meters 0.02586303177577721 Centerline is valid? [True, True] Translation: X:236.03, Y:-54.70, Z:-6.03 [[ 9.67578940e-01 2.52008146e-01 1.68193081e-02 2.36030483e+02] [-2.51968722e-01 9.67725110e-01 -4.45805634e-03 -5.46959434e+01] [-1.73999333e-02 7.55818626e-05 9.99848607e-01 -6.03027714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.918623853 meters 0.017594403303760154 Centerline is valid? [True, True] Translation: X:236.06, Y:-54.70, Z:-6.04 [[ 9.67371554e-01 2.52804944e-01 1.67909547e-02 2.36058639e+02] [-2.52765793e-01 9.67517264e-01 -4.44943993e-03 -5.47033346e+01] [-1.73703790e-02 6.00826529e-05 9.99849122e-01 -6.03561013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.94862385300002 meters 0.017467351792908828 Centerline is valid? [True, True] Translation: X:236.09, Y:-54.71, Z:-6.04 [[ 9.67223278e-01 2.53402633e-01 1.63167279e-02 2.36086690e+02] [-2.53365760e-01 9.67360896e-01 -4.32299600e-03 -5.47113990e+01] [-1.68796230e-02 4.72022133e-05 9.99857528e-01 -6.03657388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.97862385300002 meters 0.017043817542026468 Centerline is valid? [True, True] Translation: X:236.12, Y:-54.72, Z:-6.04 [[ 9.66865233e-01 2.54764480e-01 1.63303847e-02 2.36115026e+02] [-2.54727757e-01 9.67003133e-01 -4.32558602e-03 -5.47207051e+01] [-1.68935388e-02 2.24564707e-05 9.99857294e-01 -6.03627355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00862385300002 meters 0.01714923075901268 Centerline is valid? [True, True] Translation: X:236.14, Y:-54.73, Z:-6.04 [[ 9.66743365e-01 2.55216161e-01 1.64917135e-02 2.36142094e+02] [-2.55178782e-01 9.66884021e-01 -4.36790056e-03 -5.47297560e+01] [-1.70603331e-02 1.43035212e-05 9.99854462e-01 -6.03733683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.03862385300002 meters 0.01697225539412737 Centerline is valid? [True, True] Translation: X:236.17, Y:-54.74, Z:-6.04 [[ 9.66567088e-01 2.55863615e-01 1.67891584e-02 2.36170309e+02] [-2.55824981e-01 9.66712889e-01 -4.44615185e-03 -5.47407570e+01] [-1.73679043e-02 2.41790345e-06 9.99849167e-01 -6.03669274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06862385300002 meters 0.016870414148788364 Centerline is valid? [True, True] Translation: X:236.20, Y:-54.75, Z:-6.04 [[ 9.66522992e-01 2.56023816e-01 1.68852701e-02 2.36198488e+02] [-2.55984771e-01 9.66670474e-01 -4.47116142e-03 -5.47498780e+01] [-1.74672159e-02 -8.91698119e-07 9.99847437e-01 -6.03720330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.09862385300002 meters 0.016885967628720862 Centerline is valid? [True, True] Translation: X:236.23, Y:-54.76, Z:-6.04 [[ 9.66450840e-01 2.56278241e-01 1.71533299e-02 2.36226168e+02] [-2.56237993e-01 9.66603054e-01 -4.54178174e-03 -5.47584829e+01] [-1.77444209e-02 -5.92605227e-06 9.99842555e-01 -6.03773268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.12862385300002 meters 0.016741961234335814 Centerline is valid? [True, True] Translation: X:236.25, Y:-54.77, Z:-6.04 [[ 9.66150621e-01 2.57359701e-01 1.78595015e-02 2.36254571e+02] [-2.57316270e-01 9.66315675e-01 -4.72794749e-03 -5.47673083e+01] [-1.84746994e-02 -2.76309138e-05 9.99829328e-01 -6.03692660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.15862385300002 meters 0.02385720541083065 Centerline is valid? [True, True] Translation: X:236.28, Y:-54.77, Z:-6.03 [[ 9.65939547e-01 2.58193288e-01 1.72341811e-02 2.36282305e+02] [-2.58152984e-01 9.66093279e-01 -4.56207687e-03 -5.47740247e+01] [-1.78277241e-02 -4.23648016e-05 9.99841073e-01 -6.03148673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.18862385300002 meters 0.01727046312154111 Centerline is valid? [True, True] Translation: X:236.31, Y:-54.78, Z:-6.04 [[ 9.65730918e-01 2.59004140e-01 1.67526182e-02 2.36309728e+02] [-2.58966188e-01 9.65876210e-01 -4.43408280e-03 -5.47838196e+01] [-1.73294012e-02 -5.62308305e-05 9.99849833e-01 -6.04014612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.21862385300003 meters 0.017639796839807244 Centerline is valid? [True, True] Translation: X:236.34, Y:-54.79, Z:-6.04 [[ 9.65599889e-01 2.59504655e-01 1.65586505e-02 2.36336106e+02] [-2.59467663e-01 9.65741855e-01 -4.38201520e-03 -5.47917149e+01] [-1.71285352e-02 -6.51609429e-05 9.99853294e-01 -6.04233968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.24862385300003 meters 0.017549186394422177 Centerline is valid? [True, True] Translation: X:236.36, Y:-54.80, Z:-6.04 [[ 9.65456765e-01 2.60052359e-01 1.63096851e-02 2.36364287e+02] [-2.60016571e-01 9.65594514e-01 -4.31483294e-03 -5.48007592e+01] [-1.68706249e-02 -7.50037412e-05 9.99857678e-01 -6.04179480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.27862385300003 meters 0.018318761894413123 Centerline is valid? [True, True] Translation: X:236.39, Y:-54.81, Z:-6.04 [[ 9.64968507e-01 2.61847248e-01 1.64863447e-02 2.36391821e+02] [-2.61810948e-01 9.65109324e-01 -4.36123624e-03 -5.48085241e+01] [-1.70531027e-02 -1.07849907e-04 9.99854579e-01 -6.04185812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.30862385300003 meters 0.018809170963639325 Centerline is valid? [True, True] Translation: X:236.42, Y:-54.81, Z:-6.04 [[ 9.64639155e-01 2.63047886e-01 1.66466246e-02 2.36419557e+02] [-2.63011066e-01 9.64782769e-01 -4.40307963e-03 -5.48149731e+01] [-1.72185974e-02 -1.30863462e-04 9.99851740e-01 -6.04200942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.33862385300003 meters 0.020815921651884978 Centerline is valid? [True, True] Translation: X:236.45, Y:-54.82, Z:-6.04 [[ 9.63871747e-01 2.65842582e-01 1.67026294e-02 2.36447849e+02] [-2.65805945e-01 9.64016436e-01 -4.41714029e-03 -5.48179776e+01] [-1.72758733e-02 -1.82101475e-04 9.99850744e-01 -6.04342357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.36862385300003 meters 0.02149429328732236 Centerline is valid? [True, True] Translation: X:236.48, Y:-54.82, Z:-6.04 [[ 9.63509067e-01 2.67149157e-01 1.67811145e-02 2.36476157e+02] [-2.67112393e-01 9.63655169e-01 -4.43673917e-03 -5.48244375e+01] [-1.73564789e-02 -2.07605242e-04 9.99849343e-01 -6.04403895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.39862385300003 meters 0.022595635760123266 Centerline is valid? [True, True] Translation: X:236.50, Y:-54.83, Z:-6.05 [[ 9.63187543e-01 2.68319296e-01 1.65683990e-02 2.36503353e+02] [-2.68283644e-01 9.63330008e-01 -4.37978204e-03 -5.48302591e+01] [-1.71360159e-02 -2.26478939e-04 9.99853142e-01 -6.04533424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.428623853 meters 0.02597419718611312 Centerline is valid? [True, True] Translation: X:236.53, Y:-54.83, Z:-6.05 [[ 9.62684876e-01 2.70185236e-01 1.54197498e-02 2.36531641e+02] [-2.70154608e-01 9.62808330e-01 -4.07528720e-03 -5.48322458e+01] [-1.59473460e-02 -2.42499123e-04 9.99872804e-01 -6.04946555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.458623853 meters 0.02597419718611312 Centerline is valid? [True, True] Translation: X:236.56, Y:-54.84, Z:-6.05 [[ 9.62702538e-01 2.70122283e-01 1.54199641e-02 2.36558261e+02] [-2.70091660e-01 9.62825993e-01 -4.07447617e-03 -5.48391360e+01] [-1.59473491e-02 -2.42295165e-04 9.99872804e-01 -6.05015711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.488623853 meters 0.025366993987250726 Centerline is valid? [True, True] Translation: X:236.59, Y:-54.85, Z:-6.05 [[ 9.62508657e-01 2.70833404e-01 1.50450472e-02 2.36585695e+02] [-2.70804358e-01 9.62626202e-01 -3.97420373e-03 -5.48468495e+01] [-1.55591038e-02 -2.49058856e-04 9.99878919e-01 -6.05023687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.518623853 meters 0.025970383401897626 Centerline is valid? [True, True] Translation: X:236.61, Y:-54.85, Z:-6.05 [[ 9.62358045e-01 2.71373423e-01 1.49485654e-02 2.36613824e+02] [-2.71344825e-01 9.62474103e-01 -3.94799411e-03 -5.48529876e+01] [-1.54589877e-02 -2.56831949e-04 9.99880470e-01 -6.05107451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.548623853 meters 0.026250164049819117 Centerline is valid? [True, True] Translation: X:236.64, Y:-54.86, Z:-6.05 [[ 9.62192356e-01 2.71926864e-01 1.55451404e-02 2.36642212e+02] [-2.71896023e-01 9.62317881e-01 -4.10474848e-03 -5.48589244e+01] [-1.60755580e-02 -2.77104259e-04 9.99870741e-01 -6.05012889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.578623853 meters 0.02646537852981786 Centerline is valid? [True, True] Translation: X:236.67, Y:-54.86, Z:-6.05 [[ 9.62241063e-01 2.71720723e-01 1.61240769e-02 2.36669583e+02] [-2.71687525e-01 9.62376105e-01 -4.25688561e-03 -5.48646017e+01] [-1.66741104e-02 -2.84560414e-04 9.99860937e-01 -6.04969758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.608623853 meters 0.02376530493515256 Centerline is valid? [True, True] Translation: X:236.70, Y:-54.87, Z:-6.05 [[ 9.62463480e-01 2.70836542e-01 1.76527016e-02 2.36696791e+02] [-2.70796625e-01 9.62625306e-01 -4.65918317e-03 -5.48749515e+01] [-1.82548143e-02 -2.95998365e-04 9.99833323e-01 -6.04582280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.638623853 meters 0.024946898048690047 Centerline is valid? [True, True] Translation: X:236.72, Y:-54.88, Z:-6.05 [[ 9.62690188e-01 2.69997387e-01 1.81386872e-02 2.36723866e+02] [-2.69955109e-01 9.62861012e-01 -4.78659814e-03 -5.48799304e+01] [-1.87574037e-02 -2.88620221e-04 9.99824023e-01 -6.04675054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.668623853 meters 0.02247734772908456 Centerline is valid? [True, True] Translation: X:236.75, Y:-54.89, Z:-6.05 [[ 9.62921871e-01 2.69138256e-01 1.86029584e-02 2.36750749e+02] [-2.69093654e-01 9.63101511e-01 -4.90764214e-03 -5.48914434e+01] [-1.92373716e-02 -2.80262098e-04 9.99814905e-01 -6.04532016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.69862385300002 meters 0.021849077047067865 Centerline is valid? [True, True] Translation: X:236.78, Y:-54.90, Z:-6.05 [[ 9.63635303e-01 2.66547846e-01 1.89538798e-02 2.36778996e+02] [-2.66501066e-01 9.63821659e-01 -4.99907031e-03 -5.48989239e+01] [-1.96006513e-02 -2.33948546e-04 9.99807861e-01 -6.04608087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72862385300002 meters 0.020763947760106174 Centerline is valid? [True, True] Translation: X:236.81, Y:-54.91, Z:-6.05 [[ 9.64056369e-01 2.65003040e-01 1.92017426e-02 2.36806346e+02] [-2.64954730e-01 9.64247555e-01 -5.06405534e-03 -5.49071850e+01] [-1.98572234e-02 -2.05557722e-04 9.99802805e-01 -6.04662845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.75862385300002 meters 0.018802422141234752 Centerline is valid? [True, True] Translation: X:236.83, Y:-54.92, Z:-6.05 [[ 9.64983117e-01 2.61685257e-01 1.81220881e-02 2.36831802e+02] [-2.61641655e-01 9.65153257e-01 -4.77858701e-03 -5.49180624e+01] [-1.87410781e-02 -1.30237329e-04 9.99824362e-01 -6.04935463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78862385300002 meters 0.017771729264589572 Centerline is valid? [True, True] Translation: X:236.86, Y:-54.93, Z:-6.05 [[ 9.65474007e-01 2.59888557e-01 1.78291847e-02 2.36860076e+02] [-2.59846070e-01 9.65638612e-01 -4.70007600e-03 -5.49286167e+01] [-1.84380451e-02 -9.50423760e-05 9.99830000e-01 -6.05076201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.81862385300002 meters 0.017255057997997914 Centerline is valid? [True, True] Translation: X:236.89, Y:-54.94, Z:-6.05 [[ 9.65948368e-01 2.58154989e-01 1.73133384e-02 2.36888477e+02] [-2.58114658e-01 9.66103513e-01 -4.56350652e-03 -5.49391218e+01] [-1.79045691e-02 -6.07147529e-05 9.99839699e-01 -6.05154501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84862385300002 meters 0.01700671796302991 Centerline is valid? [True, True] Translation: X:236.92, Y:-54.95, Z:-6.05 [[ 9.66408707e-01 2.56446611e-01 1.70101924e-02 2.36916407e+02] [-2.56407414e-01 9.66558397e-01 -4.48369556e-03 -5.49488499e+01] [-1.75911728e-02 -2.84570081e-05 9.99845263e-01 -6.05326241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.87862385300002 meters 0.01720459520592312 Centerline is valid? [True, True] Translation: X:236.95, Y:-54.96, Z:-6.06 [[ 9.67145190e-01 2.53711629e-01 1.61428198e-02 2.36945518e+02] [-2.53675954e-01 9.67279902e-01 -4.25456410e-03 -5.49606745e+01] [-1.66940575e-02 1.97359942e-05 9.99860644e-01 -6.05555473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.90862385300002 meters 0.01766493249465633 Centerline is valid? [True, True] Translation: X:236.98, Y:-54.97, Z:-6.06 [[ 9.67698672e-01 2.51605952e-01 1.59287548e-02 2.36975397e+02] [-2.51570925e-01 9.67829759e-01 -4.19854036e-03 -5.49715628e+01] [-1.64727007e-02 5.57103481e-05 9.99864314e-01 -6.05630848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.93862385300002 meters 0.017763400437634764 Centerline is valid? [True, True] Translation: X:237.00, Y:-54.98, Z:-6.06 [[ 9.67888006e-01 2.50850708e-01 1.63318954e-02 2.37004697e+02] [-2.50813768e-01 9.68025783e-01 -4.30543591e-03 -5.49806024e+01] [-1.68897175e-02 7.09155487e-05 9.99857356e-01 -6.05606651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.96862385300003 meters 0.0185652727572579 Centerline is valid? [True, True] Translation: X:237.03, Y:-54.99, Z:-6.06 [[ 9.68036404e-01 2.50252290e-01 1.67126449e-02 2.37033111e+02] [-2.50213519e-01 9.68180657e-01 -4.40571359e-03 -5.49905718e+01] [-1.72833994e-02 8.31614502e-05 9.99850627e-01 -6.05859195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.99862385300003 meters 0.018407762633884515 Centerline is valid? [True, True] Translation: X:237.06, Y:-55.00, Z:-6.06 [[ 9.68211793e-01 2.49533724e-01 1.72871015e-02 2.37062516e+02] [-2.49492122e-01 9.68366104e-01 -4.55746683e-03 -5.49981596e+01] [-1.78774848e-02 9.95975084e-05 9.99840180e-01 -6.05673516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.02862385300003 meters 0.018933550903036934 Centerline is valid? [True, True] Translation: X:237.09, Y:-55.01, Z:-6.06 [[ 9.68267307e-01 2.49298258e-01 1.75727467e-02 2.37090952e+02] [-2.49255229e-01 9.68426749e-01 -4.63285573e-03 -5.50066111e+01] [-1.81728808e-02 1.05743735e-04 9.99834854e-01 -6.05833880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.05862385300003 meters 0.01911678273478872 Centerline is valid? [True, True] Translation: X:237.12, Y:-55.01, Z:-6.06 [[ 9.68358005e-01 2.48961234e-01 1.73516033e-02 2.37117295e+02] [-2.48919224e-01 9.68513444e-01 -4.57470412e-03 -5.50146635e+01] [-1.79441851e-02 1.10803711e-04 9.99838984e-01 -6.05906099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.08862385300003 meters 0.019573437289292093 Centerline is valid? [True, True] Translation: X:237.14, Y:-55.02, Z:-6.06 [[ 9.68454467e-01 2.48633101e-01 1.66591523e-02 2.37143721e+02] [-2.48594346e-01 9.68597733e-01 -4.39113741e-03 -5.50229479e+01] [-1.72277993e-02 1.11245557e-04 9.99851584e-01 -6.06108116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.11862385300003 meters 0.018812711284990704 Centerline is valid? [True, True] Translation: X:237.17, Y:-55.03, Z:-6.06 [[ 9.68445907e-01 2.48670188e-01 1.66030722e-02 2.37174038e+02] [-2.48631726e-01 9.68588213e-01 -4.37479813e-03 -5.50294016e+01] [-1.71694219e-02 1.08704838e-04 9.99852589e-01 -6.06023859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14862385300003 meters 0.01936858898778343 Centerline is valid? [True, True] Translation: X:237.20, Y:-55.04, Z:-6.06 [[ 9.68383559e-01 2.48922411e-01 1.64595200e-02 2.37201929e+02] [-2.48884646e-01 9.68523424e-01 -4.33706956e-03 -5.50376154e+01] [-1.70210245e-02 1.03425047e-04 9.99855127e-01 -6.06331797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.178623853 meters 0.018425985742979357 Centerline is valid? [True, True] Translation: X:237.23, Y:-55.04, Z:-6.06 [[ 9.68274777e-01 2.49336856e-01 1.65857892e-02 2.37230663e+02] [-2.49298573e-01 9.68416813e-01 -4.37022929e-03 -5.50437206e+01] [-1.71516164e-02 9.67692150e-05 9.99852896e-01 -6.06158540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.208623853 meters 0.017647836331030654 Centerline is valid? [True, True] Translation: X:237.26, Y:-55.05, Z:-6.06 [[ 9.67929201e-01 2.50612029e-01 1.75120879e-02 2.37260019e+02] [-2.50569570e-01 9.68087602e-01 -4.61367512e-03 -5.50504339e+01] [-1.81094777e-02 7.77145383e-05 9.99836007e-01 -6.06044581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.238623853 meters 0.017995211222940094 Centerline is valid? [True, True] Translation: X:237.29, Y:-55.06, Z:-6.06 [[ 9.67690551e-01 2.51554485e-01 1.71854315e-02 2.37289583e+02] [-2.51513745e-01 9.67843137e-01 -4.52752702e-03 -5.50585745e+01] [-1.77717217e-02 5.88728824e-05 9.99842069e-01 -6.06367783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.268623853 meters 0.025417472199924844 Centerline is valid? [True, True] Translation: X:237.32, Y:-55.06, Z:-6.06 [[ 9.67382446e-01 2.52760818e-01 1.68277044e-02 2.37317984e+02] [-2.52721927e-01 9.67528794e-01 -4.43391907e-03 -5.50634588e+01] [-1.74020095e-02 3.65655995e-05 9.99848573e-01 -6.05729512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.298623853 meters 0.01712314925927619 Centerline is valid? [True, True] Translation: X:237.35, Y:-55.07, Z:-6.06 [[ 9.66794497e-01 2.54943069e-01 1.76757823e-02 2.37345173e+02] [-2.54900538e-01 9.66956065e-01 -4.65659193e-03 -5.50678687e+01] [-1.82788707e-02 -3.59896885e-06 9.99832927e-01 -6.06418330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.328623853 meters 0.017221191875872927 Centerline is valid? [True, True] Translation: X:237.37, Y:-55.07, Z:-6.06 [[ 9.66419275e-01 2.56342273e-01 1.79561777e-02 2.37373944e+02] [-2.56298645e-01 9.66586074e-01 -4.72934507e-03 -5.50731315e+01] [-1.85685224e-02 -3.16137638e-05 9.99827590e-01 -6.06429123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.358623853 meters 0.017686750930916026 Centerline is valid? [True, True] Translation: X:237.40, Y:-55.08, Z:-6.06 [[ 9.65614156e-01 2.59356329e-01 1.79887594e-02 2.37403192e+02] [-2.59313082e-01 9.65781697e-01 -4.73699839e-03 -5.50772649e+01] [-1.86017851e-02 -9.06079353e-05 9.99826968e-01 -6.06242681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.388623853 meters 0.019762803219618725 Centerline is valid? [True, True] Translation: X:237.43, Y:-55.08, Z:-6.07 [[ 9.65132890e-01 2.61146453e-01 1.79174422e-02 2.37431233e+02] [-2.61103860e-01 9.65299184e-01 -4.71801223e-03 -5.50788586e+01] [-1.85277845e-02 -1.24804528e-04 9.99828338e-01 -6.06610407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.418623853 meters 0.020706899130472897 Centerline is valid? [True, True] Translation: X:237.46, Y:-55.08, Z:-6.06 [[ 9.64125829e-01 2.64829547e-01 1.80747413e-02 2.37460059e+02] [-2.64786872e-01 9.64295220e-01 -4.75821669e-03 -5.50832030e+01] [-1.86895030e-02 -1.98434600e-04 9.99825316e-01 -6.06349465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.44862385300002 meters 0.021921129671447014 Centerline is valid? [True, True] Translation: X:237.49, Y:-55.09, Z:-6.06 [[ 9.63609543e-01 2.66717694e-01 1.78415324e-02 2.37488421e+02] [-2.66676453e-01 9.63774671e-01 -4.69595683e-03 -5.50872150e+01] [-1.84477118e-02 -2.32847762e-04 9.99829799e-01 -6.06391421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.47862385300002 meters 0.027992888330988456 Centerline is valid? [True, True] Translation: X:237.52, Y:-55.09, Z:-6.06 [[ 9.63042729e-01 2.68793132e-01 1.72902976e-02 2.37517173e+02] [-2.68754748e-01 9.63197893e-01 -4.55013060e-03 -5.50898863e+01] [-1.78770221e-02 -2.64879377e-04 9.99840158e-01 -6.05977926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50862385300002 meters 0.02783179166102307 Centerline is valid? [True, True] Translation: X:237.55, Y:-55.09, Z:-6.07 [[ 9.62028610e-01 2.72389783e-01 1.74573827e-02 2.37546855e+02] [-2.72351267e-01 9.62186933e-01 -4.59282737e-03 -5.50893761e+01] [-1.80483048e-02 -3.36108977e-04 9.99837060e-01 -6.06683327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.53862385300002 meters 0.027667669425746614 Centerline is valid? [True, True] Translation: X:237.57, Y:-55.10, Z:-6.07 [[ 9.61537441e-01 2.74106977e-01 1.76384302e-02 2.37574756e+02] [-2.74067956e-01 9.61699135e-01 -4.63996666e-03 -5.50950139e+01] [-1.82347103e-02 -3.72626852e-04 9.99833664e-01 -6.06609088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56862385300002 meters 0.030774327448375927 Centerline is valid? [True, True] Translation: X:237.60, Y:-55.09, Z:-6.07 [[ 9.60722219e-01 2.76903949e-01 1.83581541e-02 2.37604889e+02] [-2.76862215e-01 9.60897500e-01 -4.82784338e-03 -5.50939535e+01] [-1.89771533e-02 -4.44462821e-04 9.99819819e-01 -6.06575723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.59862385300002 meters 0.03141973281711154 Centerline is valid? [True, True] Translation: X:237.63, Y:-55.10, Z:-6.07 [[ 9.60426426e-01 2.77913788e-01 1.85743555e-02 2.37633645e+02] [-2.77871261e-01 9.60605905e-01 -4.88437354e-03 -5.50986633e+01] [-1.92000703e-02 -4.70198151e-04 9.99815551e-01 -6.06630060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.62862385300002 meters 0.03214359266094497 Centerline is valid? [True, True] Translation: X:237.66, Y:-55.10, Z:-6.07 [[ 9.60306523e-01 2.78317408e-01 1.87297274e-02 2.37662851e+02] [-2.78274261e-01 9.60489035e-01 -4.92427361e-03 -5.51023858e+01] [-1.93602089e-02 -4.83188985e-04 9.99812457e-01 -6.06729347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.65862385300002 meters 0.03576224687691135 Centerline is valid? [True, True] Translation: X:237.69, Y:-55.11, Z:-6.06 [[ 9.60449563e-01 2.77870271e-01 1.80207967e-02 2.37690434e+02] [-2.77830265e-01 9.60618501e-01 -4.73710827e-03 -5.51073762e+01] [-1.86274123e-02 -4.56969165e-04 9.99826390e-01 -6.06351040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.68862385300002 meters 0.03248204815212152 Centerline is valid? [True, True] Translation: X:237.72, Y:-55.11, Z:-6.07 [[ 9.60759844e-01 2.76795041e-01 1.80285166e-02 2.37717614e+02] [-2.76754833e-01 9.60928881e-01 -4.73801048e-03 -5.51133511e+01] [-1.86355801e-02 -4.37388901e-04 9.99826247e-01 -6.07166433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.71862385300003 meters 0.029166612426519453 Centerline is valid? [True, True] Translation: X:237.75, Y:-55.12, Z:-6.07 [[ 9.61553851e-01 2.74051862e-01 1.76002401e-02 2.37745123e+02] [-2.74013104e-01 9.61714841e-01 -4.62423535e-03 -5.51233197e+01] [-1.81936924e-02 -3.76245100e-04 9.99834410e-01 -6.07287565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.74862385300003 meters 0.027742605137059437 Centerline is valid? [True, True] Translation: X:237.77, Y:-55.13, Z:-6.07 [[ 9.62042705e-01 2.72320207e-01 1.77634051e-02 2.37773071e+02] [-2.72280444e-01 9.62206622e-01 -4.66644181e-03 -5.51318791e+01] [-1.83628324e-02 -3.47311527e-04 9.99831329e-01 -6.07382358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.77862385300003 meters 0.03108573531621497 Centerline is valid? [True, True] Translation: X:237.80, Y:-55.14, Z:-6.07 [[ 9.63122133e-01 2.68528283e-01 1.69799529e-02 2.37800430e+02] [-2.68491369e-01 9.63271764e-01 -4.46013612e-03 -5.51422086e+01] [-1.75539819e-02 -2.63314995e-04 9.99845882e-01 -6.06812514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.80862385300003 meters 0.02869427955994937 Centerline is valid? [True, True] Translation: X:237.83, Y:-55.15, Z:-6.07 [[ 9.63729914e-01 2.66370609e-01 1.64727571e-02 2.37826526e+02] [-2.66335564e-01 9.63870661e-01 -4.32623240e-03 -5.51512259e+01] [-1.70299884e-02 -2.17961454e-04 9.99854955e-01 -6.07016376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.83862385300003 meters 0.020208526251421745 Centerline is valid? [True, True] Translation: X:237.85, Y:-55.16, Z:-6.08 [[ 9.64731852e-01 2.62687552e-01 1.69618190e-02 2.37853028e+02] [-2.62649845e-01 9.64880938e-01 -4.45350567e-03 -5.51639331e+01] [-1.75360163e-02 -1.58580367e-04 9.99846220e-01 -6.07743906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.86862385300003 meters 0.019389546321646602 Centerline is valid? [True, True] Translation: X:237.88, Y:-55.17, Z:-6.08 [[ 9.65201521e-01 2.60950216e-01 1.70589717e-02 2.37880727e+02] [-2.60911821e-01 9.65352251e-01 -4.47807519e-03 -5.51725012e+01] [-1.76364714e-02 -1.28642393e-04 9.99844457e-01 -6.07844804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.89862385300003 meters 0.01844045091926239 Centerline is valid? [True, True] Translation: X:237.91, Y:-55.18, Z:-6.08 [[ 9.65689188e-01 2.59123220e-01 1.73074726e-02 2.37908328e+02] [-2.59083415e-01 9.65844267e-01 -4.54274335e-03 -5.51809858e+01] [-1.78934535e-02 -9.72009673e-05 9.99839895e-01 -6.07850463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.928623853 meters 0.017947502756020018 Centerline is valid? [True, True] Translation: X:237.94, Y:-55.19, Z:-6.08 [[ 9.66114736e-01 2.57510015e-01 1.76326215e-02 2.37935244e+02] [-2.57468446e-01 9.66275627e-01 -4.62729164e-03 -5.51888705e+01] [-1.82295463e-02 -6.93490176e-05 9.99833826e-01 -6.07969577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.958623853 meters 0.025559386626859706 Centerline is valid? [True, True] Translation: X:237.96, Y:-55.20, Z:-6.07 [[ 9.66808785e-01 2.54910468e-01 1.73616238e-02 2.37961505e+02] [-2.54869768e-01 9.66964660e-01 -4.55506857e-03 -5.51984812e+01] [-1.79492113e-02 -2.10727177e-05 9.99838900e-01 -6.07317368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.988623853 meters 0.017380568545485753 Centerline is valid? [True, True] Translation: X:237.99, Y:-55.21, Z:-6.08 [[ 9.67180157e-01 2.53463987e-01 1.78479805e-02 2.37988399e+02] [-2.53420750e-01 9.67344823e-01 -4.68149222e-03 -5.52090656e+01] [-1.84517412e-02 4.79778483e-06 9.99829752e-01 -6.08094102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.018623853 meters 0.01784184756470149 Centerline is valid? [True, True] Translation: X:238.01, Y:-55.22, Z:-6.08 [[ 9.67768204e-01 2.51277492e-01 1.68619542e-02 2.38014111e+02] [-2.51238580e-01 9.67915089e-01 -4.42219265e-03 -5.52200959e+01] [-1.74321373e-02 4.32840169e-05 9.99848048e-01 -6.08398425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.048623853 meters 0.022866316465738067 Centerline is valid? [True, True] Translation: X:238.04, Y:-55.23, Z:-6.08 [[ 9.67955604e-01 2.50612878e-01 1.59729458e-02 2.38040530e+02] [-2.50577885e-01 9.68087384e-01 -4.18815083e-03 -5.52278180e+01] [-1.65128119e-02 5.14770873e-05 9.99863653e-01 -6.07972346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.078623853 meters 0.018047322060978428 Centerline is valid? [True, True] Translation: X:238.07, Y:-55.24, Z:-6.09 [[ 9.68047094e-01 2.50238416e-01 1.62959703e-02 2.38068475e+02] [-2.50201959e-01 9.68184245e-01 -4.27176358e-03 -5.52362461e+01] [-1.68464611e-02 5.79846209e-05 9.99858087e-01 -6.08524904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.108623853 meters 0.018250883176974434 Centerline is valid? [True, True] Translation: X:238.10, Y:-55.24, Z:-6.09 [[ 9.68002018e-01 2.50362550e-01 1.70495337e-02 2.38096078e+02] [-2.50322680e-01 9.68152153e-01 -4.46827610e-03 -5.52441292e+01] [-1.76252318e-02 5.74153130e-05 9.99844662e-01 -6.08558912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.138623853 meters 0.017968513709423373 Centerline is valid? [True, True] Translation: X:238.12, Y:-55.25, Z:-6.09 [[ 9.67869148e-01 2.50858233e-01 1.73049004e-02 2.38123319e+02] [-2.50817247e-01 9.68023835e-01 -4.53473265e-03 -5.52505627e+01] [-1.78891311e-02 4.86603472e-05 9.99839976e-01 -6.08605485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.168623853 meters 0.01752367605217933 Centerline is valid? [True, True] Translation: X:238.15, Y:-55.25, Z:-6.09 [[ 9.67275025e-01 2.53129899e-01 1.74436277e-02 2.38152599e+02] [-2.53088646e-01 9.67432300e-01 -4.56976828e-03 -5.52540394e+01] [-1.80322739e-02 5.43860801e-06 9.99837405e-01 -6.08617403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.19862385300002 meters 0.0176082610679937 Centerline is valid? [True, True] Translation: X:238.18, Y:-55.26, Z:-6.09 [[ 9.66858159e-01 2.54712370e-01 1.75188224e-02 2.38180820e+02] [-2.54671033e-01 9.67016860e-01 -4.58880129e-03 -5.52582065e+01] [-1.81098211e-02 -2.48166190e-05 9.99836003e-01 -6.08652379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22862385300002 meters 0.017702145207301224 Centerline is valid? [True, True] Translation: X:238.21, Y:-55.26, Z:-6.09 [[ 9.66423037e-01 2.56352010e-01 1.76113980e-02 2.38209174e+02] [-2.56310532e-01 9.66583490e-01 -4.61166457e-03 -5.52629297e+01] [-1.82050960e-02 -5.71679120e-05 9.99834272e-01 -6.08575508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.25862385300002 meters 0.019646005380911893 Centerline is valid? [True, True] Translation: X:238.24, Y:-55.26, Z:-6.09 [[ 9.65568364e-01 2.59567011e-01 1.73983297e-02 2.38237616e+02] [-2.59527066e-01 9.65725092e-01 -4.55509634e-03 -5.52628443e+01] [-1.79843563e-02 -1.17080530e-04 9.99838262e-01 -6.08875075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28862385300002 meters 0.025826178340814212 Centerline is valid? [True, True] Translation: X:238.27, Y:-55.27, Z:-6.08 [[ 9.65206581e-01 2.60976895e-01 1.63498433e-02 2.38266302e+02] [-2.60941839e-01 9.65345038e-01 -4.27956242e-03 -5.52685524e+01] [-1.69001070e-02 -1.35696374e-04 9.99857174e-01 -6.08207570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.31862385300002 meters 0.026917657371135207 Centerline is valid? [True, True] Translation: X:238.29, Y:-55.27, Z:-6.08 [[ 9.64689040e-01 2.62923939e-01 1.56862746e-02 2.38294948e+02] [-2.62891940e-01 9.64816550e-01 -4.10513127e-03 -5.52720677e+01] [-1.62137146e-02 -1.63620013e-04 9.99868536e-01 -6.08387700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34862385300002 meters 0.020770910706721258 Centerline is valid? [True, True] Translation: X:238.32, Y:-55.28, Z:-6.09 [[ 9.64554549e-01 2.63372652e-01 1.64124355e-02 2.38322179e+02] [-2.63337702e-01 9.64694156e-01 -4.29430522e-03 -5.52800691e+01] [-1.69639831e-02 -1.79921409e-04 9.99856085e-01 -6.09070200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.37862385300002 meters 0.020770910706721258 Centerline is valid? [True, True] Translation: X:238.35, Y:-55.29, Z:-6.09 [[ 9.64567404e-01 2.63325554e-01 1.64126444e-02 2.38349606e+02] [-2.63290611e-01 9.64707013e-01 -4.29350656e-03 -5.52871536e+01] [-1.69639831e-02 -1.79918689e-04 9.99856085e-01 -6.09141450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.40862385300002 meters 0.02131119752169491 Centerline is valid? [True, True] Translation: X:238.38, Y:-55.29, Z:-6.09 [[ 9.64394918e-01 2.63940612e-01 1.66671979e-02 2.38377142e+02] [-2.63904681e-01 9.64538914e-01 -4.35930537e-03 -5.52933822e+01] [-1.72267587e-02 -1.94459602e-04 9.99851589e-01 -6.09204650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.43862385300002 meters 0.022069350454790936 Centerline is valid? [True, True] Translation: X:238.40, Y:-55.30, Z:-6.09 [[ 9.64369762e-01 2.64025979e-01 1.67703361e-02 2.38404363e+02] [-2.63989635e-01 9.64515548e-01 -4.38517553e-03 -5.52986432e+01] [-1.73330502e-02 -1.98264215e-04 9.99849752e-01 -6.09352197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.46862385300003 meters 0.02148256381564362 Centerline is valid? [True, True] Translation: X:238.43, Y:-55.31, Z:-6.09 [[ 9.64273124e-01 2.64380481e-01 1.67422675e-02 2.38432358e+02] [-2.64344332e-01 9.64418436e-01 -4.37668179e-03 -5.53074006e+01] [-1.73036606e-02 -2.05406882e-04 9.99850259e-01 -6.09259842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.49862385300003 meters 0.02510743043964534 Centerline is valid? [True, True] Translation: X:238.46, Y:-55.31, Z:-6.10 [[ 9.64054741e-01 2.65169523e-01 1.68398274e-02 2.38461707e+02] [-2.65133085e-01 9.64201781e-01 -4.40139536e-03 -5.53064466e+01] [-1.74041074e-02 -2.21609316e-04 9.99848512e-01 -6.09635776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.52862385300003 meters 0.023751047050696826 Centerline is valid? [True, True] Translation: X:238.49, Y:-55.32, Z:-6.10 [[ 9.63926552e-01 2.65654434e-01 1.65325363e-02 2.38489704e+02] [-2.65619405e-01 9.64068291e-01 -4.31991731e-03 -5.53150046e+01] [-1.70860992e-02 -2.27279452e-04 9.99853996e-01 -6.09605189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.55862385300003 meters 0.0236264777131081 Centerline is valid? [True, True] Translation: X:238.52, Y:-55.32, Z:-6.10 [[ 9.63924819e-01 2.65702004e-01 1.58552548e-02 2.38517816e+02] [-2.65669805e-01 9.64055183e-01 -4.14223019e-03 -5.53215585e+01] [-1.63859394e-02 -2.19463965e-04 9.99865717e-01 -6.09848675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.58862385300003 meters 0.028518161810008637 Centerline is valid? [True, True] Translation: X:238.55, Y:-55.33, Z:-6.09 [[ 9.64062316e-01 2.65249602e-01 1.50499239e-02 2.38545457e+02] [-2.65220546e-01 9.64179759e-01 -3.93116384e-03 -5.53291182e+01] [-1.55535716e-02 -2.01662115e-04 9.99879016e-01 -6.09232672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.61862385300003 meters 0.02227181071537059 Centerline is valid? [True, True] Translation: X:238.57, Y:-55.34, Z:-6.10 [[ 9.64445747e-01 2.63806294e-01 1.58316355e-02 2.38571937e+02] [-2.63773959e-01 9.64575660e-01 -4.13459724e-03 -5.53380435e+01] [-1.63615430e-02 -1.88378452e-04 9.99866123e-01 -6.09972525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64862385300003 meters 0.021498344935497085 Centerline is valid? [True, True] Translation: X:238.60, Y:-55.35, Z:-6.10 [[ 9.64670617e-01 2.62937595e-01 1.65657129e-02 2.38599403e+02] [-2.62902084e-01 9.64812825e-01 -4.32510030e-03 -5.53466716e+01] [-1.71200437e-02 -1.82863275e-04 9.99853425e-01 -6.09851847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.678623853 meters 0.02080272057637066 Centerline is valid? [True, True] Translation: X:238.63, Y:-55.35, Z:-6.10 [[ 9.64980469e-01 2.61770667e-01 1.69944728e-02 2.38625926e+02] [-2.61733127e-01 9.65130090e-01 -4.43625186e-03 -5.53547041e+01] [-1.75631576e-02 -1.67120096e-04 9.99845742e-01 -6.09857986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.708623853 meters 0.024388654230509482 Centerline is valid? [True, True] Translation: X:238.65, Y:-55.36, Z:-6.09 [[ 9.65546564e-01 2.59691573e-01 1.67368045e-02 2.38653330e+02] [-2.59654869e-01 9.65691602e-01 -4.36787470e-03 -5.53642109e+01] [-1.72968918e-02 -1.28406373e-04 9.99850389e-01 -6.09191122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.738623853 meters 0.018868634485527714 Centerline is valid? [True, True] Translation: X:238.68, Y:-55.37, Z:-6.10 [[ 9.65708704e-01 2.59020452e-01 1.77511847e-02 2.38680914e+02] [-2.58979068e-01 9.65871829e-01 -4.63165688e-03 -5.53731193e+01] [-1.83450631e-02 -1.24353900e-04 9.99831707e-01 -6.09773742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.768623853 meters 0.01895802336420958 Centerline is valid? [True, True] Translation: X:238.71, Y:-55.38, Z:-6.10 [[ 9.65842199e-01 2.58568636e-01 1.70618666e-02 2.38708042e+02] [-2.58530347e-01 9.65992882e-01 -4.45106493e-03 -5.53798579e+01] [-1.76325475e-02 -1.11983962e-04 9.99844528e-01 -6.10002771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.798623853 meters 0.019098088304397073 Centerline is valid? [True, True] Translation: X:238.74, Y:-55.39, Z:-6.10 [[ 9.65834991e-01 2.58620307e-01 1.66825155e-02 2.38736425e+02] [-2.58583729e-01 9.65979050e-01 -4.35097014e-03 -5.53870920e+01] [-1.72402097e-02 -1.11507862e-04 9.99851370e-01 -6.10132853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.828623853 meters 0.01911609669459568 Centerline is valid? [True, True] Translation: X:238.76, Y:-55.39, Z:-6.10 [[ 9.65752288e-01 2.58920587e-01 1.68121317e-02 2.38764312e+02] [-2.58883498e-01 9.65898605e-01 -4.38392981e-03 -5.53944788e+01] [-1.73739043e-02 -1.18593235e-04 9.99849055e-01 -6.10114651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.858623853 meters 0.023266853841282714 Centerline is valid? [True, True] Translation: X:238.79, Y:-55.40, Z:-6.10 [[ 9.65568811e-01 2.59612105e-01 1.66860905e-02 2.38792415e+02] [-2.59575686e-01 9.65712969e-01 -4.35030579e-03 -5.53980784e+01] [-1.72433660e-02 -1.30783792e-04 9.99851314e-01 -6.09775712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.888623853 meters 0.019683755925179795 Centerline is valid? [True, True] Translation: X:238.82, Y:-55.41, Z:-6.10 [[ 9.65531663e-01 2.59713439e-01 1.72492646e-02 2.38819940e+02] [-2.59674559e-01 9.65685720e-01 -4.49587522e-03 -5.54054676e+01] [-1.78250078e-02 -1.38285306e-04 9.99841112e-01 -6.10299135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.918623853 meters 0.01984902672996535 Centerline is valid? [True, True] Translation: X:238.85, Y:-55.41, Z:-6.10 [[ 9.65415894e-01 2.60137233e-01 1.73427808e-02 2.38848056e+02] [-2.60098014e-01 9.65571643e-01 -4.51937619e-03 -5.54114486e+01] [-1.79213554e-02 -1.47745247e-04 9.99839389e-01 -6.10321516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.94862385300002 meters 0.019961072353270555 Centerline is valid? [True, True] Translation: X:238.87, Y:-55.42, Z:-6.10 [[ 9.65447032e-01 2.60033006e-01 1.71716067e-02 2.38874772e+02] [-2.59994554e-01 9.65599718e-01 -4.47401283e-03 -5.54180384e+01] [-1.77442896e-02 -1.45101814e-04 9.99842547e-01 -6.10468520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.97862385300002 meters 0.019858671168234567 Centerline is valid? [True, True] Translation: X:238.90, Y:-55.43, Z:-6.10 [[ 9.65440594e-01 2.60050037e-01 1.72753376e-02 2.38902114e+02] [-2.60011140e-01 9.65595131e-01 -4.50005539e-03 -5.54251329e+01] [-1.78512214e-02 -1.47244072e-04 9.99840643e-01 -6.10496157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00862385300002 meters 0.019818109780028244 Centerline is valid? [True, True] Translation: X:238.93, Y:-55.43, Z:-6.11 [[ 9.65304331e-01 2.60561218e-01 1.71871849e-02 2.38930186e+02] [-2.60522824e-01 9.65457315e-01 -4.47563886e-03 -5.54323370e+01] [-1.77596713e-02 -1.57300380e-04 9.99842272e-01 -6.10512844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.03862385300002 meters 0.02030779763047591 Centerline is valid? [True, True] Translation: X:238.96, Y:-55.44, Z:-6.11 [[ 9.65308575e-01 2.60551927e-01 1.70894012e-02 2.38957250e+02] [-2.60513981e-01 9.65459822e-01 -4.44938801e-03 -5.54380318e+01] [-1.76584268e-02 -1.56995542e-04 9.99844065e-01 -6.10655353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06862385300002 meters 0.020247152083916028 Centerline is valid? [True, True] Translation: X:238.99, Y:-55.44, Z:-6.11 [[ 9.65295051e-01 2.60581132e-01 1.74051130e-02 2.38985026e+02] [-2.60541795e-01 9.65451940e-01 -4.53050655e-03 -5.54440344e+01] [-1.79843646e-02 -1.61483828e-04 9.99838255e-01 -6.10638322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.09862385300002 meters 0.020202518831947423 Centerline is valid? [True, True] Translation: X:239.01, Y:-55.45, Z:-6.11 [[ 9.65358992e-01 2.60325179e-01 1.76866243e-02 2.39012832e+02] [-2.60284545e-01 9.65520986e-01 -4.60224891e-03 -5.54511805e+01] [-1.82748882e-02 -1.60732590e-04 9.99832987e-01 -6.10742797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.12862385300002 meters 0.02017690301742908 Centerline is valid? [True, True] Translation: X:239.04, Y:-55.46, Z:-6.11 [[ 9.65454019e-01 2.59987141e-01 1.74706644e-02 2.39039821e+02] [-2.59947451e-01 9.65612067e-01 -4.54527525e-03 -5.54585818e+01] [-1.80515975e-02 -1.53200433e-04 9.99837045e-01 -6.10870493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.15862385300002 meters 0.01936408348842443 Centerline is valid? [True, True] Translation: X:239.07, Y:-55.47, Z:-6.11 [[ 9.65838929e-01 2.58568929e-01 1.72415634e-02 2.39066278e+02] [-2.58530068e-01 9.65992802e-01 -4.48452838e-03 -5.54694756e+01] [-1.78147859e-02 -1.26130477e-04 9.99841296e-01 -6.10960446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.18862385300002 meters 0.019047100778644233 Centerline is valid? [True, True] Translation: X:239.09, Y:-55.48, Z:-6.11 [[ 9.66121315e-01 2.57516348e-01 1.71736467e-02 2.39092773e+02] [-2.57477640e-01 9.66273936e-01 -4.46609576e-03 -5.54780160e+01] [-1.77445398e-02 -1.07039707e-04 9.99842548e-01 -6.11054361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.21862385300003 meters 0.01848754756629193 Centerline is valid? [True, True] Translation: X:239.12, Y:-55.49, Z:-6.11 [[ 9.66741482e-01 2.55199092e-01 1.68620968e-02 2.39118781e+02] [-2.55161441e-01 9.66888525e-01 -4.38404341e-03 -5.54880869e+01] [-1.74225718e-02 -6.43202890e-05 9.99848213e-01 -6.11275773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.24862385300003 meters 0.018025173028920264 Centerline is valid? [True, True] Translation: X:239.15, Y:-55.50, Z:-6.11 [[ 9.67025023e-01 2.54130853e-01 1.67366032e-02 2.39146254e+02] [-2.54093619e-01 9.67169844e-01 -4.35030445e-03 -5.54978340e+01] [-1.72926845e-02 -4.58108100e-05 9.99850469e-01 -6.11232752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.27862385300003 meters 0.017954408269712036 Centerline is valid? [True, True] Translation: X:239.17, Y:-55.51, Z:-6.11 [[ 9.67313388e-01 2.53018566e-01 1.69237712e-02 2.39172490e+02] [-2.52980338e-01 9.67461423e-01 -4.39817942e-03 -5.55067069e+01] [-1.74859168e-02 -2.69635127e-05 9.99847109e-01 -6.11410360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.30862385300003 meters 0.017701740107365013 Centerline is valid? [True, True] Translation: X:239.20, Y:-55.52, Z:-6.11 [[ 9.67777147e-01 2.51204336e-01 1.74291566e-02 2.39199628e+02] [-2.51163518e-01 9.67934079e-01 -4.52829783e-03 -5.55180140e+01] [-1.80078026e-02 4.81487243e-06 9.99837846e-01 -6.11213697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.33862385300003 meters 0.017974316631828774 Centerline is valid? [True, True] Translation: X:239.23, Y:-55.53, Z:-6.11 [[ 9.68023198e-01 2.50260709e-01 1.73397189e-02 2.39226017e+02] [-2.50220171e-01 9.68178484e-01 -4.50433406e-03 -5.55272366e+01] [-1.79152006e-02 2.15524353e-05 9.99839510e-01 -6.11471694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36862385300003 meters 0.018066315117047774 Centerline is valid? [True, True] Translation: X:239.25, Y:-55.54, Z:-6.11 [[ 9.68481227e-01 2.48517852e-01 1.68223289e-02 2.39253086e+02] [-2.48479460e-01 9.68627315e-01 -4.36843405e-03 -5.55399325e+01] [-1.73802011e-02 5.07431675e-05 9.99848952e-01 -6.11440544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.39862385300003 meters 0.01989571243449711 Centerline is valid? [True, True] Translation: X:239.28, Y:-55.55, Z:-6.11 [[ 9.68702129e-01 2.47685655e-01 1.63707736e-02 2.39281218e+02] [-2.47649184e-01 9.68840447e-01 -4.25076977e-03 -5.55496131e+01] [-1.69135223e-02 6.35209993e-05 9.99856954e-01 -6.11216940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.428623853 meters 0.018597501379862724 Centerline is valid? [True, True] Translation: X:239.31, Y:-55.56, Z:-6.12 [[ 9.68900968e-01 2.46919533e-01 1.61758358e-02 2.39308181e+02] [-2.46883825e-01 9.69035984e-01 -4.19985088e-03 -5.55589325e+01] [-1.67119922e-02 7.56873704e-05 9.99860342e-01 -6.11716822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.458623853 meters 0.01887696468812373 Centerline is valid? [True, True] Translation: X:239.34, Y:-55.57, Z:-6.12 [[ 9.69230625e-01 2.45625735e-01 1.61243039e-02 2.39337551e+02] [-2.45590093e-01 9.69364735e-01 -4.18533061e-03 -5.55708395e+01] [-1.66583565e-02 9.65813133e-05 9.99861235e-01 -6.11721508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.488623853 meters 0.01897637361239279 Centerline is valid? [True, True] Translation: X:239.37, Y:-55.58, Z:-6.12 [[ 9.69326587e-01 2.45207121e-01 1.67163264e-02 2.39367179e+02] [-2.45168743e-01 9.69470709e-01 -4.33946154e-03 -5.55815260e+01] [-1.72700557e-02 1.08034708e-04 9.99850856e-01 -6.11700612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.518623853 meters 0.025158583913180165 Centerline is valid? [True, True] Translation: X:239.40, Y:-55.59, Z:-6.11 [[ 9.69349874e-01 2.45117803e-01 1.66758877e-02 2.39396026e+02] [-2.45079589e-01 9.69493296e-01 -4.32950039e-03 -5.55925601e+01] [-1.72283989e-02 1.09880951e-04 9.99851574e-01 -6.10935385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.548623853 meters 0.019094837482827007 Centerline is valid? [True, True] Translation: X:239.42, Y:-55.60, Z:-6.12 [[ 9.69288996e-01 2.45330914e-01 1.70758661e-02 2.39424459e+02] [-2.45290874e-01 9.69439390e-01 -4.43357746e-03 -5.56022745e+01] [-1.76417108e-02 1.08863733e-04 9.99844367e-01 -6.11747221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.578623853 meters 0.018511911490694588 Centerline is valid? [True, True] Translation: X:239.45, Y:-55.61, Z:-6.12 [[ 9.69016068e-01 2.46381428e-01 1.74370681e-02 2.39454645e+02] [-2.46339843e-01 9.69172938e-01 -4.52749910e-03 -5.56124305e+01] [-1.80150262e-02 9.17747646e-05 9.99837712e-01 -6.11621608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.608623853 meters 0.01820772935230935 Centerline is valid? [True, True] Translation: X:239.48, Y:-55.62, Z:-6.12 [[ 9.68822489e-01 2.47116260e-01 1.77915380e-02 2.39483780e+02] [-2.47073080e-01 9.68985835e-01 -4.62008824e-03 -5.56208503e+01] [-1.83814472e-02 8.02352836e-05 9.99831044e-01 -6.11675246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.638623853 meters 0.017878193738624894 Centerline is valid? [True, True] Translation: X:239.51, Y:-55.63, Z:-6.12 [[ 9.68560955e-01 2.48133554e-01 1.78722123e-02 2.39513353e+02] [-2.48090149e-01 9.68725831e-01 -4.64134808e-03 -5.56283730e+01] [-1.84649479e-02 6.15087105e-05 9.99829506e-01 -6.11704063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.668623853 meters 0.017495811985127948 Centerline is valid? [True, True] Translation: X:239.54, Y:-55.64, Z:-6.12 [[ 9.68257214e-01 2.49329869e-01 1.76800576e-02 2.39542766e+02] [-2.49287593e-01 9.68418615e-01 -4.59144619e-03 -5.56354816e+01] [-1.82664815e-02 3.82819118e-05 9.99833153e-01 -6.11765297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.69862385300002 meters 0.017508192593729252 Centerline is valid? [True, True] Translation: X:239.57, Y:-55.64, Z:-6.12 [[ 9.67623467e-01 2.51816014e-01 1.71324861e-02 2.39572789e+02] [-2.51776705e-01 9.67775126e-01 -4.44924389e-03 -5.56422382e+01] [-1.77007847e-02 -8.36810271e-06 9.99843329e-01 -6.12030104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72862385300002 meters 0.0180773178245712 Centerline is valid? [True, True] Translation: X:239.60, Y:-55.65, Z:-6.12 [[ 9.66862170e-01 2.54788918e-01 1.61292242e-02 2.39602053e+02] [-2.54754489e-01 9.66996693e-01 -4.18890777e-03 -5.56479575e+01] [-1.66641938e-02 -5.88958157e-05 9.99861141e-01 -6.12259064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.75862385300002 meters 0.01875295252094711 Centerline is valid? [True, True] Translation: X:239.63, Y:-55.65, Z:-6.12 [[ 9.66408740e-01 2.56513373e-01 1.59698693e-02 2.39630055e+02] [-2.56479860e-01 9.66540678e-01 -4.14722799e-03 -5.56532713e+01] [-1.64993477e-02 -8.80324767e-05 9.99863873e-01 -6.12432325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78862385300002 meters 0.01926489929597229 Centerline is valid? [True, True] Translation: X:239.66, Y:-55.66, Z:-6.12 [[ 9.65965766e-01 2.58181047e-01 1.58961179e-02 2.39659376e+02] [-2.58148080e-01 9.66096545e-01 -4.12738091e-03 -5.56597701e+01] [-1.64227961e-02 -1.16643666e-04 9.99865130e-01 -6.12416800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.81862385300002 meters 0.02080478953787291 Centerline is valid? [True, True] Translation: X:239.69, Y:-55.66, Z:-6.12 [[ 9.65110589e-01 2.61362580e-01 1.58478087e-02 2.39688651e+02] [-2.61330249e-01 9.65240681e-01 -4.11443492e-03 -5.56635588e+01] [-1.63723090e-02 -1.70627075e-04 9.99865950e-01 -6.12445557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84862385300002 meters 0.021370676776530026 Centerline is valid? [True, True] Translation: X:239.72, Y:-55.67, Z:-6.12 [[ 9.64773238e-01 2.62611613e-01 1.57397697e-02 2.39717479e+02] [-2.62579894e-01 9.64901603e-01 -4.08598550e-03 -5.56696974e+01] [-1.62603563e-02 -1.90897599e-04 9.99867773e-01 -6.12472154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.87862385300002 meters 0.022527341518666304 Centerline is valid? [True, True] Translation: X:239.75, Y:-55.68, Z:-6.13 [[ 9.64255725e-01 2.64532392e-01 1.52810782e-02 2.39746775e+02] [-2.64502741e-01 9.64376776e-01 -3.96653652e-03 -5.56753739e+01] [-1.57859943e-02 -2.17131515e-04 9.99875370e-01 -6.12643746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.90862385300002 meters 0.023428363870668087 Centerline is valid? [True, True] Translation: X:239.77, Y:-55.68, Z:-6.13 [[ 9.64035625e-01 2.65323554e-01 1.54507526e-02 2.39774498e+02] [-2.65293347e-01 9.64159405e-01 -4.01028467e-03 -5.56808270e+01] [-1.59610114e-02 -2.32924578e-04 9.99872588e-01 -6.12720433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.93862385300002 meters 0.024781984776527755 Centerline is valid? [True, True] Translation: X:239.80, Y:-55.69, Z:-6.13 [[ 9.63842589e-01 2.66006343e-01 1.57508267e-02 2.39802577e+02] [-2.65975049e-01 9.63971246e-01 -4.08774692e-03 -5.56851344e+01] [-1.62707107e-02 -2.49382343e-04 9.99867592e-01 -6.12796691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.96862385300003 meters 0.025512007315272207 Centerline is valid? [True, True] Translation: X:239.83, Y:-55.69, Z:-6.13 [[ 9.63572645e-01 2.66970350e-01 1.59558903e-02 2.39831329e+02] [-2.66938387e-01 9.63704706e-01 -4.13981697e-03 -5.56902919e+01] [-1.64819750e-02 -2.70225235e-04 9.99864127e-01 -6.12789594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.99862385300003 meters 0.024936772827342833 Centerline is valid? [True, True] Translation: X:239.86, Y:-55.70, Z:-6.13 [[ 9.63552658e-01 2.67026168e-01 1.62265812e-02 2.39858393e+02] [-2.66993133e-01 9.63689239e-01 -4.20923177e-03 -5.56990821e+01] [-1.67613567e-02 -2.76569281e-04 9.99859480e-01 -6.12756163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.02862385300003 meters 0.024553059073681764 Centerline is valid? [True, True] Translation: X:239.89, Y:-55.71, Z:-6.13 [[ 9.63684713e-01 2.66544706e-01 1.63001141e-02 2.39885679e+02] [-2.66511316e-01 9.63822518e-01 -4.22748379e-03 -5.57071565e+01] [-1.68372304e-02 -2.70203359e-04 9.99858207e-01 -6.12800848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.05862385300003 meters 0.0245129305633956 Centerline is valid? [True, True] Translation: X:239.91, Y:-55.71, Z:-6.13 [[ 9.63829764e-01 2.66022776e-01 1.62501710e-02 2.39912267e+02] [-2.65989528e-01 9.63966708e-01 -4.21381804e-03 -5.57142806e+01] [-1.67855954e-02 -2.60972066e-04 9.99859078e-01 -6.12945895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.08862385300003 meters 0.02366877700063684 Centerline is valid? [True, True] Translation: X:239.94, Y:-55.72, Z:-6.13 [[ 9.64108566e-01 2.65025447e-01 1.60058100e-02 2.39940126e+02] [-2.64993072e-01 9.64241388e-01 -4.14937017e-03 -5.57230453e+01] [-1.65331531e-02 -2.40985436e-04 9.99863289e-01 -6.13026445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.11862385300003 meters 0.021934696461048127 Centerline is valid? [True, True] Translation: X:239.97, Y:-55.73, Z:-6.13 [[ 9.64819573e-01 2.62393562e-01 1.65169659e-02 2.39967204e+02] [-2.62358716e-01 9.64960920e-01 -4.28092234e-03 -5.57334148e+01] [-1.70615130e-02 -2.03052294e-04 9.99854421e-01 -6.13101646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14862385300003 meters 0.020916545330409955 Centerline is valid? [True, True] Translation: X:239.99, Y:-55.74, Z:-6.13 [[ 9.65173711e-01 2.61082253e-01 1.66061403e-02 2.39994459e+02] [-2.61046846e-01 9.65316541e-01 -4.30350886e-03 -5.57420680e+01] [-1.71537517e-02 -1.81346933e-04 9.99852847e-01 -6.13114134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.178623853 meters 0.019679946405821696 Centerline is valid? [True, True] Translation: X:240.02, Y:-55.75, Z:-6.13 [[ 9.65822912e-01 2.58696396e-01 1.61949868e-02 2.40021540e+02] [-2.58662399e-01 9.65958672e-01 -4.19607944e-03 -5.57519350e+01] [-1.67291986e-02 -1.36364482e-04 9.99860048e-01 -6.13304824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.208623853 meters 0.0189842746778968 Centerline is valid? [True, True] Translation: X:240.05, Y:-55.76, Z:-6.13 [[ 9.66121654e-01 2.57567418e-01 1.63699536e-02 2.40049381e+02] [-2.57532534e-01 9.66260323e-01 -4.24059646e-03 -5.57618297e+01] [-1.69098761e-02 -1.18863569e-04 9.99857011e-01 -6.13338127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.238623853 meters 0.0184059144324387 Centerline is valid? [True, True] Translation: X:240.08, Y:-55.77, Z:-6.13 [[ 9.66398502e-01 2.56530574e-01 1.63094781e-02 2.40078015e+02] [-2.56495805e-01 9.66536111e-01 -4.22463009e-03 -5.57722431e+01] [-1.68474463e-02 -1.00636529e-04 9.99858067e-01 -6.13353957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.268623853 meters 0.0184059144324387 Centerline is valid? [True, True] Translation: X:240.11, Y:-55.78, Z:-6.13 [[ 9.66398502e-01 2.56530574e-01 1.63094781e-02 2.40107049e+02] [-2.56495805e-01 9.66536111e-01 -4.22463009e-03 -5.57797638e+01] [-1.68474463e-02 -1.00636529e-04 9.99858067e-01 -6.13429405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.298623853 meters 0.017776878986910816 Centerline is valid? [True, True] Translation: X:240.14, Y:-55.79, Z:-6.14 [[ 9.66947296e-01 2.54489827e-01 1.57434357e-02 2.40136738e+02] [-2.54457162e-01 9.67075449e-01 -4.07779138e-03 -5.57915748e+01] [-1.62628465e-02 -6.30206209e-05 9.99867749e-01 -6.13611219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.328623853 meters 0.017787019286915947 Centerline is valid? [True, True] Translation: X:240.17, Y:-55.80, Z:-6.14 [[ 9.67206944e-01 2.53523643e-01 1.53782461e-02 2.40165516e+02] [-2.53492347e-01 9.67329189e-01 -3.98368908e-03 -5.58006861e+01] [-1.58857857e-02 -4.52159610e-05 9.99873812e-01 -6.13889916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.358623853 meters 0.017429628924958345 Centerline is valid? [True, True] Translation: X:240.19, Y:-55.81, Z:-6.14 [[ 9.67703687e-01 2.51617187e-01 1.54391153e-02 2.40194557e+02] [-2.51585398e-01 9.67826839e-01 -3.99954164e-03 -5.58118955e+01] [-1.59487436e-02 -1.38847773e-05 9.99872811e-01 -6.13900235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.388623853 meters 0.01730861061269917 Centerline is valid? [True, True] Translation: X:240.22, Y:-55.82, Z:-6.14 [[ 9.67897857e-01 2.50846401e-01 1.58057494e-02 2.40223013e+02] [-2.50812981e-01 9.68026902e-01 -4.09459211e-03 -5.58213842e+01] [-1.63275044e-02 -1.14019642e-06 9.99866697e-01 -6.13883993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.418623853 meters 0.01722419540003533 Centerline is valid? [True, True] Translation: X:240.25, Y:-55.83, Z:-6.14 [[ 9.68029128e-01 2.50314818e-01 1.61894543e-02 2.40253054e+02] [-2.50279657e-01 9.68164496e-01 -4.19540789e-03 -5.58312657e+01] [-1.67242276e-02 9.38597654e-06 9.99860140e-01 -6.13874277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.44862385300002 meters 0.017063415082608797 Centerline is valid? [True, True] Translation: X:240.28, Y:-55.84, Z:-6.14 [[ 9.68120683e-01 2.49886041e-01 1.73005446e-02 2.40282574e+02] [-2.49845828e-01 9.68275253e-01 -4.48284878e-03 -5.58415126e+01] [-1.78718905e-02 1.74697371e-05 9.99840285e-01 -6.13731719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.47862385300002 meters 0.017085546645829088 Centerline is valid? [True, True] Translation: X:240.31, Y:-55.85, Z:-6.14 [[ 9.68047598e-01 2.50173601e-01 1.72341998e-02 2.40313846e+02] [-2.50133694e-01 9.68200996e-01 -4.46835714e-03 -5.58502927e+01] [-1.78040345e-02 1.47283267e-05 9.99841496e-01 -6.13790328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50862385300002 meters 0.017073181203778556 Centerline is valid? [True, True] Translation: X:240.34, Y:-55.86, Z:-6.14 [[ 9.67789844e-01 2.51192862e-01 1.68808552e-02 2.40344801e+02] [-2.51154680e-01 9.67937057e-01 -4.37957823e-03 -5.58576013e+01] [-1.74397241e-02 -1.19443687e-06 9.99847916e-01 -6.13944026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.53862385300002 meters 0.017138105729648273 Centerline is valid? [True, True] Translation: X:240.37, Y:-55.86, Z:-6.14 [[ 9.67630130e-01 2.51797862e-01 1.70225495e-02 2.40374244e+02] [-2.51759056e-01 9.67779849e-01 -4.42052613e-03 -5.58643850e+01] [-1.75871594e-02 -8.14672212e-06 9.99845334e-01 -6.14083438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56862385300002 meters 0.017264578586183722 Centerline is valid? [True, True] Translation: X:240.40, Y:-55.87, Z:-6.14 [[ 9.67278834e-01 2.53172080e-01 1.65998463e-02 2.40404975e+02] [-2.53135378e-01 9.67421261e-01 -4.31085861e-03 -5.58721246e+01] [-1.71504332e-02 -3.22060663e-05 9.99852920e-01 -6.14273727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.59862385300002 meters 0.022507296928059105 Centerline is valid? [True, True] Translation: X:240.43, Y:-55.88, Z:-6.14 [[ 9.67096869e-01 2.53906888e-01 1.59667905e-02 2.40434823e+02] [-2.53873025e-01 9.67228665e-01 -4.14693511e-03 -5.58795517e+01] [-1.64964728e-02 -4.30494355e-05 9.99863923e-01 -6.13843054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.62862385300002 meters 0.01758721671496658 Centerline is valid? [True, True] Translation: X:240.46, Y:-55.89, Z:-6.15 [[ 9.67031463e-01 2.54159563e-01 1.59080545e-02 2.40464170e+02] [-2.54125977e-01 9.67162300e-01 -4.13197785e-03 -5.58875392e+01] [-1.64358523e-02 -4.68973169e-05 9.99864921e-01 -6.14573660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.65862385300002 meters 0.017944303761059304 Centerline is valid? [True, True] Translation: X:240.49, Y:-55.89, Z:-6.15 [[ 9.66704889e-01 2.55393662e-01 1.59917325e-02 2.40493275e+02] [-2.55359889e-01 9.66837149e-01 -4.15381361e-03 -5.58940535e+01] [-1.65222587e-02 -6.81351183e-05 9.99863496e-01 -6.14606342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.68862385300002 meters 0.01829793605324732 Centerline is valid? [True, True] Translation: X:240.52, Y:-55.90, Z:-6.15 [[ 9.66464104e-01 2.56282982e-01 1.63146633e-02 2.40521825e+02] [-2.56247965e-01 9.66601793e-01 -4.23728762e-03 -5.59005502e+01] [-1.68557275e-02 -8.54128917e-05 9.99857928e-01 -6.14683933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.71862385300003 meters 0.01938391967054075 Centerline is valid? [True, True] Translation: X:240.55, Y:-55.90, Z:-6.15 [[ 9.65912888e-01 2.58342627e-01 1.64736405e-02 2.40550360e+02] [-2.58307211e-01 9.66053349e-01 -4.27927530e-03 -5.59042841e+01] [-1.70199348e-02 -1.21852973e-04 9.99855143e-01 -6.14641256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.74862385300003 meters 0.0217593200434965 Centerline is valid? [True, True] Translation: X:240.58, Y:-55.91, Z:-6.14 [[ 9.65502421e-01 2.59867191e-01 1.65565104e-02 2.40579449e+02] [-2.59831656e-01 9.65644355e-01 -4.30000960e-03 -5.59089649e+01] [-1.71051323e-02 -1.50235852e-04 9.99853685e-01 -6.14376398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.77862385300003 meters 0.02130730869780786 Centerline is valid? [True, True] Translation: X:240.61, Y:-55.91, Z:-6.15 [[ 9.65141006e-01 2.61184930e-01 1.68899794e-02 2.40606967e+02] [-2.61148163e-01 9.65288766e-01 -4.38587512e-03 -5.59132341e+01] [-1.74492319e-02 -1.77799183e-04 9.99847735e-01 -6.14739494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.80862385300003 meters 0.022668700792627353 Centerline is valid? [True, True] Translation: X:240.64, Y:-55.92, Z:-6.15 [[ 9.64169576e-01 2.64705335e-01 1.75531720e-02 2.40636539e+02] [-2.64666232e-01 9.64329312e-01 -4.55675926e-03 -5.59172459e+01] [-1.81332368e-02 -2.52243254e-04 9.99835548e-01 -6.14527525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.83862385300003 meters 0.025665877999741547 Centerline is valid? [True, True] Translation: X:240.67, Y:-55.92, Z:-6.15 [[ 9.63743594e-01 2.66238723e-01 1.77546732e-02 2.40665528e+02] [-2.66198983e-01 9.63907081e-01 -4.60869821e-03 -5.59188886e+01] [-1.83408691e-02 -2.84672554e-04 9.99831752e-01 -6.14697775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.86862385300003 meters 0.028259530770235262 Centerline is valid? [True, True] Translation: X:240.70, Y:-55.92, Z:-6.15 [[ 9.62916074e-01 2.69208313e-01 1.78750770e-02 2.40695589e+02] [-2.69168557e-01 9.63081910e-01 -4.63918906e-03 -5.59204264e+01] [-1.84640716e-02 -3.44258973e-04 9.99829465e-01 -6.14744653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.89862385300003 meters 0.027677899544479075 Centerline is valid? [True, True] Translation: X:240.72, Y:-55.93, Z:-6.15 [[ 9.62650463e-01 2.70174585e-01 1.76005301e-02 2.40723233e+02] [-2.70136206e-01 9.62811282e-01 -4.56778314e-03 -5.59266357e+01] [-1.81800879e-02 -3.57361867e-04 9.99834665e-01 -6.14791890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.928623853 meters 0.029005049167560158 Centerline is valid? [True, True] Translation: X:240.75, Y:-55.93, Z:-6.15 [[ 9.62416964e-01 2.71036521e-01 1.71111364e-02 2.40750815e+02] [-2.71000400e-01 9.62568996e-01 -4.43975537e-03 -5.59299270e+01] [-1.76739853e-02 -3.64228931e-04 9.99843737e-01 -6.14952129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.958623853 meters 0.028288217871992736 Centerline is valid? [True, True] Translation: X:240.78, Y:-55.94, Z:-6.15 [[ 9.62048698e-01 2.72390216e-01 1.63056034e-02 2.40779476e+02] [-2.72357630e-01 9.62186797e-01 -4.22963143e-03 -5.59351880e+01] [-1.68411465e-02 -3.71844070e-04 9.99858109e-01 -6.15095942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.988623853 meters 0.030589010699971046 Centerline is valid? [True, True] Translation: X:240.81, Y:-55.94, Z:-6.15 [[ 9.61979517e-01 2.72644496e-01 1.61365163e-02 2.40807925e+02] [-2.72612624e-01 9.62114775e-01 -4.18536572e-03 -5.59369194e+01] [-1.66662977e-02 -3.72781970e-04 9.99861038e-01 -6.15328107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.018623853 meters 0.03015667255393715 Centerline is valid? [True, True] Translation: X:240.84, Y:-55.94, Z:-6.15 [[ 9.61823044e-01 2.73174229e-01 1.65006714e-02 2.40836527e+02] [-2.73141001e-01 9.61964494e-01 -4.27862620e-03 -5.59416124e+01] [-1.70418704e-02 -3.91728612e-04 9.99854700e-01 -6.15278987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.048623853 meters 0.0357066663784181 Centerline is valid? [True, True] Translation: X:240.87, Y:-55.94, Z:-6.16 [[ 9.61778992e-01 2.73322139e-01 1.66186159e-02 2.40865497e+02] [-2.73288468e-01 9.61922476e-01 -4.30846144e-03 -5.59393126e+01] [-1.71634181e-02 -3.97888392e-04 9.99852619e-01 -6.15568971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.078623853 meters 0.030906952708106897 Centerline is valid? [True, True] Translation: X:240.89, Y:-55.95, Z:-6.15 [[ 9.61818414e-01 2.73171175e-01 1.68180727e-02 2.40891949e+02] [-2.73136688e-01 9.61965357e-01 -4.35900986e-03 -5.59510510e+01] [-1.73691592e-02 -4.01056738e-04 9.99849064e-01 -6.15393404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.108623853 meters 0.030240726270448822 Centerline is valid? [True, True] Translation: X:240.92, Y:-55.95, Z:-6.15 [[ 9.62022104e-01 2.72440812e-01 1.70139737e-02 2.40920762e+02] [-2.72405419e-01 9.62172463e-01 -4.40892934e-03 -5.59547798e+01] [-1.75715492e-02 -3.93211141e-04 9.99845531e-01 -6.15449346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.138623853 meters 0.02961913851078706 Centerline is valid? [True, True] Translation: X:240.95, Y:-55.96, Z:-6.16 [[ 9.62157320e-01 2.71960541e-01 1.70515633e-02 2.40948890e+02] [-2.71924930e-01 9.62308326e-01 -4.41782043e-03 -5.59604776e+01] [-1.76103342e-02 -3.86106907e-04 9.99844851e-01 -6.15520491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.168623853 meters 0.02947958984317215 Centerline is valid? [True, True] Translation: X:240.98, Y:-55.96, Z:-6.16 [[ 9.62607436e-01 2.70391986e-01 1.65860784e-02 2.40977494e+02] [-2.70358074e-01 9.62750254e-01 -4.29642596e-03 -5.59627070e+01] [-1.71299704e-02 -3.48408644e-04 9.99853211e-01 -6.15786004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.19862385300002 meters 0.028498025296296223 Centerline is valid? [True, True] Translation: X:241.01, Y:-55.97, Z:-6.16 [[ 9.62923323e-01 2.69275368e-01 1.64149545e-02 2.41005378e+02] [-2.69242004e-01 9.63063170e-01 -4.25129477e-03 -5.59693854e+01] [-1.69534071e-02 -3.25924361e-04 9.99856228e-01 -6.15915403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22862385300002 meters 0.024914799468989408 Centerline is valid? [True, True] Translation: X:241.03, Y:-55.98, Z:-6.16 [[ 9.63770230e-01 2.66238787e-01 1.62435402e-02 2.41033026e+02] [-2.66205697e-01 9.63907068e-01 -4.20613846e-03 -5.59783795e+01] [-1.67771004e-02 -2.70371917e-04 9.99859218e-01 -6.15981282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.25862385300002 meters 0.024112952782704887 Centerline is valid? [True, True] Translation: X:241.06, Y:-55.98, Z:-6.16 [[ 9.64236751e-01 2.64552214e-01 1.61125279e-02 2.41060650e+02] [-2.64519434e-01 9.64371333e-01 -4.17142244e-03 -5.59846574e+01] [-1.66420191e-02 -2.39837926e-04 9.99861483e-01 -6.16083779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28862385300002 meters 0.03224152189459264 Centerline is valid? [True, True] Translation: X:241.09, Y:-55.99, Z:-6.15 [[ 9.64721526e-01 2.62798833e-01 1.57845115e-02 2.41087896e+02] [-2.62767152e-01 9.64850626e-01 -4.08574029e-03 -5.59911705e+01] [-1.63034236e-02 -2.06049515e-04 9.99867069e-01 -6.15396834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.31862385300002 meters 0.020374592413265488 Centerline is valid? [True, True] Translation: X:241.11, Y:-56.00, Z:-6.16 [[ 9.65771209e-01 2.58891415e-01 1.61619313e-02 2.41113679e+02] [-2.58857664e-01 9.65906421e-01 -4.18271246e-03 -5.60010691e+01] [-1.66937816e-02 -1.44096520e-04 9.99860639e-01 -6.16329979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34862385300002 meters 0.02025152540390639 Centerline is valid? [True, True] Translation: X:241.14, Y:-56.01, Z:-6.17 [[ 9.66232424e-01 2.57146603e-01 1.64477219e-02 2.41140521e+02] [-2.57111414e-01 9.66372398e-01 -4.25557237e-03 -5.60068978e+01] [-1.69889304e-02 -1.17025032e-04 9.99855671e-01 -6.16571772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.37862385300002 meters 0.017491308721416382 Centerline is valid? [True, True] Translation: X:241.17, Y:-56.02, Z:-6.16 [[ 9.67022997e-01 2.54129405e-01 1.68750894e-02 2.41167783e+02] [-2.54091918e-01 9.67170223e-01 -4.36534928e-03 -5.60177892e+01] [-1.74304476e-02 -6.64306822e-05 9.99848076e-01 -6.16192151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.40862385300002 meters 0.01729467894672417 Centerline is valid? [True, True] Translation: X:241.20, Y:-56.03, Z:-6.16 [[ 9.67378162e-01 2.52761399e-01 1.70636162e-02 2.41195069e+02] [-2.52722871e-01 9.67528642e-01 -4.41333050e-03 -5.60251293e+01] [-1.76250570e-02 -4.30065154e-05 9.99844666e-01 -6.16238771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.43862385300002 meters 0.01700152365530123 Centerline is valid? [True, True] Translation: X:241.22, Y:-56.03, Z:-6.16 [[ 9.67934694e-01 2.50603125e-01 1.73349861e-02 2.41222957e+02] [-2.50563037e-01 9.68089910e-01 -4.48231013e-03 -5.60327434e+01] [-1.79051061e-02 -4.92327758e-06 9.99839691e-01 -6.16223345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.46862385300003 meters 0.01691835691139127 Centerline is valid? [True, True] Translation: X:241.25, Y:-56.04, Z:-6.16 [[ 9.68064720e-01 2.50110809e-01 1.71837589e-02 2.41251537e+02] [-2.50071354e-01 9.68217219e-01 -4.44236391e-03 -5.60390046e+01] [-1.77486945e-02 3.32990363e-06 9.99842480e-01 -6.16286090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.49862385300003 meters 0.016881779576407314 Centerline is valid? [True, True] Translation: X:241.28, Y:-56.04, Z:-6.16 [[ 9.68232449e-01 2.49472879e-01 1.70060778e-02 2.41279693e+02] [-2.49434152e-01 9.68381785e-01 -4.39560695e-03 -5.60437963e+01] [-1.75649607e-02 1.40726783e-05 9.99845724e-01 -6.16342094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.52862385300003 meters 0.016950768117649687 Centerline is valid? [True, True] Translation: X:241.31, Y:-56.05, Z:-6.16 [[ 9.68250958e-01 2.49399170e-01 1.70333975e-02 2.41308163e+02] [-2.49360322e-01 9.68400771e-01 -4.40178730e-03 -5.60499017e+01] [-1.75929574e-02 1.45812713e-05 9.99845232e-01 -6.16435895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.55862385300003 meters 0.016905921125276446 Centerline is valid? [True, True] Translation: X:241.34, Y:-56.05, Z:-6.16 [[ 9.68214214e-01 2.49519470e-01 1.73571391e-02 2.41336030e+02] [-2.49479166e-01 9.68369782e-01 -4.48461381e-03 -5.60549298e+01] [-1.79271274e-02 1.18222595e-05 9.99839296e-01 -6.16491921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.58862385300003 meters 0.016924433362068822 Centerline is valid? [True, True] Translation: X:241.36, Y:-56.06, Z:-6.17 [[ 9.68095508e-01 2.49959597e-01 1.76433451e-02 2.41363928e+02] [-2.49918047e-01 9.68256268e-01 -4.55742102e-03 -5.60593341e+01] [-1.82224506e-02 2.62848033e-06 9.99833957e-01 -6.16567089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.61862385300003 meters 0.016980810556847626 Centerline is valid? [True, True] Translation: X:241.39, Y:-56.06, Z:-6.17 [[ 9.67797556e-01 2.51132109e-01 1.73365291e-02 2.41393014e+02] [-2.51092202e-01 9.67952821e-01 -4.47690430e-03 -5.60611979e+01] [-1.79052366e-02 -2.03302139e-05 9.99839688e-01 -6.16661717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64862385300003 meters 0.01697768547625921 Centerline is valid? [True, True] Translation: X:241.42, Y:-56.07, Z:-6.17 [[ 9.67642438e-01 2.51709415e-01 1.76205323e-02 2.41420665e+02] [-2.51668299e-01 9.67802857e-01 -4.54950787e-03 -5.60658124e+01] [-1.81983555e-02 -3.22325063e-05 9.99834396e-01 -6.16683986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67862385300003 meters 0.017222017613778774 Centerline is valid? [True, True] Translation: X:241.45, Y:-56.07, Z:-6.17 [[ 9.67408772e-01 2.52606091e-01 1.76190637e-02 2.41449092e+02] [-2.52565157e-01 9.67569202e-01 -4.54769979e-03 -5.60674647e+01] [-1.81964400e-02 -5.04769073e-05 9.99834430e-01 -6.16731965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.708623853 meters 0.017253183374257054 Centerline is valid? [True, True] Translation: X:241.48, Y:-56.07, Z:-6.17 [[ 9.67361343e-01 2.52796727e-01 1.74884705e-02 2.41476534e+02] [-2.52756446e-01 9.67519412e-01 -4.51298970e-03 -5.60719851e+01] [-1.80613037e-02 -5.46318806e-05 9.99836880e-01 -6.16827757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.738623853 meters 0.017071224905062073 Centerline is valid? [True, True] Translation: X:241.50, Y:-56.08, Z:-6.17 [[ 9.67442649e-01 2.52442479e-01 1.80974160e-02 2.41504550e+02] [-2.52399311e-01 9.67611902e-01 -4.66856004e-03 -5.60769172e+01] [-1.86898180e-02 -5.12112567e-05 9.99825329e-01 -6.16811689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.768623853 meters 0.01700051144803484 Centerline is valid? [True, True] Translation: X:241.53, Y:-56.08, Z:-6.17 [[ 9.67515201e-01 2.52155368e-01 1.82210639e-02 2.41532095e+02] [-2.52111572e-01 9.67686761e-01 -4.69968400e-03 -5.60824446e+01] [-1.88173329e-02 -4.67253580e-05 9.99822937e-01 -6.16794849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.798623853 meters 0.01691847640895522 Centerline is valid? [True, True] Translation: X:241.56, Y:-56.09, Z:-6.17 [[ 9.67670015e-01 2.51552256e-01 1.83359019e-02 2.41558353e+02] [-2.51507824e-01 9.67843717e-01 -4.72797316e-03 -5.60878636e+01] [-1.89356197e-02 -3.65049154e-05 9.99820704e-01 -6.16866855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.828623853 meters 0.01681380097017456 Centerline is valid? [True, True] Translation: X:241.59, Y:-56.09, Z:-6.17 [[ 9.68084350e-01 2.49976414e-01 1.80134222e-02 2.41585228e+02] [-2.49933288e-01 9.68251926e-01 -4.64318405e-03 -5.60943877e+01] [-1.86022173e-02 -7.16003890e-06 9.99826964e-01 -6.17029785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.858623853 meters 0.028145890432026425 Centerline is valid? [True, True] Translation: X:241.61, Y:-56.10, Z:-6.16 [[ 9.68338754e-01 2.49033920e-01 1.73828919e-02 2.41613383e+02] [-2.48993634e-01 9.68494763e-01 -4.47923871e-03 -5.61022304e+01] [-1.79507222e-02 9.19100050e-06 9.99838873e-01 -6.16252658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.888623853 meters 0.017153333454216005 Centerline is valid? [True, True] Translation: X:241.64, Y:-56.11, Z:-6.17 [[ 9.68870406e-01 2.46939854e-01 1.76308083e-02 2.41639935e+02] [-2.46898079e-01 9.69030808e-01 -4.54228686e-03 -5.61097024e+01] [-1.82064680e-02 4.78746102e-05 9.99834247e-01 -6.17297460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.918623853 meters 0.017475709956985552 Centerline is valid? [True, True] Translation: X:241.67, Y:-56.12, Z:-6.17 [[ 9.69184925e-01 2.45704669e-01 1.76010684e-02 2.41667300e+02] [-2.45662853e-01 9.69344733e-01 -4.53341173e-03 -5.61173325e+01] [-1.81753834e-02 6.97856195e-05 9.99834812e-01 -6.17375973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.94862385300002 meters 0.018388065225810525 Centerline is valid? [True, True] Translation: X:241.69, Y:-56.13, Z:-6.17 [[ 9.69795090e-01 2.43261976e-01 1.79190965e-02 2.41693299e+02] [-2.43218234e-01 9.69960616e-01 -4.61448150e-03 -5.61268930e+01] [-1.85033458e-02 1.16850494e-04 9.99828792e-01 -6.17343297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.97862385300002 meters 0.01877538912220397 Centerline is valid? [True, True] Translation: X:241.72, Y:-56.13, Z:-6.17 [[ 9.70066530e-01 2.42151896e-01 1.82588727e-02 2.41721350e+02] [-2.42106305e-01 9.70238342e-01 -4.70073473e-03 -5.61349795e+01] [-1.88537502e-02 1.39437220e-04 9.99822243e-01 -6.17323124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00862385300002 meters 0.019093996696341375 Centerline is valid? [True, True] Translation: X:241.75, Y:-56.14, Z:-6.17 [[ 9.70289434e-01 2.41227516e-01 1.86467287e-02 2.41748934e+02] [-2.41179816e-01 9.70468577e-01 -4.79962920e-03 -5.61420765e+01] [-1.92538669e-02 1.59814902e-04 9.99814614e-01 -6.17273197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.03862385300002 meters 0.0201683528751499 Centerline is valid? [True, True] Translation: X:241.78, Y:-56.15, Z:-6.17 [[ 9.70666610e-01 2.39606077e-01 1.98811525e-02 2.41775735e+02] [-2.39551532e-01 9.70870170e-01 -5.11633661e-03 -5.61496148e+01] [-2.05279232e-02 2.03696575e-04 9.99789259e-01 -6.17175424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06862385300002 meters 0.020862212694452 Centerline is valid? [True, True] Translation: X:241.80, Y:-56.16, Z:-6.17 [[ 9.70848792e-01 2.38864872e-01 1.99046840e-02 2.41802439e+02] [-2.38810068e-01 9.71052792e-01 -5.12115421e-03 -5.61573648e+01] [-2.05517628e-02 2.18427449e-04 9.99788766e-01 -6.17207713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.09862385300002 meters 0.02197106070362621 Centerline is valid? [True, True] Translation: X:241.83, Y:-56.17, Z:-6.17 [[ 9.71237241e-01 2.37319836e-01 1.94297946e-02 2.41830268e+02] [-2.37267333e-01 9.71431540e-01 -4.99765707e-03 -5.61660925e+01] [-2.00607584e-02 2.43855129e-04 9.99798733e-01 -6.17450175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.12862385300002 meters 0.021637043992196806 Centerline is valid? [True, True] Translation: X:241.86, Y:-56.17, Z:-6.18 [[ 9.71483331e-01 2.36336088e-01 1.91152230e-02 2.41858562e+02] [-2.36285099e-01 9.71671337e-01 -4.91584397e-03 -5.61719456e+01] [-1.97355056e-02 2.59018127e-04 9.99805202e-01 -6.17512257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.15862385300002 meters 0.024364409783112818 Centerline is valid? [True, True] Translation: X:241.88, Y:-56.18, Z:-6.18 [[ 9.71875935e-01 2.34773499e-01 1.84002817e-02 2.41884566e+02] [-2.34725997e-01 9.72050064e-01 -4.73074359e-03 -5.61837108e+01] [-1.89966482e-02 2.78671400e-04 9.99819509e-01 -6.17864743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.18862385300002 meters 0.024364409783112818 Centerline is valid? [True, True] Translation: X:241.91, Y:-56.19, Z:-6.18 [[ 9.71886609e-01 2.34729315e-01 1.84001952e-02 2.41912024e+02] [-2.34681798e-01 9.72060734e-01 -4.73107988e-03 -5.61906761e+01] [-1.89966304e-02 2.79882285e-04 9.99819509e-01 -6.17936004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.21862385300003 meters 0.025084522110849345 Centerline is valid? [True, True] Translation: X:241.94, Y:-56.20, Z:-6.18 [[ 9.72009917e-01 2.34259829e-01 1.78620794e-02 2.41938895e+02] [-2.34214986e-01 9.72173983e-01 -4.59196412e-03 -5.61985750e+01] [-1.84407617e-02 2.79867972e-04 9.99829916e-01 -6.18163879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.24862385300003 meters 0.024610574941401304 Centerline is valid? [True, True] Translation: X:241.97, Y:-56.20, Z:-6.18 [[ 9.72118885e-01 2.33828462e-01 1.75819338e-02 2.41967277e+02] [-2.33784964e-01 9.72277826e-01 -4.51883442e-03 -5.62049443e+01] [-1.81511564e-02 2.82452520e-04 9.99835214e-01 -6.18241111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.27862385300003 meters 0.026407389750478 Centerline is valid? [True, True] Translation: X:241.99, Y:-56.21, Z:-6.18 [[ 9.72281395e-01 2.33134689e-01 1.78074435e-02 2.41993158e+02] [-2.33089967e-01 9.72444409e-01 -4.57597414e-03 -5.62145662e+01] [-1.83835672e-02 2.98398109e-04 9.99830963e-01 -6.18383769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.30862385300003 meters 0.02400323578081292 Centerline is valid? [True, True] Translation: X:242.02, Y:-56.22, Z:-6.18 [[ 9.72214895e-01 2.33421516e-01 1.76803198e-02 2.42022096e+02] [-2.33377499e-01 9.72375602e-01 -4.54216230e-03 -5.62180403e+01] [-1.82521500e-02 2.89769029e-04 9.99833374e-01 -6.18309543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.33862385300003 meters 0.02292060272150494 Centerline is valid? [True, True] Translation: X:242.05, Y:-56.22, Z:-6.18 [[ 9.71929646e-01 2.34571123e-01 1.81425450e-02 2.42050864e+02] [-2.34524992e-01 9.72098921e-01 -4.65994294e-03 -5.62223105e+01] [-1.87294365e-02 2.74256463e-04 9.99824551e-01 -6.18307345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36862385300003 meters 0.021940538004633504 Centerline is valid? [True, True] Translation: X:242.08, Y:-56.23, Z:-6.18 [[ 9.71672591e-01 2.35617785e-01 1.83476231e-02 2.42079420e+02] [-2.35570810e-01 9.71845766e-01 -4.71165771e-03 -5.62274813e+01] [-1.89412102e-02 2.56024225e-04 9.99820566e-01 -6.18320085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.39862385300003 meters 0.020601314777053972 Centerline is valid? [True, True] Translation: X:242.11, Y:-56.23, Z:-6.18 [[ 9.71043891e-01 2.38197204e-01 1.83263435e-02 2.42106917e+02] [-2.38150813e-01 9.71216789e-01 -4.70531776e-03 -5.62310389e+01] [-1.89196460e-02 2.04636467e-04 9.99820987e-01 -6.18436718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42862385300003 meters 0.019816598616768554 Centerline is valid? [True, True] Translation: X:242.13, Y:-56.24, Z:-6.19 [[ 9.70676737e-01 2.39684754e-01 1.83817964e-02 2.42134197e+02] [-2.39638371e-01 9.70850755e-01 -4.71835759e-03 -5.62354817e+01] [-1.89768993e-02 1.75016196e-04 9.99819907e-01 -6.18501426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.458623853 meters 0.01908412500856733 Centerline is valid? [True, True] Translation: X:242.16, Y:-56.24, Z:-6.19 [[ 9.70366801e-01 2.40925586e-01 1.85238738e-02 2.42162339e+02] [-2.40878734e-01 9.70543579e-01 -4.75357699e-03 -5.62402100e+01] [-1.91234851e-02 1.50706038e-04 9.99817118e-01 -6.18581311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.488623853 meters 0.02131058176224607 Centerline is valid? [True, True] Translation: X:242.19, Y:-56.24, Z:-6.18 [[ 9.69892394e-01 2.42852457e-01 1.82051830e-02 2.42191202e+02] [-2.42807559e-01 9.70063231e-01 -4.67091029e-03 -5.62437445e+01] [-1.87945206e-02 1.09924320e-04 9.99823361e-01 -6.18027307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.518623853 meters 0.017565010993979432 Centerline is valid? [True, True] Translation: X:242.22, Y:-56.25, Z:-6.19 [[ 9.69698684e-01 2.43565096e-01 1.89869932e-02 2.42219279e+02] [-2.43516415e-01 9.69884547e-01 -4.87048537e-03 -5.62491985e+01] [-1.96014715e-02 9.92587426e-05 9.99807868e-01 -6.18627862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.548623853 meters 0.017521968115829383 Centerline is valid? [True, True] Translation: X:242.25, Y:-56.26, Z:-6.19 [[ 9.69639969e-01 2.43847282e-01 1.83530390e-02 2.42246601e+02] [-2.43801862e-01 9.69813639e-01 -4.70710462e-03 -5.62552565e+01] [-1.89468422e-02 8.96916913e-05 9.99820488e-01 -6.18826644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.578623853 meters 0.01762134712959949 Centerline is valid? [True, True] Translation: X:242.27, Y:-56.26, Z:-6.19 [[ 9.69683350e-01 2.43689815e-01 1.81514646e-02 2.42273519e+02] [-2.43645386e-01 9.69853219e-01 -4.65400544e-03 -5.62623145e+01] [-1.87383901e-02 9.03909693e-05 9.99824417e-01 -6.19004011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.608623853 meters 0.01758429897065104 Centerline is valid? [True, True] Translation: X:242.30, Y:-56.27, Z:-6.19 [[ 9.69773217e-01 2.43311654e-01 1.84213867e-02 2.42300520e+02] [-2.43265847e-01 9.69948158e-01 -4.72211044e-03 -5.62695828e+01] [-1.90167346e-02 9.80819887e-05 9.99819161e-01 -6.19007413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.638623853 meters 0.01769093606650126 Centerline is valid? [True, True] Translation: X:242.33, Y:-56.28, Z:-6.19 [[ 9.69810624e-01 2.43125278e-01 1.89064242e-02 2.42327367e+02] [-2.43077022e-01 9.69994891e-01 -4.84485058e-03 -5.62766439e+01] [-1.95170406e-02 1.02870260e-04 9.99809519e-01 -6.19046411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.668623853 meters 0.017445140560991283 Centerline is valid? [True, True] Translation: X:242.36, Y:-56.28, Z:-6.19 [[ 9.69789951e-01 2.43161573e-01 1.94910472e-02 2.42355878e+02] [-2.43110322e-01 9.69985793e-01 -4.99329900e-03 -5.62828287e+01] [-2.01202173e-02 1.03976436e-04 9.99797563e-01 -6.18993415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.69862385300002 meters 0.017189629560897403 Centerline is valid? [True, True] Translation: X:242.38, Y:-56.29, Z:-6.19 [[ 9.69772086e-01 2.43179341e-01 2.01472010e-02 2.42382862e+02] [-2.43124605e-01 9.69981338e-01 -5.16035333e-03 -5.62882507e+01] [-2.07973003e-02 1.06086323e-04 9.99783707e-01 -6.18925286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72862385300002 meters 0.017421833938280062 Centerline is valid? [True, True] Translation: X:242.41, Y:-56.29, Z:-6.19 [[ 9.69764710e-01 2.43240530e-01 1.97598739e-02 2.42409329e+02] [-2.43187917e-01 9.69965996e-01 -5.05991301e-03 -5.62948957e+01] [-2.03971817e-02 1.01562508e-04 9.99791951e-01 -6.19150614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.75862385300002 meters 0.017550196785329923 Centerline is valid? [True, True] Translation: X:242.44, Y:-56.30, Z:-6.19 [[ 9.69785687e-01 2.43204069e-01 1.91703537e-02 2.42437841e+02] [-2.43154569e-01 9.69975140e-01 -4.90756257e-03 -5.63003039e+01] [-1.97883057e-02 9.79248343e-05 9.99804188e-01 -6.19315087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78862385300002 meters 0.0175994107988605 Centerline is valid? [True, True] Translation: X:242.47, Y:-56.31, Z:-6.19 [[ 9.69892324e-01 2.42766803e-01 1.93173171e-02 2.42465475e+02] [-2.42716472e-01 9.70084670e-01 -4.94434126e-03 -5.63065535e+01] [-1.99397551e-02 1.06847578e-04 9.99801178e-01 -6.19394326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.81862385300002 meters 0.017927377028441802 Centerline is valid? [True, True] Translation: X:242.49, Y:-56.31, Z:-6.19 [[ 9.70123713e-01 2.41835646e-01 1.93778556e-02 2.42493154e+02] [-2.41784845e-01 9.70317219e-01 -4.95823352e-03 -5.63131093e+01] [-2.00017446e-02 1.24828102e-04 9.99799937e-01 -6.19443709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84862385300002 meters 0.018370475862447423 Centerline is valid? [True, True] Translation: X:242.52, Y:-56.32, Z:-6.19 [[ 9.70392517e-01 2.40742432e-01 1.95306156e-02 2.42519590e+02] [-2.40690623e-01 9.70589027e-01 -4.99641562e-03 -5.63204829e+01] [-2.01590504e-02 1.47648295e-04 9.99796775e-01 -6.19483153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.87862385300002 meters 0.018838737643481887 Centerline is valid? [True, True] Translation: X:242.55, Y:-56.33, Z:-6.19 [[ 9.70676432e-01 2.39561791e-01 1.99352031e-02 2.42547522e+02] [-2.39507598e-01 9.70881104e-01 -5.09829154e-03 -5.63283825e+01] [-2.05760678e-02 1.74158850e-04 9.99788275e-01 -6.19479491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.90862385300002 meters 0.02135838329270893 Centerline is valid? [True, True] Translation: X:242.57, Y:-56.34, Z:-6.20 [[ 9.71501435e-01 2.36136194e-01 2.06072499e-02 2.42573118e+02] [-2.36077536e-01 9.71719936e-01 -5.26911519e-03 -5.63398925e+01] [-2.12687044e-02 2.54044178e-04 9.99773763e-01 -6.19511456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.93862385300002 meters 0.023430547179289937 Centerline is valid? [True, True] Translation: X:242.60, Y:-56.35, Z:-6.20 [[ 9.71921312e-01 2.34384201e-01 2.08088902e-02 2.42598831e+02] [-2.34324017e-01 9.72144002e-01 -5.31932926e-03 -5.63504175e+01] [-2.14760046e-02 2.93946721e-04 9.99769321e-01 -6.19536126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.96862385300003 meters 0.02551054172072101 Centerline is valid? [True, True] Translation: X:242.63, Y:-56.36, Z:-6.19 [[ 9.72745229e-01 2.30872832e-01 2.15512126e-02 2.42626510e+02] [-2.30807447e-01 9.72983858e-01 -5.50763502e-03 -5.63602610e+01] [-2.22405453e-02 3.83345335e-04 9.99752575e-01 -6.19480193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.99862385300003 meters 0.03145712768174504 Centerline is valid? [True, True] Translation: X:242.65, Y:-56.37, Z:-6.19 [[ 9.73154929e-01 2.29190896e-01 2.10004172e-02 2.42654302e+02] [-2.29128434e-01 9.73381408e-01 -5.36616006e-03 -5.63683744e+01] [-2.16712907e-02 4.10312409e-04 9.99765066e-01 -6.18757378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.02862385300003 meters 0.028424309222829337 Centerline is valid? [True, True] Translation: X:242.68, Y:-56.38, Z:-6.20 [[ 9.73438265e-01 2.27950724e-01 2.13638154e-02 2.42680531e+02] [-2.27885806e-01 9.73672568e-01 -5.45796699e-03 -5.63782656e+01] [-2.20455086e-02 4.44483614e-04 9.99756869e-01 -6.19702270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.05862385300003 meters 0.029896672748130276 Centerline is valid? [True, True] Translation: X:242.71, Y:-56.39, Z:-6.20 [[ 9.73854139e-01 2.26212176e-01 2.08846432e-02 2.42708224e+02] [-2.26149768e-01 9.74077938e-01 -5.33415335e-03 -5.63885502e+01] [-2.15499206e-02 4.71630089e-04 9.99767662e-01 -6.19922559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.08862385300003 meters 0.030604852352673656 Centerline is valid? [True, True] Translation: X:242.74, Y:-56.40, Z:-6.20 [[ 9.74030962e-01 2.25494388e-01 2.03952377e-02 2.42736367e+02] [-2.25434722e-01 9.74244351e-01 -5.20876350e-03 -5.63964803e+01] [-2.10444921e-02 4.75702170e-04 9.99778427e-01 -6.20043402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.11862385300003 meters 0.030906473478294973 Centerline is valid? [True, True] Translation: X:242.77, Y:-56.40, Z:-6.20 [[ 9.74259902e-01 2.24541708e-01 1.99665852e-02 2.42765365e+02] [-2.24484346e-01 9.74464359e-01 -5.09822632e-03 -5.64040886e+01] [-2.06014900e-02 4.84811661e-04 9.99787649e-01 -6.20170497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14862385300003 meters 0.03188908822949483 Centerline is valid? [True, True] Translation: X:242.79, Y:-56.41, Z:-6.20 [[ 9.74373960e-01 2.24078767e-01 1.95982932e-02 2.42792572e+02] [-2.24023417e-01 9.74570916e-01 -5.00376990e-03 -5.64127434e+01] [-2.02211652e-02 4.85066487e-04 9.99795414e-01 -6.20290965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17862385300003 meters 0.031012969593150946 Centerline is valid? [True, True] Translation: X:242.82, Y:-56.42, Z:-6.20 [[ 9.74462390e-01 2.23734267e-01 1.91318705e-02 2.42821473e+02] [-2.23681469e-01 9.74650064e-01 -4.88393716e-03 -5.64191597e+01] [-1.97395829e-02 4.79768194e-04 9.99805040e-01 -6.20395845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.208623853 meters 0.038077518086678405 Centerline is valid? [True, True] Translation: X:242.85, Y:-56.43, Z:-6.20 [[ 9.74575226e-01 2.23269804e-01 1.88075420e-02 2.42848600e+02] [-2.23218703e-01 9.74756566e-01 -4.80074735e-03 -5.64288180e+01] [-1.94046370e-02 4.80494303e-04 9.99811597e-01 -6.19527460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.238623853 meters 0.03351159826245386 Centerline is valid? [True, True] Translation: X:242.88, Y:-56.44, Z:-6.21 [[ 9.74400736e-01 2.23981585e-01 1.93766890e-02 2.42875031e+02] [-2.23927499e-01 9.74593259e-01 -4.94526449e-03 -5.64384540e+01] [-1.99920386e-02 4.79695860e-04 9.99800024e-01 -6.20518841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.268623853 meters 0.029741008112408464 Centerline is valid? [True, True] Translation: X:242.90, Y:-56.44, Z:-6.20 [[ 9.73880952e-01 2.26149171e-01 2.03087118e-02 2.42904818e+02] [-2.26090242e-01 9.74092575e-01 -5.18244237e-03 -5.64402223e+01] [-2.09545705e-02 4.55480342e-04 9.99780325e-01 -6.20356741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.298623853 meters 0.03082321991137778 Centerline is valid? [True, True] Translation: X:242.93, Y:-56.44, Z:-6.20 [[ 9.73575599e-01 2.27467049e-01 2.02310340e-02 2.42932105e+02] [-2.27408881e-01 9.73785686e-01 -5.16132830e-03 -5.64449455e+01] [-2.08747234e-02 4.24226489e-04 9.99782009e-01 -6.19804451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.328623853 meters 0.02563938480203281 Centerline is valid? [True, True] Translation: X:242.96, Y:-56.45, Z:-6.20 [[ 9.73196787e-01 2.29051640e-01 2.05757241e-02 2.42960733e+02] [-2.28991855e-01 9.73414192e-01 -5.24793675e-03 -5.64476672e+01] [-2.12307504e-02 3.95601951e-04 9.99774524e-01 -6.20479760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.358623853 meters 0.023665337833542036 Centerline is valid? [True, True] Translation: X:242.99, Y:-56.45, Z:-6.21 [[ 9.72505011e-01 2.32033249e-01 1.98639133e-02 2.42988604e+02] [-2.31978169e-01 9.72707803e-01 -5.06547119e-03 -5.64510014e+01] [-2.04971412e-02 3.18201893e-04 9.99789861e-01 -6.20740445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.388623853 meters 0.026521822135127306 Centerline is valid? [True, True] Translation: X:243.02, Y:-56.46, Z:-6.20 [[ 9.72174166e-01 2.33472789e-01 1.91793628e-02 2.43017650e+02] [-2.33421745e-01 9.72363296e-01 -4.88967138e-03 -5.64557143e+01] [-1.97909136e-02 2.76731872e-04 9.99804102e-01 -6.20146186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.418623853 meters 0.0210393705357102 Centerline is valid? [True, True] Translation: X:243.04, Y:-56.46, Z:-6.21 [[ 9.71575481e-01 2.35954936e-01 1.91403695e-02 2.43044846e+02] [-2.35904598e-01 9.71763972e-01 -4.87882225e-03 -5.64602759e+01] [-1.97511037e-02 2.24842907e-04 9.99804903e-01 -6.21021997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.44862385300002 meters 0.020273989694765876 Centerline is valid? [True, True] Translation: X:243.07, Y:-56.47, Z:-6.21 [[ 9.71389821e-01 2.36710835e-01 1.92300864e-02 2.43072849e+02] [-2.36660198e-01 9.71580124e-01 -4.90040286e-03 -5.64652288e+01] [-1.98435482e-02 2.09205407e-04 9.99803076e-01 -6.21039297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.47862385300002 meters 0.01936990322757693 Centerline is valid? [True, True] Translation: X:243.10, Y:-56.47, Z:-6.21 [[ 9.71205826e-01 2.37424156e-01 1.97234172e-02 2.43101470e+02] [-2.37371055e-01 9.71406059e-01 -5.02510478e-03 -5.64702461e+01] [-2.03525283e-02 1.98642690e-04 9.99792846e-01 -6.21021488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50862385300002 meters 0.018963007906716615 Centerline is valid? [True, True] Translation: X:243.13, Y:-56.48, Z:-6.21 [[ 9.70829427e-01 2.38946328e-01 1.98714693e-02 2.43129263e+02] [-2.38892765e-01 9.71032762e-01 -5.06186595e-03 -5.64752264e+01] [-2.05053620e-02 1.67058174e-04 9.99789729e-01 -6.21117839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.53862385300002 meters 0.018302703871477994 Centerline is valid? [True, True] Translation: X:243.16, Y:-56.48, Z:-6.21 [[ 9.70682302e-01 2.39530161e-01 2.00292656e-02 2.43157522e+02] [-2.39475895e-01 9.70888911e-01 -5.10073453e-03 -5.64806299e+01] [-2.06679716e-02 1.54666436e-04 9.99786383e-01 -6.21125084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56862385300002 meters 0.018016002009961906 Centerline is valid? [True, True] Translation: X:243.19, Y:-56.49, Z:-6.21 [[ 9.70548096e-01 2.40056783e-01 2.02270629e-02 2.43185973e+02] [-2.40001576e-01 9.70758837e-01 -5.15007093e-03 -5.64871449e+01] [-2.08719095e-02 1.43864568e-04 9.99782148e-01 -6.21167556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.59862385300002 meters 0.018030136976567687 Centerline is valid? [True, True] Translation: X:243.21, Y:-56.49, Z:-6.21 [[ 9.70544112e-01 2.40074273e-01 2.02106619e-02 2.43213062e+02] [-2.40019180e-01 9.70754512e-01 -5.14493069e-03 -5.64941627e+01] [-2.08547567e-02 1.42435709e-04 9.99782506e-01 -6.21201625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.62862385300002 meters 0.018314812275899768 Centerline is valid? [True, True] Translation: X:243.24, Y:-56.50, Z:-6.21 [[ 9.70683626e-01 2.39487379e-01 2.04717535e-02 2.43241736e+02] [-2.39430751e-01 9.70899465e-01 -5.21004274e-03 -5.65003009e+01] [-2.11237540e-02 1.55735858e-04 9.99776856e-01 -6.21265341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.65862385300002 meters 0.01857301976573229 Centerline is valid? [True, True] Translation: X:243.27, Y:-56.51, Z:-6.21 [[ 9.70738691e-01 2.39270447e-01 2.03972156e-02 2.43268797e+02] [-2.39214203e-01 9.70952948e-01 -5.19010732e-03 -5.65066446e+01] [-2.10465759e-02 1.58934313e-04 9.99778484e-01 -6.21394769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.68862385300002 meters 0.0185415246688935 Centerline is valid? [True, True] Translation: X:243.30, Y:-56.51, Z:-6.21 [[ 9.70818399e-01 2.38938885e-01 2.04901196e-02 2.43297206e+02] [-2.38882082e-01 9.71034594e-01 -5.21241977e-03 -5.65128881e+01] [-2.11420647e-02 1.65590607e-04 9.99776468e-01 -6.21449313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.71862385300003 meters 0.018814597966549884 Centerline is valid? [True, True] Translation: X:243.33, Y:-56.52, Z:-6.22 [[ 9.71024867e-01 2.38113739e-01 2.03114259e-02 2.43325655e+02] [-2.38057762e-01 9.71237260e-01 -5.16597726e-03 -5.65192420e+01] [-2.09573038e-02 1.80999788e-04 9.99780355e-01 -6.21540733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.74862385300003 meters 0.01890024763102978 Centerline is valid? [True, True] Translation: X:243.35, Y:-56.53, Z:-6.22 [[ 9.71106071e-01 2.37778068e-01 2.03614623e-02 2.43353132e+02] [-2.37721763e-01 9.71319492e-01 -5.17766216e-03 -5.65264174e+01] [-2.10086197e-02 1.87696449e-04 9.99779277e-01 -6.21593762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.77862385300003 meters 0.019761881822318424 Centerline is valid? [True, True] Translation: X:243.38, Y:-56.53, Z:-6.22 [[ 9.71384494e-01 2.36607630e-01 2.07121574e-02 2.43380150e+02] [-2.36549125e-01 9.71605261e-01 -5.26581114e-03 -5.65346387e+01] [-2.13699722e-02 2.15684595e-04 9.99771613e-01 -6.21599387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.80862385300003 meters 0.02040141519294497 Centerline is valid? [True, True] Translation: X:243.41, Y:-56.54, Z:-6.22 [[ 9.71612544e-01 2.35667495e-01 2.07339334e-02 2.43408072e+02] [-2.35608682e-01 9.71833719e-01 -5.26998492e-03 -5.65418458e+01] [-2.13918997e-02 2.35288739e-04 9.99771139e-01 -6.21608615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.83862385300003 meters 0.021751476253943778 Centerline is valid? [True, True] Translation: X:243.43, Y:-56.55, Z:-6.22 [[ 9.71840327e-01 2.34720980e-01 2.07952013e-02 2.43434331e+02] [-2.34661622e-01 9.72062753e-01 -5.28459998e-03 -5.65505147e+01] [-2.14546471e-02 2.55951706e-04 9.99769790e-01 -6.21690003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86862385300003 meters 0.02389232145512948 Centerline is valid? [True, True] Translation: X:243.46, Y:-56.56, Z:-6.22 [[ 9.72615579e-01 2.31405906e-01 2.16850635e-02 2.43461533e+02] [-2.31340573e-01 9.72857230e-01 -5.50901380e-03 -5.65606519e+01] [-2.23712891e-02 3.41517639e-04 9.99749673e-01 -6.21638976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.89862385300003 meters 0.027384937260290867 Centerline is valid? [True, True] Translation: X:243.49, Y:-56.57, Z:-6.22 [[ 9.73492379e-01 2.27727169e-01 2.12820086e-02 2.43488666e+02] [-2.27663387e-01 9.73724891e-01 -5.40552130e-03 -5.65737153e+01] [-2.19538056e-02 4.17099623e-04 9.99758899e-01 -6.21851609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92862385300003 meters 0.02904402782609207 Centerline is valid? [True, True] Translation: X:243.52, Y:-56.58, Z:-6.22 [[ 9.73918564e-01 2.25946842e-01 2.07522149e-02 2.43515460e+02] [-2.25885801e-01 9.74139531e-01 -5.27055156e-03 -5.65840569e+01] [-2.14064173e-02 4.45457333e-04 9.99770757e-01 -6.22004106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.958623853 meters 0.030952236782621437 Centerline is valid? [True, True] Translation: X:243.54, Y:-56.59, Z:-6.22 [[ 9.74418139e-01 2.23786867e-01 2.07057484e-02 2.43543054e+02] [-2.23725635e-01 9.74637983e-01 -5.25765234e-03 -5.65945929e+01] [-2.13572024e-02 4.90745094e-04 9.99771788e-01 -6.22115172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.988623853 meters 0.03929803786969459 Centerline is valid? [True, True] Translation: X:243.57, Y:-56.61, Z:-6.21 [[ 9.75125250e-01 2.20771383e-01 1.97672342e-02 2.43569987e+02] [-2.20714965e-01 9.75325440e-01 -5.01895819e-03 -5.66069078e+01] [-2.03875287e-02 5.31188457e-04 9.99792012e-01 -6.21448569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.018623853 meters 0.035189741472136334 Centerline is valid? [True, True] Translation: X:243.60, Y:-56.62, Z:-6.22 [[ 9.75285445e-01 2.20007873e-01 2.03675562e-02 2.43597869e+02] [-2.19947828e-01 9.75497934e-01 -5.17045389e-03 -5.66153493e+01] [-2.10060496e-02 5.62868659e-04 9.99779190e-01 -6.22278621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.04862385300004 meters 0.03294185304185325 Centerline is valid? [True, True] Translation: X:243.63, Y:-56.62, Z:-6.22 [[ 9.75402893e-01 2.19484072e-01 2.03945790e-02 2.43628177e+02] [-2.19423767e-01 9.75615914e-01 -5.17672212e-03 -5.66209417e+01] [-2.10334839e-02 5.74334386e-04 9.99778607e-01 -6.22279769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.078623853 meters 0.03294185304185325 Centerline is valid? [True, True] Translation: X:243.66, Y:-56.63, Z:-6.22 [[ 9.75402893e-01 2.19484072e-01 2.03945790e-02 2.43657257e+02] [-2.19423767e-01 9.75615914e-01 -5.17672212e-03 -5.66283230e+01] [-2.10334839e-02 5.74334386e-04 9.99778607e-01 -6.22355243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.10862385300004 meters 0.037358466381990724 Centerline is valid? [True, True] Translation: X:243.69, Y:-56.64, Z:-6.22 [[ 9.75340736e-01 2.19813392e-01 1.98121449e-02 2.43686661e+02] [-2.19756549e-01 9.75541782e-01 -5.02894200e-03 -5.66360223e+01] [-2.04330039e-02 5.51083400e-04 9.99791072e-01 -6.21502023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.138623853 meters 0.03321170184082299 Centerline is valid? [True, True] Translation: X:243.71, Y:-56.64, Z:-6.22 [[ 9.75175029e-01 2.20504017e-01 2.02889397e-02 2.43713522e+02] [-2.20444558e-01 9.75385912e-01 -5.14980483e-03 -5.66445141e+01] [-2.09250986e-02 5.49374730e-04 9.99780895e-01 -6.22499361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.16862385300004 meters 0.030181584627558513 Centerline is valid? [True, True] Translation: X:243.74, Y:-56.65, Z:-6.23 [[ 9.74708622e-01 2.22554865e-01 2.03084982e-02 2.43742795e+02] [-2.22495752e-01 9.74920036e-01 -5.15394360e-03 -5.66482381e+01] [-2.09461970e-02 5.05038682e-04 9.99780477e-01 -6.22604658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.198623853 meters 0.030773597785247755 Centerline is valid? [True, True] Translation: X:243.77, Y:-56.66, Z:-6.23 [[ 9.74427803e-01 2.23810201e-01 1.99862542e-02 2.43770463e+02] [-2.23753223e-01 9.74632635e-01 -5.07172037e-03 -5.66560904e+01] [-2.06143584e-02 4.70036546e-04 9.99787391e-01 -6.22799854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.22862385300004 meters 0.026540434963134317 Centerline is valid? [True, True] Translation: X:243.80, Y:-56.66, Z:-6.23 [[ 9.73652248e-01 2.27179731e-01 1.97653492e-02 2.43800485e+02] [-2.27124714e-01 9.73852769e-01 -5.01492041e-03 -5.66573157e+01] [-2.03878283e-02 3.93589243e-04 9.99792069e-01 -6.22874569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.258623853 meters 0.02597739056411595 Centerline is valid? [True, True] Translation: X:243.83, Y:-56.66, Z:-6.23 [[ 9.73261947e-01 2.28857919e-01 1.96274194e-02 2.43827508e+02] [-2.28804020e-01 9.73459771e-01 -4.97932631e-03 -5.66630987e+01] [-2.02460615e-02 3.55356349e-04 9.99794964e-01 -6.23033200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.28862385300005 meters 0.023867199081889747 Centerline is valid? [True, True] Translation: X:243.86, Y:-56.67, Z:-6.23 [[ 9.72843919e-01 2.30637250e-01 1.95235326e-02 2.43856363e+02] [-2.30584304e-01 9.73039752e-01 -4.95170098e-03 -5.66666060e+01] [-2.01392200e-02 3.15412012e-04 9.99797136e-01 -6.23088928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.318623853 meters 0.02240423570484549 Centerline is valid? [True, True] Translation: X:243.88, Y:-56.67, Z:-6.23 [[ 9.72113803e-01 2.33705543e-01 1.94029052e-02 2.43883781e+02] [-2.33653878e-01 9.72307388e-01 -4.92019988e-03 -5.66709236e+01] [-2.00154660e-02 2.49430175e-04 9.99799639e-01 -6.23242061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.348623853 meters 0.020249550586988265 Centerline is valid? [True, True] Translation: X:243.91, Y:-56.67, Z:-6.23 [[ 9.71862010e-01 2.34761361e-01 1.92701240e-02 2.43912715e+02] [-2.34710633e-01 9.72053009e-01 -4.88529494e-03 -5.66740926e+01] [-1.98784605e-02 2.24929544e-04 9.99802379e-01 -6.23250856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.378623853 meters 0.019980945114491798 Centerline is valid? [True, True] Translation: X:243.94, Y:-56.68, Z:-6.23 [[ 9.71534647e-01 2.36139388e-01 1.89372176e-02 2.43940172e+02] [-2.36090678e-01 9.71719174e-01 -4.79993526e-03 -5.66801367e+01] [-1.95351112e-02 1.92402862e-04 9.99809153e-01 -6.23439928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.408623853 meters 0.020103985875155612 Centerline is valid? [True, True] Translation: X:243.97, Y:-56.69, Z:-6.24 [[ 9.71410781e-01 2.36623345e-01 1.92480447e-02 2.43967457e+02] [-2.36573138e-01 9.71601440e-01 -4.87770225e-03 -5.66876879e+01] [-1.98556062e-02 1.84682220e-04 9.99802841e-01 -6.23515079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.438623853 meters 0.018783939403149864 Centerline is valid? [True, True] Translation: X:244.00, Y:-56.69, Z:-6.23 [[ 9.71341929e-01 2.36841588e-01 2.00229402e-02 2.43995647e+02] [-2.36787324e-01 9.71548263e-01 -5.07303848e-03 -5.66934400e+01] [-2.06547592e-02 1.86476557e-04 9.99786650e-01 -6.23335090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.468623853 meters 0.01874062222562034 Centerline is valid? [True, True] Translation: X:244.02, Y:-56.70, Z:-6.23 [[ 9.71332619e-01 2.36882251e-01 1.99935550e-02 2.44022673e+02] [-2.36828175e-01 9.71538350e-01 -5.06461254e-03 -5.67003347e+01] [-2.06242222e-02 1.84386226e-04 9.99787281e-01 -6.23374213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.498623853 meters 0.01865369943185534 Centerline is valid? [True, True] Translation: X:244.05, Y:-56.71, Z:-6.23 [[ 9.71275259e-01 2.37122600e-01 1.99309893e-02 2.44050677e+02] [-2.37068941e-01 9.71479717e-01 -5.04742188e-03 -5.67072055e+01] [-2.05594096e-02 1.77417481e-04 9.99788617e-01 -6.23438264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.528623853 meters 0.018466895262555384 Centerline is valid? [True, True] Translation: X:244.08, Y:-56.71, Z:-6.23 [[ 9.71152318e-01 2.37595315e-01 2.02889470e-02 2.44077626e+02] [-2.37539835e-01 9.71364215e-01 -5.13705940e-03 -5.67149290e+01] [-2.09284983e-02 1.69434042e-04 9.99780961e-01 -6.23450489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.55862385300003 meters 0.019104007971279344 Centerline is valid? [True, True] Translation: X:244.10, Y:-56.72, Z:-6.24 [[ 9.71061845e-01 2.37955917e-01 2.03930130e-02 2.44103904e+02] [-2.37899973e-01 9.71275942e-01 -5.16209278e-03 -5.67235172e+01] [-2.10355935e-02 1.61214094e-04 9.99778714e-01 -6.23633964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.588623853 meters 0.018192377139158337 Centerline is valid? [True, True] Translation: X:244.13, Y:-56.73, Z:-6.24 [[ 9.71046612e-01 2.38091335e-01 1.95190632e-02 2.44132578e+02] [-2.38040135e-01 9.71242757e-01 -4.93965086e-03 -5.67277349e+01] [-2.01338369e-02 1.50310775e-04 9.99797282e-01 -6.23735390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.61862385300003 meters 0.018965049926400922 Centerline is valid? [True, True] Translation: X:244.16, Y:-56.74, Z:-6.24 [[ 9.71122343e-01 2.37799948e-01 1.93023202e-02 2.44159264e+02] [-2.37749840e-01 9.71314141e-01 -4.88390171e-03 -5.67365712e+01] [-1.99100081e-02 1.53742537e-04 9.99801764e-01 -6.23956216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.648623853 meters 0.018932012721525646 Centerline is valid? [True, True] Translation: X:244.19, Y:-56.74, Z:-6.24 [[ 9.71222737e-01 2.37375134e-01 1.94792423e-02 2.44187467e+02] [-2.37324048e-01 9.71418046e-01 -4.92719579e-03 -5.67441194e+01] [-2.00920812e-02 1.62511955e-04 9.99798121e-01 -6.23938918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.67862385300003 meters 0.019280862721741513 Centerline is valid? [True, True] Translation: X:244.22, Y:-56.75, Z:-6.24 [[ 9.71545207e-01 2.36036410e-01 1.96652792e-02 2.44215218e+02] [-2.35984088e-01 9.71744193e-01 -4.97327782e-03 -5.67524139e+01] [-2.02834955e-02 1.91071245e-04 9.99794250e-01 -6.23904916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.708623853 meters 0.019558621813932756 Centerline is valid? [True, True] Translation: X:244.24, Y:-56.76, Z:-6.24 [[ 9.71693557e-01 2.35395072e-01 2.00197949e-02 2.44242576e+02] [-2.35340732e-01 9.71899746e-01 -5.06189343e-03 -5.67600692e+01] [-2.06487784e-02 2.07136049e-04 9.99786770e-01 -6.23945524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.73862385300004 meters 0.020997970045687545 Centerline is valid? [True, True] Translation: X:244.27, Y:-56.77, Z:-6.24 [[ 9.72127149e-01 2.33576725e-01 2.02662034e-02 2.44268260e+02] [-2.33520665e-01 9.72338342e-01 -5.12319042e-03 -5.67703921e+01] [-2.09022647e-02 2.47815200e-04 9.99781493e-01 -6.23964298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.768623853 meters 0.021559907423286454 Centerline is valid? [True, True] Translation: X:244.30, Y:-56.78, Z:-6.24 [[ 9.72364882e-01 2.32572784e-01 2.04067813e-02 2.44295779e+02] [-2.32515751e-01 9.72578957e-01 -5.15735471e-03 -5.67789136e+01] [-2.10466664e-02 2.69932525e-04 9.99778458e-01 -6.24025252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.79862385300004 meters 0.022969115911562983 Centerline is valid? [True, True] Translation: X:244.32, Y:-56.79, Z:-6.24 [[ 9.72883134e-01 2.30466704e-01 1.95833261e-02 2.44323578e+02] [-2.30413775e-01 9.73080165e-01 -4.94819101e-03 -5.67897121e+01] [-2.01965395e-02 3.01743471e-04 9.99795984e-01 -6.24288768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.828623853 meters 0.023654971117023235 Centerline is valid? [True, True] Translation: X:244.35, Y:-56.80, Z:-6.24 [[ 9.73170212e-01 2.29284807e-01 1.91889625e-02 2.44350922e+02] [-2.29233766e-01 9.73359325e-01 -4.84820397e-03 -5.67990290e+01] [-1.97893751e-02 3.19369530e-04 9.99804120e-01 -6.24428197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.85862385300004 meters 0.028242621972077636 Centerline is valid? [True, True] Translation: X:244.38, Y:-56.81, Z:-6.25 [[ 9.73370831e-01 2.28446805e-01 1.90074153e-02 2.44376332e+02] [-2.28396586e-01 9.73556340e-01 -4.80129492e-03 -5.68137937e+01] [-1.96016301e-02 3.32211676e-04 9.99807814e-01 -6.24767262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.888623853 meters 0.026108427349581995 Centerline is valid? [True, True] Translation: X:244.41, Y:-56.82, Z:-6.25 [[ 9.73527130e-01 2.27780019e-01 1.90050244e-02 2.44405245e+02] [-2.27729699e-01 9.73712557e-01 -4.80001629e-03 -5.68183182e+01] [-1.95987787e-02 3.44937596e-04 9.99807866e-01 -6.24666484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.91862385300004 meters 0.023563491226558625 Centerline is valid? [True, True] Translation: X:244.43, Y:-56.82, Z:-6.25 [[ 9.73416053e-01 2.28205409e-01 1.95826369e-02 2.44434701e+02] [-2.28152092e-01 9.73612948e-01 -4.94478805e-03 -5.68214610e+01] [-2.01943362e-02 3.45516497e-04 9.99796014e-01 -6.24508398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.948623853 meters 0.031052127424425292 Centerline is valid? [True, True] Translation: X:244.46, Y:-56.83, Z:-6.24 [[ 9.73320443e-01 2.28644768e-01 1.92063761e-02 2.44462191e+02] [-2.28593575e-01 9.73509867e-01 -4.84934875e-03 -5.68303488e+01] [-1.98063749e-02 3.29516108e-04 9.99803780e-01 -6.23774661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.97862385300004 meters 0.024271016283264227 Centerline is valid? [True, True] Translation: X:244.49, Y:-56.84, Z:-6.25 [[ 9.73175668e-01 2.29167479e-01 2.02826406e-02 2.44489603e+02] [-2.29110517e-01 9.73386950e-01 -5.12027872e-03 -5.68370466e+01] [-2.09162590e-02 3.35964393e-04 9.99781175e-01 -6.24590876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.008623853 meters 0.024072482794270694 Centerline is valid? [True, True] Translation: X:244.52, Y:-56.84, Z:-6.25 [[ 9.73062906e-01 2.29599719e-01 2.07978290e-02 2.44517150e+02] [-2.29539948e-01 9.73285085e-01 -5.24926115e-03 -5.68437481e+01] [-2.14474457e-02 3.33928708e-04 9.99769921e-01 -6.24535159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.03862385300005 meters 0.027210548967516558 Centerline is valid? [True, True] Translation: X:244.55, Y:-56.85, Z:-6.24 [[ 9.72835350e-01 2.30521332e-01 2.12437664e-02 2.44545718e+02] [-2.30459213e-01 9.73067220e-01 -5.36072900e-03 -5.68498090e+01] [-2.19073751e-02 3.19284978e-04 9.99759954e-01 -6.23721105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.068623853 meters 0.021622740650015754 Centerline is valid? [True, True] Translation: X:244.57, Y:-56.85, Z:-6.24 [[ 9.72735589e-01 2.30860491e-01 2.21112395e-02 2.44574785e+02] [-2.30793310e-01 9.72986808e-01 -5.57843070e-03 -5.68544993e+01] [-2.28017836e-02 3.23211919e-04 9.99739953e-01 -6.24365693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.098623853 meters 0.02221378002620032 Centerline is valid? [True, True] Translation: X:244.60, Y:-56.86, Z:-6.24 [[ 9.72740929e-01 2.30816332e-01 2.23361956e-02 2.44601854e+02] [-2.30747778e-01 9.72997284e-01 -5.63459838e-03 -5.68626702e+01] [-2.30336150e-02 3.26976942e-04 9.99734638e-01 -6.24449666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.128623853 meters 0.023241633848346845 Centerline is valid? [True, True] Translation: X:244.63, Y:-56.87, Z:-6.25 [[ 9.72818962e-01 2.30530929e-01 2.18805317e-02 2.44629157e+02] [-2.30465087e-01 9.73064944e-01 -5.51900179e-03 -5.68719386e+01] [-2.25634789e-02 3.26290956e-04 9.99745359e-01 -6.24681938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.158623853 meters 0.022550283959836385 Centerline is valid? [True, True] Translation: X:244.66, Y:-56.88, Z:-6.25 [[ 9.72911749e-01 2.30191249e-01 2.13241206e-02 2.44657502e+02] [-2.30128650e-01 9.73145356e-01 -5.37783176e-03 -5.68790252e+01] [-2.19893987e-02 3.24864611e-04 9.99758151e-01 -6.24763067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.188623853 meters 0.023671631705779354 Centerline is valid? [True, True] Translation: X:244.69, Y:-56.89, Z:-6.25 [[ 9.73310031e-01 2.28543421e-01 2.08683589e-02 2.44686344e+02] [-2.28483104e-01 9.73533656e-01 -5.26227686e-03 -5.68902314e+01] [-2.15187085e-02 3.53759438e-04 9.99768383e-01 -6.24941544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.218623853 meters 0.024469352318092368 Centerline is valid? [True, True] Translation: X:244.71, Y:-56.90, Z:-6.25 [[ 9.73495580e-01 2.27746407e-01 2.09267954e-02 2.44714833e+02] [-2.27685566e-01 9.73720409e-01 -5.27710122e-03 -5.68996828e+01] [-2.15786886e-02 3.72505460e-04 9.99767084e-01 -6.25044347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.248623853 meters 0.030363108122989167 Centerline is valid? [True, True] Translation: X:244.74, Y:-56.91, Z:-6.24 [[ 9.73879613e-01 2.26138337e-01 2.04927177e-02 2.44743024e+02] [-2.26079656e-01 9.74095115e-01 -5.16682225e-03 -5.69126264e+01] [-2.11302728e-02 3.98876290e-04 9.99776651e-01 -6.24399172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.278623853 meters 0.0270947042894977 Centerline is valid? [True, True] Translation: X:244.77, Y:-56.92, Z:-6.25 [[ 9.74097363e-01 2.25184459e-01 2.06467175e-02 2.44771865e+02] [-2.25124650e-01 9.74316057e-01 -5.20694583e-03 -5.69222258e+01] [-2.12889517e-02 4.23987137e-04 9.99773275e-01 -6.25292816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.30862385300003 meters 0.02749539635041737 Centerline is valid? [True, True] Translation: X:244.80, Y:-56.93, Z:-6.25 [[ 9.74168569e-01 2.24872265e-01 2.06896906e-02 2.44801949e+02] [-2.24812139e-01 9.74388156e-01 -5.21768948e-03 -5.69324349e+01] [-2.13331031e-02 4.31615497e-04 9.99772330e-01 -6.25380004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.338623853 meters 0.02755104806088457 Centerline is valid? [True, True] Translation: X:244.83, Y:-56.94, Z:-6.26 [[ 9.74186257e-01 2.24828487e-01 2.03294867e-02 2.44831629e+02] [-2.24770416e-01 9.74398261e-01 -5.12735634e-03 -5.69432334e+01] [-2.09617923e-02 4.25532883e-04 9.99780187e-01 -6.25523289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.36862385300003 meters 0.026265046472947775 Centerline is valid? [True, True] Translation: X:244.86, Y:-56.95, Z:-6.26 [[ 9.73851677e-01 2.26271945e-01 2.03449656e-02 2.44861657e+02] [-2.26214091e-01 9.74064090e-01 -5.13168129e-03 -5.69513122e+01] [-2.09784559e-02 3.95178535e-04 9.99779850e-01 -6.25618407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.398623853 meters 0.025862535874752245 Centerline is valid? [True, True] Translation: X:244.89, Y:-56.96, Z:-6.26 [[ 9.73580281e-01 2.27403662e-01 2.07125609e-02 2.44891248e+02] [-2.27343934e-01 9.73800509e-01 -5.22535786e-03 -5.69592757e+01] [-2.13581679e-02 3.78430282e-04 9.99771817e-01 -6.25649928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.42862385300003 meters 0.030869525644816005 Centerline is valid? [True, True] Translation: X:244.92, Y:-56.97, Z:-6.25 [[ 9.73277233e-01 2.28752844e-01 2.00889018e-02 2.44921845e+02] [-2.28696914e-01 9.73484474e-01 -5.06958378e-03 -5.69654524e+01] [-2.07159157e-02 3.39840642e-04 9.99785345e-01 -6.24896771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.458623853 meters 0.023783588850591394 Centerline is valid? [True, True] Translation: X:244.95, Y:-56.97, Z:-6.26 [[ 9.72905889e-01 2.30282903e-01 2.05891866e-02 2.44949782e+02] [-2.30224490e-01 9.73123674e-01 -5.19607103e-03 -5.69726325e+01] [-2.12323913e-02 3.15153113e-04 9.99774518e-01 -6.25842013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.48862385300004 meters 0.02168229180161746 Centerline is valid? [True, True] Translation: X:244.98, Y:-56.98, Z:-6.26 [[ 9.72264554e-01 2.33009924e-01 2.01992961e-02 2.44978038e+02] [-2.32954277e-01 9.72474325e-01 -5.09830685e-03 -5.69783293e+01] [-2.08312529e-02 2.51390637e-04 9.99782974e-01 -6.26006962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.518623853 meters 0.01926630504498126 Centerline is valid? [True, True] Translation: X:245.01, Y:-56.98, Z:-6.26 [[ 9.71514213e-01 2.36118187e-01 2.02072899e-02 2.45006714e+02] [-2.36063182e-01 9.71724327e-01 -5.09963329e-03 -5.69822006e+01] [-2.08400313e-02 1.84169067e-04 9.99782806e-01 -6.26081693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.54862385300004 meters 0.018157969943725892 Centerline is valid? [True, True] Translation: X:245.04, Y:-56.99, Z:-6.26 [[ 9.71042114e-01 2.38066500e-01 2.00388083e-02 2.45035570e+02] [-2.38012843e-01 9.71248847e-01 -5.05613622e-03 -5.69868901e+01] [-2.06663661e-02 1.40227469e-04 9.99786418e-01 -6.26201703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.578623853 meters 0.020729261636128544 Centerline is valid? [True, True] Translation: X:245.06, Y:-56.99, Z:-6.26 [[ 9.70547353e-01 2.40113031e-01 1.95849075e-02 2.45064777e+02] [-2.40062213e-01 9.70744932e-01 -4.94067211e-03 -5.69906355e+01] [-2.01982695e-02 9.35599821e-05 9.99795990e-01 -6.25687559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.60862385300004 meters 0.016272564318116273 Centerline is valid? [True, True] Translation: X:245.09, Y:-56.99, Z:-6.26 [[ 9.69458890e-01 2.44424565e-01 2.01517410e-02 2.45093508e+02] [-2.44371713e-01 9.69668310e-01 -5.08269098e-03 -5.69912480e+01] [-2.07828391e-02 2.94450222e-06 9.99784013e-01 -6.26376761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.638623853 meters 0.016395495935398574 Centerline is valid? [True, True] Translation: X:245.12, Y:-56.99, Z:-6.26 [[ 9.68924954e-01 2.46560957e-01 1.98022390e-02 2.45121894e+02] [-2.46510393e-01 9.69127284e-01 -4.99335031e-03 -5.69944359e+01] [-2.04220554e-02 -4.32760060e-05 9.99791447e-01 -6.26497057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.66862385300004 meters 0.023102879089385617 Centerline is valid? [True, True] Translation: X:245.15, Y:-56.99, Z:-6.26 [[ 9.68007941e-01 2.50197296e-01 1.90246820e-02 2.45151004e+02] [-2.50151348e-01 9.68194867e-01 -4.79617622e-03 -5.69947981e+01] [-1.96195898e-02 -1.16313188e-04 9.99807511e-01 -6.26020245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.698623853 meters 0.023769732957577575 Centerline is valid? [True, True] Translation: X:245.18, Y:-57.00, Z:-6.26 [[ 9.67682993e-01 2.51451866e-01 1.90153607e-02 2.45178988e+02] [-2.51406229e-01 9.67869794e-01 -4.79266992e-03 -5.69987515e+01] [-1.96095190e-02 -1.42794942e-04 9.99807705e-01 -6.26126526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.72862385300004 meters 0.019152051715046182 Centerline is valid? [True, True] Translation: X:245.21, Y:-57.00, Z:-6.27 [[ 9.67507672e-01 2.52063300e-01 1.98241842e-02 2.45206081e+02] [-2.52013849e-01 9.67710735e-01 -4.99532561e-03 -5.70040396e+01] [-2.04432141e-02 -1.62953121e-04 9.99791002e-01 -6.26793163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.758623853 meters 0.01895885346213699 Centerline is valid? [True, True] Translation: X:245.23, Y:-57.01, Z:-6.27 [[ 9.67551107e-01 2.51826918e-01 2.06895953e-02 2.45233476e+02] [-2.51773036e-01 9.67772275e-01 -5.21178531e-03 -5.70084731e+01] [-2.13352845e-02 -1.66413564e-04 9.99772363e-01 -6.26686576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.78862385300005 meters 0.01744527154993427 Centerline is valid? [True, True] Translation: X:245.26, Y:-57.02, Z:-6.27 [[ 9.68051745e-01 2.49800315e-01 2.18087588e-02 2.45260955e+02] [-2.49739962e-01 9.68297364e-01 -5.49230748e-03 -5.70186577e+01] [-2.24893438e-02 -1.29680761e-04 9.99747074e-01 -6.26577389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.818623853 meters 0.016888677447730965 Centerline is valid? [True, True] Translation: X:245.29, Y:-57.03, Z:-6.27 [[ 9.68416115e-01 2.48394869e-01 2.16844932e-02 2.45288283e+02] [-2.48334873e-01 9.68658856e-01 -5.45995954e-03 -5.70273381e+01] [-2.23611023e-02 -9.75030567e-05 9.99749955e-01 -6.26675656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.848623853 meters 0.016373379096841858 Centerline is valid? [True, True] Translation: X:245.31, Y:-57.04, Z:-6.27 [[ 9.68885704e-01 2.46570760e-01 2.15256538e-02 2.45314597e+02] [-2.46511212e-01 9.69124789e-01 -5.41896310e-03 -5.70360062e+01] [-2.21972026e-02 -5.59591404e-05 9.99753610e-01 -6.26878755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.878623853 meters 0.016310906222364693 Centerline is valid? [True, True] Translation: X:245.34, Y:-57.05, Z:-6.27 [[ 9.69875264e-01 2.42746953e-01 2.03933723e-02 2.45340452e+02] [-2.42692684e-01 9.70089643e-01 -5.13275209e-03 -5.70484758e+01] [-2.10293592e-02 2.88070163e-05 9.99778858e-01 -6.27201850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.908623853 meters 0.01744600133207458 Centerline is valid? [True, True] Translation: X:245.37, Y:-57.06, Z:-6.27 [[ 9.70873528e-01 2.38755954e-01 2.00046604e-02 2.45366728e+02] [-2.38702911e-01 9.71079596e-01 -5.03374210e-03 -5.70607259e+01] [-2.06279534e-02 1.11956282e-04 9.99787215e-01 -6.27337858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.938623853 meters 0.018471165002105442 Centerline is valid? [True, True] Translation: X:245.39, Y:-57.07, Z:-6.27 [[ 9.71385629e-01 2.36687813e-01 1.97189980e-02 2.45393945e+02] [-2.36635867e-01 9.71585743e-01 -4.96090038e-03 -5.70704615e+01] [-2.03328820e-02 1.52725157e-04 9.99793254e-01 -6.27459035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.968623853 meters 0.018471165002105442 Centerline is valid? [True, True] Translation: X:245.42, Y:-57.08, Z:-6.28 [[ 9.71396679e-01 2.36642438e-01 1.97192291e-02 2.45421436e+02] [-2.36590502e-01 9.71596796e-01 -4.95998149e-03 -5.70772833e+01] [-2.03328819e-02 1.52727247e-04 9.99793254e-01 -6.27530282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.998623853 meters 0.019765204673039504 Centerline is valid? [True, True] Translation: X:245.45, Y:-57.09, Z:-6.28 [[ 9.71928937e-01 2.34441273e-01 1.97846058e-02 2.45449029e+02] [-2.34388556e-01 9.72130264e-01 -4.97544037e-03 -5.70872654e+01] [-2.03996626e-02 1.98489299e-04 9.99791886e-01 -6.27598683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.028623853 meters 0.023535326506524474 Centerline is valid? [True, True] Translation: X:245.48, Y:-57.10, Z:-6.28 [[ 9.73064497e-01 2.29607635e-01 2.06353590e-02 2.45475583e+02] [-2.29549223e-01 9.73283226e-01 -5.18816564e-03 -5.71025656e+01] [-2.12752912e-02 3.11589153e-04 9.99773607e-01 -6.27535500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.05862385300003 meters 0.026132242231919983 Centerline is valid? [True, True] Translation: X:245.50, Y:-57.12, Z:-6.27 [[ 9.73646241e-01 2.27067526e-01 2.12916956e-02 2.45503514e+02] [-2.27004742e-01 9.73878943e-01 -5.35271880e-03 -5.71152097e+01] [-2.19509626e-02 3.78338693e-04 9.99758977e-01 -6.27484571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.088623853 meters 0.034263857001694535 Centerline is valid? [True, True] Translation: X:245.53, Y:-57.14, Z:-6.27 [[ 9.74723099e-01 2.22310690e-01 2.21999571e-02 2.45529108e+02] [-2.22241171e-01 9.74975743e-01 -5.58229828e-03 -5.71369708e+01] [-2.28854243e-02 5.07450604e-04 9.99737966e-01 -6.27395445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.11862385300003 meters 0.033500016209081336 Centerline is valid? [True, True] Translation: X:245.56, Y:-57.15, Z:-6.27 [[ 9.75171472e-01 2.20316535e-01 2.23880485e-02 2.45560409e+02] [-2.20245310e-01 9.75428271e-01 -5.62949882e-03 -5.71455353e+01] [-2.30782071e-02 5.58863978e-04 9.99733506e-01 -6.27376785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.148623853 meters 0.036746727729028685 Centerline is valid? [True, True] Translation: X:245.59, Y:-57.16, Z:-6.27 [[ 9.75832589e-01 2.17356794e-01 2.25118273e-02 2.45589079e+02] [-2.17283966e-01 9.76092016e-01 -5.66175542e-03 -5.71598648e+01] [-2.32042359e-02 6.33466345e-04 9.99730545e-01 -6.27464080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.17862385300003 meters 0.041377060551236515 Centerline is valid? [True, True] Translation: X:245.62, Y:-57.17, Z:-6.27 [[ 9.75995948e-01 2.16683916e-01 2.19086576e-02 2.45619932e+02] [-2.16614765e-01 9.76241610e-01 -5.51023165e-03 -5.71681162e+01] [-2.25821217e-02 6.32225038e-04 9.99744791e-01 -6.26663441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.208623853 meters 0.03981950025683483 Centerline is valid? [True, True] Translation: X:245.65, Y:-57.18, Z:-6.28 [[ 9.76227471e-01 2.15614583e-01 2.21422112e-02 2.45648048e+02] [-2.15543594e-01 9.76478318e-01 -5.57251405e-03 -5.71837314e+01] [-2.28229045e-02 6.67429512e-04 9.99739301e-01 -6.27696554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.23862385300004 meters 0.03786539295467564 Centerline is valid? [True, True] Translation: X:245.68, Y:-57.19, Z:-6.28 [[ 9.76216070e-01 2.15707070e-01 2.17404108e-02 2.45679835e+02] [-2.15638584e-01 9.76457899e-01 -5.47464726e-03 -5.71907533e+01] [-2.24095160e-02 6.56367212e-04 9.99748660e-01 -6.27794004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.268623853 meters 0.03757387596275726 Centerline is valid? [True, True] Translation: X:245.71, Y:-57.20, Z:-6.28 [[ 9.76098083e-01 2.16229001e-01 2.18529511e-02 2.45710865e+02] [-2.16159838e-01 9.76342457e-01 -5.50731408e-03 -5.72000605e+01] [-2.25268050e-02 6.51948346e-04 9.99746027e-01 -6.27852894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.29862385300004 meters 0.03614390622264773 Centerline is valid? [True, True] Translation: X:245.74, Y:-57.21, Z:-6.28 [[ 9.75695219e-01 2.18077059e-01 2.14763977e-02 2.45741072e+02] [-2.18010623e-01 9.75931367e-01 -5.41619392e-03 -5.72087912e+01] [-2.21406378e-02 6.02471673e-04 9.99754684e-01 -6.27970082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.328623853 meters 0.03526850706123337 Centerline is valid? [True, True] Translation: X:245.77, Y:-57.22, Z:-6.28 [[ 9.75389328e-01 2.19431907e-01 2.15707242e-02 2.45772868e+02] [-2.19365169e-01 9.75627647e-01 -5.44209685e-03 -5.72165359e+01] [-2.22391646e-02 5.76297640e-04 9.99752513e-01 -6.28087030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.35862385300004 meters 0.03456764976559493 Centerline is valid? [True, True] Translation: X:245.80, Y:-57.23, Z:-6.28 [[ 9.74507253e-01 2.23310530e-01 2.16337954e-02 2.45802212e+02] [-2.23244307e-01 9.74747232e-01 -5.46019129e-03 -5.72258087e+01] [-2.23068004e-02 4.91374357e-04 9.99751052e-01 -6.28200993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.388623853 meters 0.02642508678847982 Centerline is valid? [True, True] Translation: X:245.84, Y:-57.22, Z:-6.28 [[ 9.73899593e-01 2.25935144e-01 2.17461326e-02 2.45835803e+02] [-2.25868882e-01 9.74142250e-01 -5.48866516e-03 -5.72232571e+01] [-2.24239089e-02 4.33634107e-04 9.99748458e-01 -6.28165181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.41862385300004 meters 0.028489969754032438 Centerline is valid? [True, True] Translation: X:245.86, Y:-57.24, Z:-6.28 [[ 9.73228173e-01 2.28812445e-01 2.17207046e-02 2.45864979e+02] [-2.28746963e-01 9.73470455e-01 -5.48629833e-03 -5.72351663e+01] [-2.23997975e-02 3.70874874e-04 9.99749024e-01 -6.28342039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.448623853 meters 0.019727678263149986 Centerline is valid? [True, True] Translation: X:245.90, Y:-57.23, Z:-6.28 [[ 9.71742557e-01 2.34978311e-01 2.23963359e-02 2.45898307e+02] [-2.34910270e-01 9.72000585e-01 -5.65938161e-03 -5.72304664e+01] [-2.30990835e-02 2.38332652e-04 9.99733152e-01 -6.28243379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.47862385300004 meters 0.017719293727274075 Centerline is valid? [True, True] Translation: X:245.93, Y:-57.23, Z:-6.28 [[ 9.70963776e-01 2.38195348e-01 2.21883105e-02 2.45928403e+02] [-2.38129375e-01 9.71217252e-01 -5.60809378e-03 -5.72341317e+01] [-2.28854918e-02 1.61567417e-04 9.99738080e-01 -6.28289662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.508623853 meters 0.021566882143307275 Centerline is valid? [True, True] Translation: X:245.96, Y:-57.23, Z:-6.28 [[ 9.69571669e-01 2.43886294e-01 2.12192058e-02 2.45959274e+02] [-2.43827282e-01 9.69803833e-01 -5.36487083e-03 -5.72321966e+01] [-2.18868856e-02 2.78054867e-05 9.99760453e-01 -6.27838306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.53862385300005 meters 0.015783485508151406 Centerline is valid? [True, True] Translation: X:245.99, Y:-57.24, Z:-6.29 [[ 9.68945909e-01 2.46343602e-01 2.14162525e-02 2.45988205e+02] [-2.46284106e-01 9.69182557e-01 -5.41391505e-03 -5.72356561e+01] [-2.20899416e-02 -2.86917377e-05 9.99755987e-01 -6.28601114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.568623853 meters 0.030684944364286072 Centerline is valid? [True, True] Translation: X:246.02, Y:-57.24, Z:-6.28 [[ 9.68106609e-01 2.49698189e-01 2.05038572e-02 2.46017355e+02] [-2.49644426e-01 9.68323708e-01 -5.18233931e-03 -5.72364743e+01] [-2.11483918e-02 -1.01616729e-04 9.99776343e-01 -6.27985066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.598623853 meters 0.016867730611748653 Centerline is valid? [True, True] Translation: X:246.05, Y:-57.24, Z:-6.29 [[ 9.67896291e-01 2.50473254e-01 2.09742644e-02 2.46045361e+02] [-2.50417206e-01 9.68123512e-01 -5.29986384e-03 -5.72437371e+01] [-2.16331526e-02 -1.22598139e-04 9.99765968e-01 -6.28920099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.628623853 meters 0.017182145989506032 Centerline is valid? [True, True] Translation: X:246.07, Y:-57.25, Z:-6.29 [[ 9.67804466e-01 2.50832541e-01 2.09177408e-02 2.46072123e+02] [-2.50776902e-01 9.68030485e-01 -5.28455037e-03 -5.72498012e+01] [-2.15745480e-02 -1.31274785e-04 9.99767234e-01 -6.29060969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.658623853 meters 0.017355272210079955 Centerline is valid? [True, True] Translation: X:246.10, Y:-57.26, Z:-6.29 [[ 9.68036540e-01 2.49917195e-01 2.11341581e-02 2.46099202e+02] [-2.49860210e-01 9.68267206e-01 -5.33784798e-03 -5.72562860e+01] [-2.17975322e-02 -1.13353302e-04 9.99762399e-01 -6.29212700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.688623853 meters 0.01646326496877397 Centerline is valid? [True, True] Translation: X:246.13, Y:-57.27, Z:-6.29 [[ 9.68292880e-01 2.48893634e-01 2.14676077e-02 2.46126046e+02] [-2.48834616e-01 9.68530821e-01 -5.42065503e-03 -5.72669252e+01] [-2.21412063e-02 -9.31022618e-05 9.99754849e-01 -6.29189184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.718623853 meters 0.015817435647307667 Centerline is valid? [True, True] Translation: X:246.15, Y:-57.28, Z:-6.29 [[ 9.68838167e-01 2.46744890e-01 2.16694524e-02 2.46153396e+02] [-2.46684245e-01 9.69080470e-01 -5.47047202e-03 -5.72785358e+01] [-2.23492541e-02 -4.55104238e-05 9.99750223e-01 -6.29211611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.748623853 meters 0.015815885023159934 Centerline is valid? [True, True] Translation: X:246.18, Y:-57.29, Z:-6.29 [[ 9.69052188e-01 2.45901392e-01 2.16878554e-02 2.46182020e+02] [-2.45840445e-01 9.69294849e-01 -5.47456470e-03 -5.72869287e+01] [-2.23681296e-02 -2.66131310e-05 9.99749802e-01 -6.29262185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.778623853 meters 0.01580368693199508 Centerline is valid? [True, True] Translation: X:246.21, Y:-57.30, Z:-6.29 [[ 9.69340935e-01 2.44795479e-01 2.12914256e-02 2.46209835e+02] [-2.44736486e-01 9.69574738e-01 -5.37392352e-03 -5.72951325e+01] [-2.19591406e-02 -1.62464134e-06 9.99758869e-01 -6.29480313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.80862385300003 meters 0.015863527118864944 Centerline is valid? [True, True] Translation: X:246.24, Y:-57.30, Z:-6.30 [[ 9.69469180e-01 2.44314815e-01 2.09709490e-02 2.46237845e+02] [-2.44257476e-01 9.69695968e-01 -5.29289673e-03 -5.73028670e+01] [-2.16285778e-02 8.98917224e-06 9.99766075e-01 -6.29635050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.838623853 meters 0.016097089363955947 Centerline is valid? [True, True] Translation: X:246.27, Y:-57.31, Z:-6.30 [[ 9.69823586e-01 2.42936645e-01 2.05912173e-02 2.46265017e+02] [-2.42881075e-01 9.70042156e-01 -5.19597432e-03 -5.73124893e+01] [-2.12366414e-02 3.79614582e-05 9.99774476e-01 -6.29880343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.86862385300003 meters 0.0234548479197552 Centerline is valid? [True, True] Translation: X:246.29, Y:-57.32, Z:-6.29 [[ 9.70079700e-01 2.41954423e-01 2.00856224e-02 2.46293696e+02] [-2.41901348e-01 9.70287614e-01 -5.06792115e-03 -5.73210650e+01] [-2.07150366e-02 5.75483009e-05 9.99785419e-01 -6.29227740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.898623853 meters 0.01648852944890876 Centerline is valid? [True, True] Translation: X:246.32, Y:-57.33, Z:-6.30 [[ 9.70326558e-01 2.40927261e-01 2.05042963e-02 2.46321943e+02] [-2.40871732e-01 9.70543172e-01 -5.17303093e-03 -5.73307784e+01] [-2.11466289e-02 8.06239337e-05 9.99776382e-01 -6.29996526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.92862385300003 meters 0.017116497153969627 Centerline is valid? [True, True] Translation: X:246.35, Y:-57.34, Z:-6.30 [[ 9.70732769e-01 2.39241267e-01 2.10120844e-02 2.46350879e+02] [-2.39182572e-01 9.70960144e-01 -5.30051371e-03 -5.73412528e+01] [-2.16699981e-02 1.19657961e-04 9.99765171e-01 -6.29972806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.958623853 meters 0.017401247232509666 Centerline is valid? [True, True] Translation: X:246.38, Y:-57.35, Z:-6.30 [[ 9.70921311e-01 2.38444707e-01 2.13525102e-02 2.46380233e+02] [-2.38383902e-01 9.71156065e-01 -5.38638959e-03 -5.73502465e+01] [-2.20209758e-02 1.39665763e-04 9.99757499e-01 -6.30019676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.98862385300004 meters 0.018738211306248535 Centerline is valid? [True, True] Translation: X:246.41, Y:-57.36, Z:-6.30 [[ 9.71419024e-01 2.36401026e-01 2.14390818e-02 2.46408195e+02] [-2.36339233e-01 9.71655556e-01 -5.40806716e-03 -5.73621307e+01] [-2.21098756e-02 1.86603178e-04 9.99755529e-01 -6.30121524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.018623853 meters 0.02358924720645396 Centerline is valid? [True, True] Translation: X:246.44, Y:-57.37, Z:-6.29 [[ 9.71531752e-01 2.35932970e-01 2.14869476e-02 2.46440062e+02] [-2.35870769e-01 9.71769311e-01 -5.42087861e-03 -5.73705954e+01] [-2.21593203e-02 1.98412832e-04 9.99754432e-01 -6.29445623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.04862385300004 meters 0.019358531387393935 Centerline is valid? [True, True] Translation: X:246.47, Y:-57.38, Z:-6.30 [[ 9.71525145e-01 2.35933634e-01 2.17764316e-02 2.46470383e+02] [-2.35869643e-01 9.71769148e-01 -5.49851862e-03 -5.73808032e+01] [-2.24589499e-02 2.05549964e-04 9.99747745e-01 -6.30206229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.078623853 meters 0.0192920443892305 Centerline is valid? [True, True] Translation: X:246.50, Y:-57.39, Z:-6.30 [[ 9.71456254e-01 2.36239652e-01 2.15307705e-02 2.46500134e+02] [-2.36177069e-01 9.71694801e-01 -5.44110131e-03 -5.73877843e+01] [-2.22067416e-02 2.00717628e-04 9.99753380e-01 -6.30373559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.10862385300004 meters 0.018256872701173106 Centerline is valid? [True, True] Translation: X:246.53, Y:-57.39, Z:-6.31 [[ 9.71268628e-01 2.37065013e-01 2.09148599e-02 2.46533212e+02] [-2.37006160e-01 9.71493772e-01 -5.28501795e-03 -5.73931220e+01] [-2.15715490e-02 1.76221493e-04 9.99767292e-01 -6.30548006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.138623853 meters 0.01823871514141035 Centerline is valid? [True, True] Translation: X:246.56, Y:-57.40, Z:-6.31 [[ 9.71050953e-01 2.37990205e-01 2.05111752e-02 2.46564533e+02] [-2.37933719e-01 9.71267542e-01 -5.18725359e-03 -5.74004627e+01] [-2.11563543e-02 1.56787341e-04 9.99776167e-01 -6.30701102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.16862385300004 meters 0.017562684241210626 Centerline is valid? [True, True] Translation: X:246.59, Y:-57.41, Z:-6.31 [[ 9.70722719e-01 2.39367125e-01 2.00195470e-02 2.46594694e+02] [-2.39313511e-01 9.70929124e-01 -5.06756220e-03 -5.74051663e+01] [-2.06505690e-02 1.28249685e-04 9.99786746e-01 -6.30946132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.198623853 meters 0.017191255194916946 Centerline is valid? [True, True] Translation: X:246.62, Y:-57.41, Z:-6.31 [[ 9.70595977e-01 2.39872677e-01 2.01133714e-02 2.46624895e+02] [-2.39818671e-01 9.70804349e-01 -5.09120177e-03 -5.74123505e+01] [-2.07473887e-02 1.17937962e-04 9.99784743e-01 -6.31016038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.22862385300004 meters 0.01715563325537308 Centerline is valid? [True, True] Translation: X:246.65, Y:-57.42, Z:-6.31 [[ 9.70553530e-01 2.40075236e-01 1.97414821e-02 2.46654616e+02] [-2.40023239e-01 9.70754278e-01 -4.99762617e-03 -5.74201060e+01] [-2.03639345e-02 1.12049237e-04 9.99792627e-01 -6.31151948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.258623853 meters 0.017326261795092068 Centerline is valid? [True, True] Translation: X:246.68, Y:-57.43, Z:-6.31 [[ 9.70558100e-01 2.40087357e-01 1.93658132e-02 2.46683758e+02] [-2.40037318e-01 9.70751281e-01 -4.90276808e-03 -5.74276486e+01] [-1.99764806e-02 1.09903412e-04 9.99800444e-01 -6.31302113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.28862385300005 meters 0.017739731084806337 Centerline is valid? [True, True] Translation: X:246.71, Y:-57.44, Z:-6.32 [[ 9.70723231e-01 2.39483215e-01 1.85525660e-02 2.46713071e+02] [-2.39437175e-01 9.70900497e-01 -4.69717991e-03 -5.74356780e+01] [-1.91375913e-02 1.17487672e-04 9.99816853e-01 -6.31621458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.318623853 meters 0.01780461298711113 Centerline is valid? [True, True] Translation: X:246.74, Y:-57.44, Z:-6.32 [[ 9.70739811e-01 2.39428062e-01 1.83962399e-02 2.46742667e+02] [-2.39382784e-01 9.70914100e-01 -4.65760091e-03 -5.74430398e+01] [-1.89763291e-02 1.17575510e-04 9.99819926e-01 -6.31768387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.348623853 meters 0.018069077947545812 Centerline is valid? [True, True] Translation: X:246.77, Y:-57.45, Z:-6.32 [[ 9.70754052e-01 2.39354703e-01 1.85983031e-02 2.46771172e+02] [-2.39308410e-01 9.70932187e-01 -4.70883175e-03 -5.74509269e+01] [-1.91847721e-02 1.20387155e-04 9.99815948e-01 -6.31824267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.378623853 meters 0.017376265470921474 Centerline is valid? [True, True] Translation: X:246.80, Y:-57.46, Z:-6.32 [[ 9.70544495e-01 2.40105923e-01 1.98123220e-02 2.46799761e+02] [-2.40053550e-01 9.70746688e-01 -5.01599320e-03 -5.74575125e+01] [-2.04371156e-02 1.12226375e-04 9.99791134e-01 -6.31614518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.408623853 meters 0.02792758063241872 Centerline is valid? [True, True] Translation: X:246.83, Y:-57.46, Z:-6.31 [[ 9.70311157e-01 2.41030028e-01 2.00195905e-02 2.46830678e+02] [-2.40976764e-01 9.70517654e-01 -5.06774913e-03 -5.74628067e+01] [-2.06508457e-02 9.30373914e-05 9.99786744e-01 -6.30583030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.438623853 meters 0.01592374020749078 Centerline is valid? [True, True] Translation: X:246.86, Y:-57.47, Z:-6.31 [[ 9.69598021e-01 2.43778952e-01 2.12485402e-02 2.46859776e+02] [-2.43719593e-01 9.69830821e-01 -5.37946231e-03 -5.74666290e+01] [-2.19188888e-02 3.72304407e-05 9.99759752e-01 -6.31367060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.468623853 meters 0.015914242604036927 Centerline is valid? [True, True] Translation: X:246.89, Y:-57.47, Z:-6.31 [[ 9.69282092e-01 2.45053651e-01 2.09984597e-02 2.46888126e+02] [-2.44995968e-01 9.69509519e-01 -5.31669731e-03 -5.74705087e+01] [-2.16610827e-02 8.84150993e-06 9.99765371e-01 -6.31460974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.498623853 meters 0.01629236568216084 Centerline is valid? [True, True] Translation: X:246.92, Y:-57.47, Z:-6.32 [[ 9.68610276e-01 2.47727453e-01 2.06213987e-02 2.46916861e+02] [-2.47672444e-01 9.68829761e-01 -5.22055793e-03 -5.74708512e+01] [-2.12719003e-02 -5.06661455e-05 9.99773726e-01 -6.31704117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.528623853 meters 0.01649216759707753 Centerline is valid? [True, True] Translation: X:246.95, Y:-57.48, Z:-6.32 [[ 9.68363741e-01 2.48707571e-01 2.04012180e-02 2.46945571e+02] [-2.48653974e-01 9.68578618e-01 -5.16356248e-03 -5.74762720e+01] [-2.10444006e-02 -7.26372612e-05 9.99778539e-01 -6.31774362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.55862385300003 meters 0.01719417132325315 Centerline is valid? [True, True] Translation: X:246.97, Y:-57.48, Z:-6.32 [[ 9.68103224e-01 2.49763373e-01 1.98596277e-02 2.46973346e+02] [-2.49712824e-01 9.68306898e-01 -5.02559409e-03 -5.74801514e+01] [-2.04854238e-02 -9.39098759e-05 9.99790147e-01 -6.32023807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.588623853 meters 0.017094917531026346 Centerline is valid? [True, True] Translation: X:247.00, Y:-57.49, Z:-6.32 [[ 9.68174043e-01 2.49490414e-01 1.98382342e-02 2.47000158e+02] [-2.49439942e-01 9.68377264e-01 -5.01893952e-03 -5.74865391e+01] [-2.04630723e-02 -8.92410239e-05 9.99790605e-01 -6.32080395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.61862385300003 meters 0.016369961181870514 Centerline is valid? [True, True] Translation: X:247.03, Y:-57.49, Z:-6.32 [[ 9.68558277e-01 2.48006593e-01 1.96873953e-02 2.47027569e+02] [-2.47956610e-01 9.68758342e-01 -4.97929657e-03 -5.74944935e+01] [-2.03072268e-02 -5.88809024e-05 9.99793785e-01 -6.32059310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.648623853 meters 0.016304847416206796 Centerline is valid? [True, True] Translation: X:247.06, Y:-57.50, Z:-6.32 [[ 9.68874034e-01 2.46778853e-01 1.95781398e-02 2.47055182e+02] [-2.46729192e-01 9.69071822e-01 -4.95067453e-03 -5.75014894e+01] [-2.01943454e-02 -3.39186132e-05 9.99796073e-01 -6.32170370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.67862385300003 meters 0.016355509272301245 Centerline is valid? [True, True] Translation: X:247.08, Y:-57.51, Z:-6.32 [[ 9.69168165e-01 2.45631948e-01 1.94425897e-02 2.47082298e+02] [-2.45582760e-01 9.69363165e-01 -4.91547840e-03 -5.75084792e+01] [-2.00543288e-02 -1.08396651e-05 9.99798892e-01 -6.32409887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.708623853 meters 0.016633727185696577 Centerline is valid? [True, True] Translation: X:247.11, Y:-57.52, Z:-6.32 [[ 9.69902159e-01 2.42731204e-01 1.92708403e-02 2.47109035e+02] [-2.42682334e-01 9.70093583e-01 -4.87078024e-03 -5.75195558e+01] [-1.98768089e-02 4.74877611e-05 9.99802436e-01 -6.32451293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.73862385300004 meters 0.01713939752403627 Centerline is valid? [True, True] Translation: X:247.14, Y:-57.53, Z:-6.32 [[ 9.70556986e-01 2.40061340e-01 1.97405506e-02 2.47138331e+02] [-2.40009531e-01 9.70757715e-01 -4.98828680e-03 -5.75290031e+01] [-2.03607867e-02 1.03496313e-04 9.99792692e-01 -6.32315365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.768623853 meters 0.017549516612229282 Centerline is valid? [True, True] Translation: X:247.17, Y:-57.54, Z:-6.32 [[ 9.70778701e-01 2.39152082e-01 1.98745012e-02 2.47167221e+02] [-2.39099375e-01 9.70982114e-01 -5.02219296e-03 -5.75370715e+01] [-2.04988531e-02 1.23457139e-04 9.99789869e-01 -6.32346632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.79862385300004 meters 0.018216153168285763 Centerline is valid? [True, True] Translation: X:247.20, Y:-57.55, Z:-6.32 [[ 9.70863518e-01 2.38798070e-01 1.99877570e-02 2.47195793e+02] [-2.38744694e-01 9.71069238e-01 -5.05043661e-03 -5.75458990e+01] [-2.06155305e-02 1.31313740e-04 9.99787469e-01 -6.32466060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.828623853 meters 0.017781351086792886 Centerline is valid? [True, True] Translation: X:247.23, Y:-57.55, Z:-6.33 [[ 9.70864232e-01 2.38839944e-01 1.94453964e-02 2.47225417e+02] [-2.38789424e-01 9.71058940e-01 -4.91384759e-03 -5.75505011e+01] [-2.00562491e-02 1.27323875e-04 9.99798845e-01 -6.32500743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.85862385300004 meters 0.018194951163501626 Centerline is valid? [True, True] Translation: X:247.25, Y:-57.56, Z:-6.33 [[ 9.70859032e-01 2.38873089e-01 1.92973297e-02 2.47253412e+02] [-2.38823350e-01 9.71050787e-01 -4.87601098e-03 -5.75573507e+01] [-1.99034350e-02 1.25266375e-04 9.99801899e-01 -6.32702343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.888623853 meters 0.018194951163501626 Centerline is valid? [True, True] Translation: X:247.28, Y:-57.56, Z:-6.33 [[ 9.70869648e-01 2.38829924e-01 1.92974905e-02 2.47280897e+02] [-2.38780190e-01 9.71061405e-01 -4.87537429e-03 -5.75641988e+01] [-1.99034335e-02 1.25494470e-04 9.99801899e-01 -6.32773591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.91862385300004 meters 0.018254599912148884 Centerline is valid? [True, True] Translation: X:247.31, Y:-57.57, Z:-6.33 [[ 9.70942462e-01 2.38578416e-01 1.87369855e-02 2.47309631e+02] [-2.38531500e-01 9.71123228e-01 -4.73285295e-03 -5.75698040e+01] [-1.93250784e-02 1.25966657e-04 9.99813245e-01 -6.32899506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.948623853 meters 0.018678394884618945 Centerline is valid? [True, True] Translation: X:247.34, Y:-57.58, Z:-6.33 [[ 9.71026355e-01 2.38252261e-01 1.85385513e-02 2.47336355e+02] [-2.38206284e-01 9.71203296e-01 -4.68220508e-03 -5.75770295e+01] [-1.91202481e-02 1.30545116e-04 9.99817183e-01 -6.33076078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.97862385300004 meters 0.019466959036978104 Centerline is valid? [True, True] Translation: X:247.36, Y:-57.58, Z:-6.33 [[ 9.71207249e-01 2.37527162e-01 1.83664825e-02 2.47363135e+02] [-2.37481926e-01 9.71380887e-01 -4.63763229e-03 -5.75848112e+01] [-1.89424137e-02 1.42394467e-04 9.99820566e-01 -6.33184982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.008623853 meters 0.018700933388663556 Centerline is valid? [True, True] Translation: X:247.39, Y:-57.59, Z:-6.33 [[ 9.71276823e-01 2.37237795e-01 1.84272224e-02 2.47392706e+02] [-2.37192233e-01 9.71451598e-01 -4.65167469e-03 -5.75900081e+01] [-1.90047077e-02 1.47269782e-04 9.99819383e-01 -6.33093566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.03862385300005 meters 0.01848830801318787 Centerline is valid? [True, True] Translation: X:247.42, Y:-57.60, Z:-6.33 [[ 9.71375024e-01 2.36845682e-01 1.82944277e-02 2.47422512e+02] [-2.36800716e-01 9.71547271e-01 -4.61754764e-03 -5.75958462e+01] [-1.88675476e-02 1.53236866e-04 9.99821980e-01 -6.33087320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.068623853 meters 0.01949421433262268 Centerline is valid? [True, True] Translation: X:247.45, Y:-57.61, Z:-6.33 [[ 9.71466804e-01 2.36419107e-01 1.89276203e-02 2.47451259e+02] [-2.36370894e-01 9.71651161e-01 -4.77729432e-03 -5.76052422e+01] [-1.95204879e-02 1.67044302e-04 9.99809443e-01 -6.33183947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.098623853 meters 0.019348838327184727 Centerline is valid? [True, True] Translation: X:247.48, Y:-57.61, Z:-6.33 [[ 9.71528619e-01 2.36079930e-01 1.99602129e-02 2.47479211e+02] [-2.36026229e-01 9.71733622e-01 -5.03847762e-03 -5.76109950e+01] [-2.05854934e-02 1.83891417e-04 9.99788079e-01 -6.32989214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.128623853 meters 0.01934085668438092 Centerline is valid? [True, True] Translation: X:247.51, Y:-57.62, Z:-6.33 [[ 9.71539779e-01 2.36011039e-01 2.02298782e-02 2.47507390e+02] [-2.35955884e-01 9.71750356e-01 -5.10553226e-03 -5.76174850e+01] [-2.08633534e-02 1.86868880e-04 9.99782319e-01 -6.33028359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.158623853 meters 0.019850683710321 Centerline is valid? [True, True] Translation: X:247.54, Y:-57.63, Z:-6.33 [[ 9.71814954e-01 2.34880865e-01 2.01661838e-02 2.47535641e+02] [-2.34825836e-01 9.72024143e-01 -5.08837498e-03 -5.76251953e+01] [-2.07971795e-02 2.09417927e-04 9.99783693e-01 -6.33071546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.188623853 meters 0.02195652360241539 Centerline is valid? [True, True] Translation: X:247.56, Y:-57.63, Z:-6.33 [[ 9.72064962e-01 2.33894040e-01 1.95777451e-02 2.47563927e+02] [-2.33841985e-01 9.72262068e-01 -4.93942545e-03 -5.76334192e+01] [-2.01900011e-02 2.23343641e-04 9.99796136e-01 -6.32887195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.218623853 meters 0.022078201657103145 Centerline is valid? [True, True] Translation: X:247.59, Y:-57.64, Z:-6.33 [[ 9.72281025e-01 2.33012195e-01 1.93629993e-02 2.47591576e+02] [-2.32961112e-01 9.72473784e-01 -4.88470631e-03 -5.76437315e+01] [-1.99682053e-02 2.38481422e-04 9.99800587e-01 -6.33433809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.248623853 meters 0.02292866982314739 Centerline is valid? [True, True] Translation: X:247.62, Y:-57.65, Z:-6.34 [[ 9.72779562e-01 2.30945674e-01 1.90792771e-02 2.47621344e+02] [-2.30895687e-01 9.72966608e-01 -4.81270077e-03 -5.76544188e+01] [-1.96749719e-02 2.76374157e-04 9.99806391e-01 -6.33516253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.278623853 meters 0.02455431752723382 Centerline is valid? [True, True] Translation: X:247.65, Y:-57.67, Z:-6.34 [[ 9.73201320e-01 2.29181337e-01 1.88442259e-02 2.47650381e+02] [-2.29132235e-01 9.73383696e-01 -4.75387479e-03 -5.76666193e+01] [-1.94321617e-02 3.08657616e-04 9.99811130e-01 -6.33593959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.30862385300003 meters 0.025373134046713305 Centerline is valid? [True, True] Translation: X:247.68, Y:-57.68, Z:-6.34 [[ 9.73347372e-01 2.28554709e-01 1.89113078e-02 2.47679455e+02] [-2.28505128e-01 9.73531017e-01 -4.77134133e-03 -5.76760366e+01] [-1.95012572e-02 3.22841744e-04 9.99809780e-01 -6.33629759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.338623853 meters 0.025351688638136062 Centerline is valid? [True, True] Translation: X:247.71, Y:-57.68, Z:-6.34 [[ 9.73447049e-01 2.28136159e-01 1.88344366e-02 2.47710088e+02] [-2.28086899e-01 9.73629182e-01 -4.75211019e-03 -5.76845070e+01] [-1.94218852e-02 3.30039405e-04 9.99811323e-01 -6.33635713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.36862385300003 meters 0.024800916455550104 Centerline is valid? [True, True] Translation: X:247.74, Y:-57.69, Z:-6.34 [[ 9.73522752e-01 2.27742848e-01 1.96633445e-02 2.47741459e+02] [-2.27689075e-01 9.73721249e-01 -4.96127889e-03 -5.76932124e+01] [-2.02765122e-02 3.52789141e-04 9.99794348e-01 -6.33528732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.398623853 meters 0.02712636740827389 Centerline is valid? [True, True] Translation: X:247.77, Y:-57.71, Z:-6.34 [[ 9.73503784e-01 2.27822481e-01 1.96799523e-02 2.47771516e+02] [-2.27768588e-01 9.73702620e-01 -4.96771741e-03 -5.77059771e+01] [-2.02941788e-02 3.53616755e-04 9.99793989e-01 -6.33700905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.42862385300003 meters 0.02673974173449273 Centerline is valid? [True, True] Translation: X:247.80, Y:-57.72, Z:-6.34 [[ 9.73689015e-01 2.27071220e-01 1.91928040e-02 2.47801766e+02] [-2.27019743e-01 9.73878087e-01 -4.84841538e-03 -5.77167084e+01] [-1.97923868e-02 3.63703360e-04 9.99804045e-01 -6.33811669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.458623853 meters 0.026430996570688006 Centerline is valid? [True, True] Translation: X:247.83, Y:-57.73, Z:-6.34 [[ 9.73728732e-01 2.26884333e-01 1.93869835e-02 2.47833020e+02] [-2.26831707e-01 9.73921639e-01 -4.90077631e-03 -5.77265760e+01] [-1.99933121e-02 3.74444147e-04 9.99800044e-01 -6.33837689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.48862385300004 meters 0.026388863193057197 Centerline is valid? [True, True] Translation: X:247.86, Y:-57.74, Z:-6.34 [[ 9.73898392e-01 2.26178980e-01 1.91047151e-02 2.47863353e+02] [-2.26127662e-01 9.74085684e-01 -4.83337562e-03 -5.77375013e+01] [-1.97028374e-02 3.87112196e-04 9.99805805e-01 -6.33906350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.518623853 meters 0.030572235611343025 Centerline is valid? [True, True] Translation: X:247.89, Y:-57.75, Z:-6.34 [[ 9.73870660e-01 2.26349121e-01 1.84936154e-02 2.47892105e+02] [-2.26301003e-01 9.74046167e-01 -4.68195217e-03 -5.77526999e+01] [-1.90733910e-02 3.74492119e-04 9.99818016e-01 -6.34265557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.54862385300004 meters 0.029557303710146532 Centerline is valid? [True, True] Translation: X:247.92, Y:-57.76, Z:-6.35 [[ 9.73588508e-01 2.27638668e-01 1.74943975e-02 2.47921803e+02] [-2.27595741e-01 9.73745616e-01 -4.43326518e-03 -5.77628804e+01] [-1.80442754e-02 3.34525682e-04 9.99837133e-01 -6.34595543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.578623853 meters 0.02662546474398981 Centerline is valid? [True, True] Translation: X:247.95, Y:-57.77, Z:-6.35 [[ 9.73381874e-01 2.28554369e-01 1.70478347e-02 2.47953438e+02] [-2.28513754e-01 9.73531101e-01 -4.31964815e-03 -5.77688410e+01] [-1.75838717e-02 3.09002519e-04 9.99845344e-01 -6.34610280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.60862385300004 meters 0.024052923721694992 Centerline is valid? [True, True] Translation: X:247.98, Y:-57.78, Z:-6.35 [[ 9.72827678e-01 2.30941861e-01 1.64974334e-02 2.47984527e+02] [-2.30904123e-01 9.72967517e-01 -4.18292290e-03 -5.77758112e+01] [-1.70174788e-02 2.59937796e-04 9.99855158e-01 -6.34731889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.638623853 meters 0.022842138783244918 Centerline is valid? [True, True] Translation: X:248.02, Y:-57.78, Z:-6.35 [[ 9.72449921e-01 2.32530809e-01 1.64491536e-02 2.48015526e+02] [-2.32493469e-01 9.72589003e-01 -4.17362115e-03 -5.77835668e+01] [-1.69687614e-02 2.34316780e-04 9.99855993e-01 -6.34767063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.66862385300004 meters 0.020865686491290572 Centerline is valid? [True, True] Translation: X:248.05, Y:-57.79, Z:-6.35 [[ 9.71686115e-01 2.35658394e-01 1.70650449e-02 2.48045602e+02] [-2.35618627e-01 9.71835936e-01 -4.33323537e-03 -5.77912640e+01] [-1.76055872e-02 1.89702176e-04 9.99844992e-01 -6.34704910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.698623853 meters 0.019828284483076178 Centerline is valid? [True, True] Translation: X:248.08, Y:-57.80, Z:-6.35 [[ 9.71295813e-01 2.37233109e-01 1.74612485e-02 2.48076937e+02] [-2.37191676e-01 9.71452739e-01 -4.43677480e-03 -5.77979923e+01] [-1.80153276e-02 1.67757966e-04 9.99837697e-01 -6.34725911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.72862385300004 meters 0.018669080731942084 Centerline is valid? [True, True] Translation: X:248.11, Y:-57.80, Z:-6.35 [[ 9.70868519e-01 2.38984846e-01 1.73367360e-02 2.48108735e+02] [-2.38944227e-01 9.71023287e-01 -4.40817582e-03 -5.78049009e+01] [-1.78878616e-02 1.37246158e-04 9.99839990e-01 -6.34760974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.758623853 meters 0.01741263243187103 Centerline is valid? [True, True] Translation: X:248.14, Y:-57.81, Z:-6.35 [[ 9.70038108e-01 2.42287293e-01 1.79704506e-02 2.48138819e+02] [-2.42244150e-01 9.70204546e-01 -4.57282292e-03 -5.78125995e+01] [-1.85429498e-02 8.25759488e-05 9.99828061e-01 -6.34803593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.78862385300005 meters 0.016655169780983855 Centerline is valid? [True, True] Translation: X:248.17, Y:-57.82, Z:-6.35 [[ 9.69381407e-01 2.44884057e-01 1.82067539e-02 2.48167191e+02] [-2.44840154e-01 9.69552370e-01 -4.63701462e-03 -5.78190718e+01] [-1.87879323e-02 3.72913396e-05 9.99823491e-01 -6.34811591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.818623853 meters 0.016403841449494656 Centerline is valid? [True, True] Translation: X:248.20, Y:-57.83, Z:-6.35 [[ 9.69008782e-01 2.46346305e-01 1.83160750e-02 2.48198611e+02] [-2.46302147e-01 9.69181870e-01 -4.66417035e-03 -5.78265829e+01] [-1.89006090e-02 8.33342802e-06 9.99821367e-01 -6.34830012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.848623853 meters 0.016318511268482615 Centerline is valid? [True, True] Translation: X:248.23, Y:-57.83, Z:-6.35 [[ 9.68698791e-01 2.47595201e-01 1.78681122e-02 2.48229735e+02] [-2.47553332e-01 9.68863570e-01 -4.55317148e-03 -5.78348941e+01] [-1.84391064e-02 -1.26590086e-05 9.99829985e-01 -6.34914726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.878623853 meters 0.016768693399898973 Centerline is valid? [True, True] Translation: X:248.26, Y:-57.84, Z:-6.35 [[ 9.68252244e-01 2.49408896e-01 1.68165193e-02 2.48259527e+02] [-2.49372033e-01 9.68398266e-01 -4.28812609e-03 -5.78435576e+01] [-1.73545849e-02 -4.15819104e-05 9.99849397e-01 -6.35199141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.908623853 meters 0.017150495746271217 Centerline is valid? [True, True] Translation: X:248.29, Y:-57.85, Z:-6.36 [[ 9.68201207e-01 2.49642188e-01 1.62849848e-02 2.48289220e+02] [-2.49607587e-01 9.68338152e-01 -4.15646249e-03 -5.78513442e+01] [-1.68070005e-02 -4.05637739e-05 9.99858752e-01 -6.35543842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.938623853 meters 0.01715368145551836 Centerline is valid? [True, True] Translation: X:248.32, Y:-57.86, Z:-6.35 [[ 9.68120215e-01 2.49896910e-01 1.71692639e-02 2.48315596e+02] [-2.49858475e-01 9.68272447e-01 -4.38295251e-03 -5.78591659e+01] [-1.77198115e-02 -4.66611622e-05 9.99842991e-01 -6.35491365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.968623853 meters 0.01689719733125223 Centerline is valid? [True, True] Translation: X:248.35, Y:-57.87, Z:-6.35 [[ 9.68100414e-01 2.49956121e-01 1.74219889e-02 2.48345680e+02] [-2.49916588e-01 9.68257164e-01 -4.44569947e-03 -5.78684871e+01] [-1.79801954e-02 -5.01605308e-05 9.99838342e-01 -6.35293278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.998623853 meters 0.0166453660242344 Centerline is valid? [True, True] Translation: X:248.38, Y:-57.88, Z:-6.35 [[ 9.68147490e-01 2.49708940e-01 1.83270784e-02 2.48375652e+02] [-2.49665138e-01 9.68320940e-01 -4.67715599e-03 -5.78796931e+01] [-1.89144214e-02 -4.74557326e-05 9.99821105e-01 -6.35258023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.028623853 meters 0.016634603799343818 Centerline is valid? [True, True] Translation: X:248.40, Y:-57.89, Z:-6.35 [[ 9.68219127e-01 2.49431250e-01 1.83241103e-02 2.48404946e+02] [-2.49387420e-01 9.68392508e-01 -4.67602510e-03 -5.78895594e+01] [-1.89112779e-02 -4.23856494e-05 9.99821165e-01 -6.35391484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.05862385300003 meters 0.016678248712129386 Centerline is valid? [True, True] Translation: X:248.44, Y:-57.90, Z:-6.36 [[ 9.68422234e-01 2.48706826e-01 1.74152683e-02 2.48435003e+02] [-2.48667075e-01 9.68578812e-01 -4.44651077e-03 -5.79033502e+01] [-1.79739374e-02 -2.45039248e-05 9.99838455e-01 -6.35604038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.088623853 meters 0.01664779146579311 Centerline is valid? [True, True] Translation: X:248.47, Y:-57.91, Z:-6.36 [[ 9.68462894e-01 2.48563470e-01 1.71995291e-02 2.48465694e+02] [-2.48524613e-01 9.68615611e-01 -4.39498107e-03 -5.79134840e+01] [-1.77521641e-02 -1.81302286e-05 9.99842418e-01 -6.35737948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.11862385300003 meters 0.016718978339598255 Centerline is valid? [True, True] Translation: X:248.50, Y:-57.92, Z:-6.36 [[ 9.68438438e-01 2.48671653e-01 1.70117959e-02 2.48497729e+02] [-2.48633609e-01 9.68587842e-01 -4.34971632e-03 -5.79232197e+01] [-1.75590698e-02 -1.72717322e-05 9.99845827e-01 -6.35873210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.148623853 meters 0.01700558718672002 Centerline is valid? [True, True] Translation: X:248.53, Y:-57.93, Z:-6.36 [[ 9.68167244e-01 2.49767947e-01 1.63756267e-02 2.48528187e+02] [-2.49732797e-01 9.68305722e-01 -4.19030934e-03 -5.79322446e+01] [-1.69032180e-02 -3.26108100e-05 9.99857130e-01 -6.36030141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.17862385300003 meters 0.017146278689400846 Centerline is valid? [True, True] Translation: X:248.56, Y:-57.94, Z:-6.36 [[ 9.67951156e-01 2.50614982e-01 1.62077133e-02 2.48559592e+02] [-2.50580625e-01 9.68086839e-01 -4.14989222e-03 -5.79411233e+01] [-1.67304991e-02 -4.44459468e-05 9.99860034e-01 -6.36079881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.208623853 meters 0.017378956496185365 Centerline is valid? [True, True] Translation: X:248.59, Y:-57.95, Z:-6.36 [[ 9.67523475e-01 2.52267088e-01 1.61134095e-02 2.48591306e+02] [-2.52233305e-01 9.67657642e-01 -4.12895352e-03 -5.79509377e+01] [-1.66338629e-02 -6.94790658e-05 9.99861645e-01 -6.36150577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.23862385300004 meters 0.017649622653525966 Centerline is valid? [True, True] Translation: X:248.62, Y:-57.96, Z:-6.36 [[ 9.67223341e-01 2.53379703e-01 1.66653805e-02 2.48622429e+02] [-2.53343669e-01 9.67366900e-01 -4.27400858e-03 -5.79589626e+01] [-1.72044845e-02 -8.81477716e-05 9.99851988e-01 -6.36122724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.268623853 meters 0.01799401416125509 Centerline is valid? [True, True] Translation: X:248.65, Y:-57.97, Z:-6.36 [[ 9.66685415e-01 2.55383460e-01 1.72799789e-02 2.48653955e+02] [-2.55344980e-01 9.66839838e-01 -4.43490555e-03 -5.79674381e+01] [-1.78395735e-02 -1.25197364e-04 9.99840854e-01 -6.35871044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.29862385300004 meters 0.01848302908487984 Centerline is valid? [True, True] Translation: X:248.69, Y:-57.97, Z:-6.36 [[ 9.66408765e-01 2.56381881e-01 1.79563276e-02 2.48685534e+02] [-2.56340429e-01 9.66575558e-01 -4.61246128e-03 -5.79747401e+01] [-1.85386989e-02 -1.45409701e-04 9.99828133e-01 -6.35917427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.328623853 meters 0.019395225250570438 Centerline is valid? [True, True] Translation: X:248.72, Y:-57.98, Z:-6.36 [[ 9.66152699e-01 2.57316363e-01 1.83643815e-02 2.48716754e+02] [-2.57273105e-01 9.66327203e-01 -4.72089496e-03 -5.79809827e+01] [-1.89607649e-02 -1.63556039e-04 9.99820215e-01 -6.35993639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.35862385300004 meters 0.019482514568573014 Centerline is valid? [True, True] Translation: X:248.75, Y:-57.99, Z:-6.36 [[ 9.65921202e-01 2.58199620e-01 1.81435557e-02 2.48746839e+02] [-2.58157485e-01 9.66091572e-01 -4.66768875e-03 -5.79910849e+01] [-1.87335317e-02 -1.75275196e-04 9.99824497e-01 -6.36124057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.388623853 meters 0.01926051437718461 Centerline is valid? [True, True] Translation: X:248.78, Y:-58.00, Z:-6.36 [[ 9.65919303e-01 2.58237401e-01 1.77015649e-02 2.48778316e+02] [-2.58197256e-01 9.66081475e-01 -4.55643189e-03 -5.80013388e+01] [-1.82777951e-02 -1.69349978e-04 9.99832933e-01 -6.36236115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.41862385300004 meters 0.01872886417621182 Centerline is valid? [True, True] Translation: X:248.81, Y:-58.01, Z:-6.36 [[ 9.66058344e-01 2.57760803e-01 1.70482829e-02 2.48809369e+02] [-2.57723436e-01 9.66208748e-01 -4.39147964e-03 -5.80135262e+01] [-1.76041514e-02 -1.51316511e-04 9.99845023e-01 -6.36403632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.448623853 meters 0.019203723820951025 Centerline is valid? [True, True] Translation: X:248.84, Y:-58.02, Z:-6.37 [[ 9.66119747e-01 2.57554419e-01 1.66840088e-02 2.48839895e+02] [-2.57518534e-01 9.66263785e-01 -4.30154716e-03 -5.80223925e+01] [-1.72290360e-02 -1.40631835e-04 9.99851559e-01 -6.36658814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.47862385300004 meters 0.018635842274008132 Centerline is valid? [True, True] Translation: X:248.87, Y:-58.03, Z:-6.37 [[ 9.66257689e-01 2.57079253e-01 1.60105153e-02 2.48870781e+02] [-2.57046119e-01 9.66390316e-01 -4.12921214e-03 -5.80344071e+01] [-1.65339417e-02 -1.25557840e-04 9.99863297e-01 -6.36734667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.508623853 meters 0.018774807195787013 Centerline is valid? [True, True] Translation: X:248.90, Y:-58.04, Z:-6.37 [[ 9.66258953e-01 2.57087905e-01 1.57938180e-02 2.48901105e+02] [-2.57055612e-01 9.66388014e-01 -4.07652976e-03 -5.80431908e+01] [-1.63109829e-02 -1.20906158e-04 9.99866960e-01 -6.36942703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.53862385300005 meters 0.018894913888191683 Centerline is valid? [True, True] Translation: X:248.93, Y:-58.05, Z:-6.37 [[ 9.66180849e-01 2.57383556e-01 1.57566339e-02 2.48932608e+02] [-2.57351407e-01 9.66309314e-01 -4.06979526e-03 -5.80524247e+01] [-1.62732805e-02 -1.22833670e-04 9.99867574e-01 -6.37037264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.568623853 meters 0.01854236446606924 Centerline is valid? [True, True] Translation: X:248.96, Y:-58.06, Z:-6.37 [[ 9.66074907e-01 2.57760771e-01 1.60828985e-02 2.48963885e+02] [-2.57727277e-01 9.66208760e-01 -4.15721547e-03 -5.80631886e+01] [-1.66110044e-02 -1.28820081e-04 9.99862019e-01 -6.36910257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.598623853 meters 0.0191237780219544 Centerline is valid? [True, True] Translation: X:249.00, Y:-58.07, Z:-6.37 [[ 9.65889193e-01 2.58427450e-01 1.65324163e-02 2.48995131e+02] [-2.58392093e-01 9.66030659e-01 -4.27703939e-03 -5.80714232e+01] [-1.70761254e-02 -1.40699522e-04 9.99854182e-01 -6.36963289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.628623853 meters 0.018768240261651855 Centerline is valid? [True, True] Translation: X:249.03, Y:-58.08, Z:-6.37 [[ 9.65812813e-01 2.58680939e-01 1.70229923e-02 2.49027194e+02] [-2.58643434e-01 9.65962810e-01 -4.40724491e-03 -5.80812153e+01] [-1.75836477e-02 -1.46311574e-04 9.99845385e-01 -6.36884484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.658623853 meters 0.01864024584859286 Centerline is valid? [True, True] Translation: X:249.06, Y:-58.09, Z:-6.37 [[ 9.65775862e-01 2.58806121e-01 1.72155579e-02 2.49059148e+02] [-2.58767720e-01 9.65929278e-01 -4.46060444e-03 -5.80902661e+01] [-1.77834431e-02 -1.46886564e-04 9.99841851e-01 -6.36908228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.688623853 meters 0.01814593314234459 Centerline is valid? [True, True] Translation: X:249.09, Y:-58.10, Z:-6.37 [[ 9.65994758e-01 2.57958122e-01 1.76560063e-02 2.49088703e+02] [-2.57917518e-01 9.66156090e-01 -4.57863390e-03 -5.81009271e+01] [-1.82395538e-02 -1.30856965e-04 9.99833637e-01 -6.36924569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.718623853 meters 0.017460399565702386 Centerline is valid? [True, True] Translation: X:249.12, Y:-58.11, Z:-6.37 [[ 9.66428818e-01 2.56314518e-01 1.78383757e-02 2.49118554e+02] [-2.56272738e-01 9.66593430e-01 -4.62877246e-03 -5.81133008e+01] [-1.84288783e-02 -9.81102861e-05 9.99830169e-01 -6.36953193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.748623853 meters 0.017145375340131747 Centerline is valid? [True, True] Translation: X:249.15, Y:-58.12, Z:-6.37 [[ 9.66656624e-01 2.55465408e-01 1.76747252e-02 2.49149778e+02] [-2.55424196e-01 9.66818194e-01 -4.58918586e-03 -5.81247472e+01] [-1.82606241e-02 -7.83855643e-05 9.99833258e-01 -6.37059614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.778623853 meters 0.017145375340131747 Centerline is valid? [True, True] Translation: X:249.18, Y:-58.13, Z:-6.37 [[ 9.66608944e-01 2.55645818e-01 1.76738685e-02 2.49181165e+02] [-2.55604577e-01 9.66770505e-01 -4.59248242e-03 -5.81330970e+01] [-1.82606237e-02 -7.83870951e-05 9.99833258e-01 -6.37141393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.80862385300003 meters 0.01689808238453035 Centerline is valid? [True, True] Translation: X:249.21, Y:-58.14, Z:-6.37 [[ 9.66881588e-01 2.54602230e-01 1.78241294e-02 2.49210915e+02] [-2.54560039e-01 9.67045863e-01 -4.63520648e-03 -5.81442953e+01] [-1.84168845e-02 -5.56152667e-05 9.99830393e-01 -6.37183853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.838623853 meters 0.016498420948854058 Centerline is valid? [True, True] Translation: X:249.24, Y:-58.16, Z:-6.37 [[ 9.67632720e-01 2.51679609e-01 1.85551628e-02 2.49239689e+02] [-2.51633277e-01 9.67810609e-01 -4.82903626e-03 -5.81594804e+01] [-1.91732534e-02 3.63706035e-06 9.99816176e-01 -6.37091178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.86862385300003 meters 0.02756170597843034 Centerline is valid? [True, True] Translation: X:249.27, Y:-58.17, Z:-6.36 [[ 9.67913967e-01 2.50617776e-01 1.82560401e-02 2.49270707e+02] [-2.50572682e-01 9.68086117e-01 -4.75407140e-03 -5.81702849e+01] [-1.88648738e-02 2.70671683e-05 9.99822042e-01 -6.36311723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.898623853 meters 0.017246022485084906 Centerline is valid? [True, True] Translation: X:249.30, Y:-58.19, Z:-6.37 [[ 9.68570254e-01 2.48028483e-01 1.88025164e-02 2.49300073e+02] [-2.47980086e-01 9.68752737e-01 -4.90024055e-03 -5.81878380e+01] [-1.94303885e-02 8.35775932e-05 9.99811209e-01 -6.37161223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.92862385300003 meters 0.01807643463216197 Centerline is valid? [True, True] Translation: X:249.33, Y:-58.20, Z:-6.37 [[ 9.68874532e-01 2.46845029e-01 1.86995298e-02 2.49328959e+02] [-2.46796864e-01 9.69054962e-01 -4.87730219e-03 -5.82008711e+01] [-1.93248099e-02 1.10508561e-04 9.99813252e-01 -6.37279444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.958623853 meters 0.01968644063496832 Centerline is valid? [True, True] Translation: X:249.36, Y:-58.22, Z:-6.37 [[ 9.69490403e-01 2.44427202e-01 1.85392012e-02 2.49358060e+02] [-2.44379362e-01 9.69667632e-01 -4.83837790e-03 -5.82176833e+01] [-1.91594945e-02 1.60162783e-04 9.99816427e-01 -6.37389989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.98862385300004 meters 0.020531153070747862 Centerline is valid? [True, True] Translation: X:249.39, Y:-58.23, Z:-6.38 [[ 9.69697866e-01 2.43631468e-01 1.81592065e-02 2.49388229e+02] [-2.43585375e-01 9.69867866e-01 -4.74219158e-03 -5.82296431e+01] [-1.87673780e-02 1.75175924e-04 9.99823862e-01 -6.37535970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.018623853 meters 0.02150902496556039 Centerline is valid? [True, True] Translation: X:249.42, Y:-58.24, Z:-6.38 [[ 9.69908580e-01 2.42833692e-01 1.75824784e-02 2.49417254e+02] [-2.42790296e-01 9.70067917e-01 -4.59451742e-03 -5.82415411e+01] [-1.81719018e-02 1.87406737e-04 9.99834860e-01 -6.37736484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.04862385300004 meters 0.025772041374962897 Centerline is valid? [True, True] Translation: X:249.45, Y:-58.26, Z:-6.37 [[ 9.70086888e-01 2.42160820e-01 1.70166921e-02 2.49446862e+02] [-2.42120025e-01 9.70236105e-01 -4.44912645e-03 -5.82553658e+01] [-1.75876132e-02 1.95957308e-04 9.99845307e-01 -6.37209277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.078623853 meters 0.020995441377325418 Centerline is valid? [True, True] Translation: X:249.48, Y:-58.26, Z:-6.38 [[ 9.70004996e-01 2.42465892e-01 1.73377613e-02 2.49478190e+02] [-2.42423542e-01 9.70159911e-01 -4.53581701e-03 -5.82649051e+01] [-1.79201819e-02 1.96683646e-04 9.99839401e-01 -6.37744943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.10862385300004 meters 0.020041404471559648 Centerline is valid? [True, True] Translation: X:249.51, Y:-58.28, Z:-6.38 [[ 9.69636374e-01 2.43879837e-01 1.81087725e-02 2.49508733e+02] [-2.43833807e-01 9.69805440e-01 -4.74157838e-03 -5.82760088e+01] [-1.87183615e-02 1.82075924e-04 9.99824780e-01 -6.37741394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.138623853 meters 0.019333943571649727 Centerline is valid? [True, True] Translation: X:249.54, Y:-58.29, Z:-6.38 [[ 9.69341482e-01 2.45021087e-01 1.84867259e-02 2.49539500e+02] [-2.44973258e-01 9.69517735e-01 -4.84391275e-03 -5.82851585e+01] [-1.91100694e-02 1.66652092e-04 9.99817372e-01 -6.37757173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.16862385300004 meters 0.018364289308435113 Centerline is valid? [True, True] Translation: X:249.57, Y:-58.29, Z:-6.38 [[ 9.68944592e-01 2.46574485e-01 1.86386745e-02 2.49570477e+02] [-2.46526090e-01 9.69123833e-01 -4.88706450e-03 -5.82932141e+01] [-1.92682091e-02 1.40375176e-04 9.99814341e-01 -6.37746603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.198623853 meters 0.017106728117122584 Centerline is valid? [True, True] Translation: X:249.60, Y:-58.30, Z:-6.38 [[ 9.67917693e-01 2.50639998e-01 1.77462793e-02 2.49601716e+02] [-2.50596754e-01 9.68080362e-01 -4.65608089e-03 -5.83001184e+01] [-1.83468246e-02 5.95430936e-05 9.99831681e-01 -6.37939135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.22862385300004 meters 0.01675264432925923 Centerline is valid? [True, True] Translation: X:249.63, Y:-58.31, Z:-6.38 [[ 9.66618533e-01 2.55600316e-01 1.78070503e-02 2.49632928e+02] [-2.55557547e-01 9.66782539e-01 -4.67574661e-03 -5.83053935e+01] [-1.84106676e-02 -3.10627541e-05 9.99830509e-01 -6.38070163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.258623853 meters 0.02401890061030921 Centerline is valid? [True, True] Translation: X:249.66, Y:-58.31, Z:-6.37 [[ 9.65827265e-01 2.58607065e-01 1.73228068e-02 2.49664467e+02] [-2.58567053e-01 9.65982597e-01 -4.54981476e-03 -5.83106567e+01] [-1.79101441e-02 -8.47719409e-05 9.99839597e-01 -6.37295138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.28862385300005 meters 0.018542171455866722 Centerline is valid? [True, True] Translation: X:249.70, Y:-58.32, Z:-6.38 [[ 9.65045725e-01 2.61462025e-01 1.80099679e-02 2.49695338e+02] [-2.61419212e-01 9.65213754e-01 -4.73346109e-03 -5.83153356e+01] [-1.86210890e-02 -1.40145215e-04 9.99826603e-01 -6.38166304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.318623853 meters 0.019969576955160682 Centerline is valid? [True, True] Translation: X:249.73, Y:-58.32, Z:-6.38 [[ 9.64286669e-01 2.64239729e-01 1.81269151e-02 2.49727295e+02] [-2.64196793e-01 9.64457012e-01 -4.76716888e-03 -5.83204719e+01] [-1.87423058e-02 -1.92155424e-04 9.99824329e-01 -6.38181779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.348623853 meters 0.02302737171255109 Centerline is valid? [True, True] Translation: X:249.76, Y:-58.32, Z:-6.38 [[ 9.62739750e-01 2.69802797e-01 1.84017596e-02 2.49759634e+02] [-2.69759489e-01 9.62915552e-01 -4.84336756e-03 -5.83234422e+01] [-1.90260947e-02 -3.01146802e-04 9.99818942e-01 -6.38161352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.378623853 meters 0.028191632765354135 Centerline is valid? [True, True] Translation: X:249.79, Y:-58.32, Z:-6.38 [[ 9.61288448e-01 2.74944926e-01 1.81606009e-02 2.49791277e+02] [-2.74903642e-01 9.61459895e-01 -4.78091822e-03 -5.83228026e+01] [-1.87751787e-02 -3.96573887e-04 9.99823652e-01 -6.38306653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.408623853 meters 0.03211147992575764 Centerline is valid? [True, True] Translation: X:249.82, Y:-58.32, Z:-6.39 [[ 9.60588524e-01 2.77392811e-01 1.79698767e-02 2.49823095e+02] [-2.77352822e-01 9.60756491e-01 -4.73050058e-03 -5.83246636e+01] [-1.85768825e-02 -4.39931427e-04 9.99827338e-01 -6.38505101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.438623853 meters 0.031926482944099076 Centerline is valid? [True, True] Translation: X:249.85, Y:-58.33, Z:-6.39 [[ 9.59953934e-01 2.79604181e-01 1.76052952e-02 2.49854209e+02] [-2.79566106e-01 9.60115244e-01 -4.63798534e-03 -5.83324238e+01] [-1.81999123e-02 -4.69591545e-04 9.99834258e-01 -6.38555022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.468623853 meters 0.03447320964179148 Centerline is valid? [True, True] Translation: X:249.89, Y:-58.34, Z:-6.39 [[ 9.58872771e-01 2.83276660e-01 1.78141291e-02 2.49886092e+02] [-2.83238289e-01 9.59038079e-01 -4.69406171e-03 -5.83352451e+01] [-1.84141463e-02 -5.44635500e-04 9.99830297e-01 -6.38587055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.498623853 meters 0.03866573648975269 Centerline is valid? [True, True] Translation: X:249.92, Y:-58.34, Z:-6.39 [[ 9.58384975e-01 2.84894070e-01 1.82649579e-02 2.49917514e+02] [-2.84854024e-01 9.58558825e-01 -4.81295364e-03 -5.83361090e+01] [-1.88792185e-02 -5.90184309e-04 9.99821597e-01 -6.38658370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.528623853 meters 0.03821442578450814 Centerline is valid? [True, True] Translation: X:249.95, Y:-58.34, Z:-6.39 [[ 9.57810749e-01 2.86789050e-01 1.87246067e-02 2.49948824e+02] [-2.86747287e-01 9.57993544e-01 -4.93597303e-03 -5.83424509e+01] [-1.93536353e-02 -6.41502145e-04 9.99812495e-01 -6.38627976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.55862385300003 meters 0.038748108514379404 Centerline is valid? [True, True] Translation: X:249.98, Y:-58.35, Z:-6.39 [[ 9.57671159e-01 2.87266617e-01 1.85429868e-02 2.49980187e+02] [-2.87225747e-01 9.57850445e-01 -4.88829400e-03 -5.83487770e+01] [-1.91656519e-02 -6.44645057e-04 9.99816114e-01 -6.38689543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.588623853 meters 0.03815656458924322 Centerline is valid? [True, True] Translation: X:250.01, Y:-58.36, Z:-6.39 [[ 9.57662117e-01 2.87326912e-01 1.80697456e-02 2.50011918e+02] [-2.87288058e-01 9.57832372e-01 -4.76641820e-03 -5.83568086e+01] [-1.86773075e-02 -6.26603965e-04 9.99825368e-01 -6.38869604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.61862385300003 meters 0.037492585235562606 Centerline is valid? [True, True] Translation: X:250.04, Y:-58.36, Z:-6.39 [[ 9.58133754e-01 2.85811553e-01 1.70723680e-02 2.50042142e+02] [-2.85776570e-01 9.58285678e-01 -4.50676155e-03 -5.83633073e+01] [-1.76482903e-02 -5.60802412e-04 9.99844100e-01 -6.39173606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.648623853 meters 0.03384632154279469 Centerline is valid? [True, True] Translation: X:250.07, Y:-58.37, Z:-6.39 [[ 9.59011538e-01 2.82870295e-01 1.67709887e-02 2.50072449e+02] [-2.82836024e-01 9.59158043e-01 -4.43078127e-03 -5.83735752e+01] [-1.73393651e-02 -4.94269401e-04 9.99849540e-01 -6.39275494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.67862385300003 meters 0.03737584642424926 Centerline is valid? [True, True] Translation: X:250.10, Y:-58.37, Z:-6.40 [[ 9.59595370e-01 2.80875642e-01 1.68997004e-02 2.50103170e+02] [-2.80840519e-01 9.59744060e-01 -4.46562259e-03 -5.83747643e+01] [-1.74736717e-02 -4.60929863e-04 9.99847217e-01 -6.39546651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.708623853 meters 0.030137053520135283 Centerline is valid? [True, True] Translation: X:250.13, Y:-58.39, Z:-6.39 [[ 9.60100729e-01 2.79138636e-01 1.69768051e-02 2.50131959e+02] [-2.79102937e-01 9.60250715e-01 -4.48500185e-03 -5.83920725e+01] [-1.75539266e-02 -4.32222631e-04 9.99845825e-01 -6.39348433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.73862385300004 meters 0.027725163822833892 Centerline is valid? [True, True] Translation: X:250.16, Y:-58.40, Z:-6.39 [[ 9.60602780e-01 2.77412374e-01 1.68722639e-02 2.50162483e+02] [-2.77376796e-01 9.60750862e-01 -4.46032333e-03 -5.84028790e+01] [-1.74473909e-02 -3.95375505e-04 9.99847705e-01 -6.39401620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.768623853 meters 0.02613016207780845 Centerline is valid? [True, True] Translation: X:250.19, Y:-58.41, Z:-6.40 [[ 9.61563152e-01 2.74078877e-01 1.66455165e-02 2.50192062e+02] [-2.74043679e-01 9.61707161e-01 -4.40443154e-03 -5.84117170e+01] [-1.72152740e-02 -3.26459505e-04 9.99851753e-01 -6.39581248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.79862385300004 meters 0.024922694225113656 Centerline is valid? [True, True] Translation: X:250.22, Y:-58.42, Z:-6.40 [[ 9.62019120e-01 2.72463367e-01 1.68204078e-02 2.50222196e+02] [-2.72427184e-01 9.62166110e-01 -4.45043422e-03 -5.84209502e+01] [-1.73966067e-02 -3.00933523e-04 9.99848622e-01 -6.39661523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.828623853 meters 0.02153455469633845 Centerline is valid? [True, True] Translation: X:250.25, Y:-58.43, Z:-6.40 [[ 9.62962715e-01 2.69078960e-01 1.73009644e-02 2.50251884e+02] [-2.69040065e-01 9.63118090e-01 -4.58139763e-03 -5.84332317e+01] [-1.78956295e-02 -2.42937478e-04 9.99839831e-01 -6.39576630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.85862385300004 meters 0.020706918619667686 Centerline is valid? [True, True] Translation: X:250.28, Y:-58.44, Z:-6.40 [[ 9.63444112e-01 2.67308443e-01 1.79342829e-02 2.50281657e+02] [-2.67266343e-01 9.63610995e-01 -4.74901549e-03 -5.84419165e+01] [-1.85511241e-02 -2.17819178e-04 9.99827889e-01 -6.39677489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.888623853 meters 0.0185541089144316 Centerline is valid? [True, True] Translation: X:250.31, Y:-58.46, Z:-6.40 [[ 9.64321099e-01 2.64111226e-01 1.81680524e-02 2.50311045e+02] [-2.64067397e-01 9.64492217e-01 -4.81392568e-03 -5.84552012e+01] [-1.87943569e-02 -1.55420181e-04 9.99823358e-01 -6.39649863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.91862385300004 meters 0.01804279844180423 Centerline is valid? [True, True] Translation: X:250.34, Y:-58.46, Z:-6.40 [[ 9.64696656e-01 2.62760475e-01 1.78127519e-02 2.50340454e+02] [-2.62718054e-01 9.64861087e-01 -4.72300353e-03 -5.84649745e+01] [-1.84278498e-02 -1.23465794e-04 9.99830185e-01 -6.39858133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.948623853 meters 0.02716720215954623 Centerline is valid? [True, True] Translation: X:250.37, Y:-58.48, Z:-6.39 [[ 9.65223164e-01 2.60949703e-01 1.57954576e-02 2.50371912e+02] [-2.60916074e-01 9.65352395e-01 -4.18998206e-03 -5.84755746e+01] [-1.63415574e-02 -7.70210460e-05 9.99866465e-01 -6.39347957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.97862385300004 meters 0.017255519476037443 Centerline is valid? [True, True] Translation: X:250.40, Y:-58.49, Z:-6.40 [[ 9.65522340e-01 2.59813482e-01 1.62347082e-02 2.50402485e+02] [-2.59777734e-01 9.65658817e-01 -4.31015212e-03 -5.84860054e+01] [-1.67970248e-02 -5.58675555e-05 9.99858918e-01 -6.40250758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.008623853 meters 0.017159243021834008 Centerline is valid? [True, True] Translation: X:250.43, Y:-58.50, Z:-6.40 [[ 9.65912243e-01 2.58338831e-01 1.65706522e-02 2.50432327e+02] [-2.58301317e-01 9.66054371e-01 -4.40250426e-03 -5.84961182e+01] [-1.71454888e-02 -2.77885278e-05 9.99853005e-01 -6.40386167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.03862385300005 meters 0.01707358287731907 Centerline is valid? [True, True] Translation: X:250.46, Y:-58.51, Z:-6.40 [[ 9.66088151e-01 2.57691138e-01 1.64000642e-02 2.50463249e+02] [-2.57654259e-01 9.66227342e-01 -4.35954443e-03 -5.85063350e+01] [-1.69696064e-02 -1.38421720e-05 9.99856006e-01 -6.40390932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.068623853 meters 0.01714917404018909 Centerline is valid? [True, True] Translation: X:250.49, Y:-58.52, Z:-6.41 [[ 9.66229309e-01 2.57173289e-01 1.62117968e-02 2.50493191e+02] [-2.57137114e-01 9.66365303e-01 -4.31336980e-03 -5.85164695e+01] [-1.67758014e-02 -9.50304927e-07 9.99859276e-01 -6.40512656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.098623853 meters 0.017121515429733447 Centerline is valid? [True, True] Translation: X:250.52, Y:-58.53, Z:-6.41 [[ 9.66384431e-01 2.56589508e-01 1.62159268e-02 2.50523067e+02] [-2.56553206e-01 9.66520473e-01 -4.31601528e-03 -5.85271516e+01] [-1.67804694e-02 1.06819751e-05 9.99859198e-01 -6.40519208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.128623853 meters 0.017091969944612605 Centerline is valid? [True, True] Translation: X:250.56, Y:-58.54, Z:-6.41 [[ 9.66280882e-01 2.56959531e-01 1.65244038e-02 2.50555307e+02] [-2.56921836e-01 9.66422164e-01 -4.40122925e-03 -5.85361752e+01] [-1.71004879e-02 7.34351984e-06 9.99853776e-01 -6.40524979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.158623853 meters 0.016976226523240212 Centerline is valid? [True, True] Translation: X:250.59, Y:-58.54, Z:-6.40 [[ 9.66014741e-01 2.57917411e-01 1.71501816e-02 2.50586287e+02] [-2.57876891e-01 9.66166967e-01 -4.57164666e-03 -5.85434643e+01] [-1.77490463e-02 -6.35745989e-06 9.99842473e-01 -6.40482941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.188623853 meters 0.01697141057501436 Centerline is valid? [True, True] Translation: X:250.62, Y:-58.55, Z:-6.41 [[ 9.65795888e-01 2.58721091e-01 1.73694900e-02 2.50618429e+02] [-2.58679599e-01 9.65952068e-01 -4.63334865e-03 -5.85510504e+01] [-1.79768398e-02 -1.82636507e-05 9.99838403e-01 -6.40567585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.218623853 meters 0.016917154218654085 Centerline is valid? [True, True] Translation: X:250.65, Y:-58.56, Z:-6.41 [[ 9.65515343e-01 2.59752490e-01 1.75717471e-02 2.50650045e+02] [-2.59710124e-01 9.65675226e-01 -4.69137538e-03 -5.85583852e+01] [-1.81871973e-02 -3.39657009e-05 9.99834599e-01 -6.40573352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.248623853 meters 0.017262243505120584 Centerline is valid? [True, True] Translation: X:250.68, Y:-58.56, Z:-6.40 [[ 9.64796801e-01 2.62384617e-01 1.79288916e-02 2.50682902e+02] [-2.62340932e-01 9.64963370e-01 -4.78848409e-03 -5.85645179e+01] [-1.85571482e-02 -8.35680090e-05 9.99827798e-01 -6.40435530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.278623853 meters 0.018729789859708825 Centerline is valid? [True, True] Translation: X:250.71, Y:-58.57, Z:-6.41 [[ 9.63964046e-01 2.65420209e-01 1.80396973e-02 2.50714702e+02] [-2.65376431e-01 9.64132819e-01 -4.82251947e-03 -5.85668800e+01] [-1.86726584e-02 -1.38575114e-04 9.99825641e-01 -6.40583259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.30862385300003 meters 0.01973832506578122 Centerline is valid? [True, True] Translation: X:250.75, Y:-58.57, Z:-6.41 [[ 9.63484473e-01 2.67170197e-01 1.78256982e-02 2.50746763e+02] [-2.67127728e-01 9.63649343e-01 -4.76656013e-03 -5.85725615e+01] [-1.84512051e-02 -1.69231562e-04 9.99829748e-01 -6.40716186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.338623853 meters 0.020976620452767044 Centerline is valid? [True, True] Translation: X:250.78, Y:-58.58, Z:-6.41 [[ 9.63008544e-01 2.68876886e-01 1.78819567e-02 2.50777393e+02] [-2.68834384e-01 9.63174533e-01 -4.78473464e-03 -5.85773790e+01] [-1.85099498e-02 -1.99544479e-04 9.99828656e-01 -6.40796575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.36862385300003 meters 0.02299353041771846 Centerline is valid? [True, True] Translation: X:250.81, Y:-58.58, Z:-6.41 [[ 9.62230171e-01 2.71634764e-01 1.81011844e-02 2.50810157e+02] [-2.71591648e-01 9.62400380e-01 -4.84620989e-03 -5.85808812e+01] [-1.87369859e-02 -2.52961130e-04 9.99824415e-01 -6.40776305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.398623853 meters 0.023317537593493042 Centerline is valid? [True, True] Translation: X:250.84, Y:-58.59, Z:-6.41 [[ 9.61959624e-01 2.72572602e-01 1.83809451e-02 2.50841945e+02] [-2.72528254e-01 9.62135179e-01 -4.92423575e-03 -5.85878988e+01] [-1.90271656e-02 -2.72410907e-04 9.99818930e-01 -6.40740149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.42862385300003 meters 0.022696925542506054 Centerline is valid? [True, True] Translation: X:250.87, Y:-58.60, Z:-6.41 [[ 9.61676650e-01 2.73492941e-01 1.94841313e-02 2.50873791e+02] [-2.73443231e-01 9.61873962e-01 -5.22316242e-03 -5.85961466e+01] [-2.01697766e-02 -3.04810477e-04 9.99796523e-01 -6.40557400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.458623853 meters 0.02299338582937636 Centerline is valid? [True, True] Translation: X:250.90, Y:-58.60, Z:-6.41 [[ 9.61592106e-01 2.73767335e-01 1.98007210e-02 2.50904557e+02] [-2.73715968e-01 9.61795898e-01 -5.31222209e-03 -5.86034714e+01] [-2.04985652e-02 -3.11582708e-04 9.99789834e-01 -6.40566688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.48862385300004 meters 0.024051599022539245 Centerline is valid? [True, True] Translation: X:250.94, Y:-58.61, Z:-6.41 [[ 9.61598629e-01 2.73726485e-01 2.00471657e-02 2.50936092e+02] [-2.73673736e-01 9.61807525e-01 -5.38248912e-03 -5.86089183e+01] [-2.07548447e-02 -3.10588598e-04 9.99784547e-01 -6.40685257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.518623853 meters 0.023565038227857306 Centerline is valid? [True, True] Translation: X:250.97, Y:-58.62, Z:-6.41 [[ 9.61513337e-01 2.74034964e-01 1.99233982e-02 2.50968491e+02] [-2.73982887e-01 9.61719679e-01 -5.35142384e-03 -5.86160470e+01] [-2.06272013e-02 -3.13204750e-04 9.99787188e-01 -6.40811089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.54862385300004 meters 0.023209759018250436 Centerline is valid? [True, True] Translation: X:251.00, Y:-58.63, Z:-6.41 [[ 9.61456372e-01 2.74263008e-01 1.95306808e-02 2.51000675e+02] [-2.74212935e-01 9.61654672e-01 -5.24964072e-03 -5.86250025e+01] [-2.02215527e-02 -3.08264785e-04 9.99795476e-01 -6.40916448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.578623853 meters 0.023025639714687074 Centerline is valid? [True, True] Translation: X:251.03, Y:-58.63, Z:-6.41 [[ 9.61436759e-01 2.74358670e-01 1.91488360e-02 2.51032502e+02] [-2.74310481e-01 9.61627386e-01 -5.15073925e-03 -5.86332066e+01] [-1.98271951e-02 -3.00616360e-04 9.99803377e-01 -6.41061076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.60862385300004 meters 0.02486667096157611 Centerline is valid? [True, True] Translation: X:251.06, Y:-58.64, Z:-6.41 [[ 9.61451161e-01 2.74361599e-01 1.83678516e-02 2.51064934e+02] [-2.74317194e-01 9.61626555e-01 -4.94424933e-03 -5.86353409e+01] [-1.90195260e-02 -2.84963251e-04 9.99819072e-01 -6.41440237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.638623853 meters 0.02343553561985348 Centerline is valid? [True, True] Translation: X:251.10, Y:-58.64, Z:-6.42 [[ 9.61565916e-01 2.74014147e-01 1.75281352e-02 2.51096493e+02] [-2.73973593e-01 9.61725625e-01 -4.72142866e-03 -5.86416867e+01] [-1.81509951e-02 -2.62281306e-04 9.99835223e-01 -6.41652285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.66862385300004 meters 0.021920141669801912 Centerline is valid? [True, True] Translation: X:251.13, Y:-58.65, Z:-6.42 [[ 9.61587562e-01 2.73936357e-01 1.75565914e-02 2.51127935e+02] [-2.73895608e-01 9.61747787e-01 -4.73183762e-03 -5.86510409e+01] [-1.81812353e-02 -2.58597096e-04 9.99834674e-01 -6.41565496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.698623853 meters 0.021920141669801912 Centerline is valid? [True, True] Translation: X:251.16, Y:-58.66, Z:-6.42 [[ 9.61534806e-01 2.74121533e-01 1.75556813e-02 2.51159251e+02] [-2.74080754e-01 9.61695023e-01 -4.73521166e-03 -5.86596662e+01] [-1.81812348e-02 -2.58603531e-04 9.99834674e-01 -6.41647283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.72862385300004 meters 0.022663908975730215 Centerline is valid? [True, True] Translation: X:251.19, Y:-58.66, Z:-6.42 [[ 9.61539738e-01 2.74074111e-01 1.80198258e-02 2.51189815e+02] [-2.74031061e-01 9.61708539e-01 -4.86450722e-03 -5.86647692e+01] [-1.86630558e-02 -2.60574994e-04 9.99825796e-01 -6.41773619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.758623853 meters 0.03333970284860371 Centerline is valid? [True, True] Translation: X:251.22, Y:-58.67, Z:-6.41 [[ 9.61611065e-01 2.73817094e-01 1.81206920e-02 2.51222451e+02] [-2.73773459e-01 9.61781750e-01 -4.89475045e-03 -5.86698655e+01] [-1.87684172e-02 -2.54118341e-04 9.99823825e-01 -6.40834370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.78862385300005 meters 0.02163816063190987 Centerline is valid? [True, True] Translation: X:251.25, Y:-58.68, Z:-6.42 [[ 9.61710639e-01 2.73402133e-01 1.90766886e-02 2.51253576e+02] [-2.73353610e-01 9.61899791e-01 -5.15705373e-03 -5.86791207e+01] [-1.97598122e-02 -2.55088248e-04 9.99804723e-01 -6.41663486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.818623853 meters 0.02066542931689062 Centerline is valid? [True, True] Translation: X:251.28, Y:-58.69, Z:-6.42 [[ 9.62082180e-01 2.72100226e-01 1.89564414e-02 2.51284474e+02] [-2.72052049e-01 9.62268889e-01 -5.12512884e-03 -5.86862414e+01] [-1.96357425e-02 -2.26343598e-04 9.99807175e-01 -6.41797023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.848623853 meters 0.02064420239377443 Centerline is valid? [True, True] Translation: X:251.32, Y:-58.69, Z:-6.42 [[ 9.62241996e-01 2.71577103e-01 1.83362632e-02 2.51315709e+02] [-2.71531875e-01 9.62416664e-01 -4.96044991e-03 -5.86934710e+01] [-1.89942698e-02 -2.05726701e-04 9.99819571e-01 -6.42036424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.878623853 meters 0.02610946259168459 Centerline is valid? [True, True] Translation: X:251.35, Y:-58.70, Z:-6.41 [[ 9.62440994e-01 2.70904888e-01 1.78290450e-02 2.51347573e+02] [-2.70861956e-01 9.62606102e-01 -4.82632071e-03 -5.87025663e+01] [-1.84698214e-02 -1.84161107e-04 9.99829401e-01 -6.41393071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.908623853 meters 0.018801830197739018 Centerline is valid? [True, True] Translation: X:251.38, Y:-58.71, Z:-6.42 [[ 9.62751045e-01 2.69739781e-01 1.87316667e-02 2.51377566e+02] [-2.69692080e-01 9.62933239e-01 -5.07531506e-03 -5.87099681e+01] [-1.94063589e-02 -1.65517281e-04 9.99811665e-01 -6.41999037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.938623853 meters 0.018529157443717442 Centerline is valid? [True, True] Translation: X:251.41, Y:-58.72, Z:-6.42 [[ 9.62875182e-01 2.69280954e-01 1.89513033e-02 2.51407527e+02] [-2.69232007e-01 9.63061651e-01 -5.13646232e-03 -5.87170420e+01] [-1.96344249e-02 -1.56525320e-04 9.99807214e-01 -6.42049293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.968623853 meters 0.017985875298730556 Centerline is valid? [True, True] Translation: X:251.44, Y:-58.72, Z:-6.42 [[ 9.63136259e-01 2.68309881e-01 1.94513404e-02 2.51438472e+02] [-2.68258042e-01 9.63332647e-01 -5.27576785e-03 -5.87242958e+01] [-2.01536519e-02 -1.36695185e-04 9.99796885e-01 -6.41993267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.998623853 meters 0.018155959080627237 Centerline is valid? [True, True] Translation: X:251.47, Y:-58.73, Z:-6.42 [[ 9.63132262e-01 2.68344294e-01 1.91725451e-02 2.51470300e+02] [-2.68293926e-01 9.63323062e-01 -5.20069751e-03 -5.87306022e+01] [-1.98649323e-02 -1.34917833e-04 9.99802664e-01 -6.42169559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.028623853 meters 0.01760682228440481 Centerline is valid? [True, True] Translation: X:251.50, Y:-58.74, Z:-6.42 [[ 9.63160731e-01 2.68250156e-01 1.90593892e-02 2.51501957e+02] [-2.68200294e-01 9.63349281e-01 -5.17351004e-03 -5.87389939e+01] [-1.97486437e-02 -1.28812071e-04 9.99804968e-01 -6.42213412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.05862385300003 meters 0.01782324764469676 Centerline is valid? [True, True] Translation: X:251.53, Y:-58.74, Z:-6.42 [[ 9.63141683e-01 2.68375538e-01 1.82392113e-02 2.51533263e+02] [-2.68329827e-01 9.63314360e-01 -4.95461982e-03 -5.87436274e+01] [-1.88997929e-02 -1.22123536e-04 9.99821375e-01 -6.42498229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.088623853 meters 0.01848539273211146 Centerline is valid? [True, True] Translation: X:251.56, Y:-58.75, Z:-6.43 [[ 9.63040884e-01 2.68791342e-01 1.74204130e-02 2.51564294e+02] [-2.68749637e-01 9.63198422e-01 -4.73631001e-03 -5.87462885e+01] [-1.80523934e-02 -1.20469492e-04 9.99837035e-01 -6.42828779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.11862385300003 meters 0.018262912918233246 Centerline is valid? [True, True] Translation: X:251.60, Y:-58.75, Z:-6.43 [[ 9.62994593e-01 2.68975050e-01 1.71416416e-02 2.51595404e+02] [-2.68934696e-01 9.63147137e-01 -4.66064126e-03 -5.87530263e+01] [-1.77635193e-02 -1.21809859e-04 9.99842209e-01 -6.42817601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.148623853 meters 0.01893019017006167 Centerline is valid? [True, True] Translation: X:251.62, Y:-58.76, Z:-6.43 [[ 9.62901754e-01 2.69300216e-01 1.72512608e-02 2.51624531e+02] [-2.69259384e-01 9.63056269e-01 -4.69115095e-03 -5.87568256e+01] [-1.78772628e-02 -1.27946376e-04 9.99840181e-01 -6.42985745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.17862385300003 meters 0.018210491651697358 Centerline is valid? [True, True] Translation: X:251.65, Y:-58.76, Z:-6.43 [[ 9.63027785e-01 2.68851076e-01 1.72216345e-02 2.51654573e+02] [-2.68810318e-01 9.63181750e-01 -4.68279036e-03 -5.87616722e+01] [-1.78465373e-02 -1.19695829e-04 9.99840731e-01 -6.42949421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.208623853 meters 0.0179388445166558 Centerline is valid? [True, True] Translation: X:251.68, Y:-58.77, Z:-6.43 [[ 9.63271258e-01 2.67999461e-01 1.68752016e-02 2.51683968e+02] [-2.67960192e-01 9.63419057e-01 -4.58877727e-03 -5.87683073e+01] [-1.74876806e-02 -1.01644999e-04 9.99847074e-01 -6.43098707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.23862385300004 meters 0.0168842140226073 Centerline is valid? [True, True] Translation: X:251.71, Y:-58.78, Z:-6.43 [[ 9.64052645e-01 2.65128504e-01 1.75890347e-02 2.51711984e+02] [-2.65085374e-01 9.64213085e-01 -4.78233153e-03 -5.87766288e+01] [-1.82275099e-02 -5.21764901e-05 9.99833864e-01 -6.43051111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.268623853 meters 0.01671243639027369 Centerline is valid? [True, True] Translation: X:251.74, Y:-58.79, Z:-6.43 [[ 9.64633174e-01 2.62975750e-01 1.80719258e-02 2.51739940e+02] [-2.62929845e-01 9.64802444e-01 -4.91338919e-03 -5.87861971e+01] [-1.87279404e-02 -1.20304638e-05 9.99824617e-01 -6.43093142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.29862385300004 meters 0.01732760528026903 Centerline is valid? [True, True] Translation: X:251.77, Y:-58.80, Z:-6.43 [[ 9.65857448e-01 2.58382144e-01 1.89224302e-02 2.51769686e+02] [-2.58330959e-01 9.66042784e-01 -5.14336795e-03 -5.88006724e+01] [-1.96088316e-02 7.95107049e-05 9.99807725e-01 -6.42929106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.328623853 meters 0.018416041945911756 Centerline is valid? [True, True] Translation: X:251.80, Y:-58.81, Z:-6.43 [[ 9.66441117e-01 2.56160768e-01 1.93191130e-02 2.51799164e+02] [-2.56106900e-01 9.66634183e-01 -5.25473007e-03 -5.88125147e+01] [-2.00205707e-02 1.30629058e-04 9.99799560e-01 -6.42970315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.35862385300004 meters 0.021705551016810706 Centerline is valid? [True, True] Translation: X:251.83, Y:-58.83, Z:-6.43 [[ 9.67657213e-01 2.51556646e-01 1.89412998e-02 2.51828045e+02] [-2.51503923e-01 9.67842551e-01 -5.15491360e-03 -5.88277814e+01] [-1.96289487e-02 2.24378128e-04 9.99807308e-01 -6.43128873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.388623853 meters 0.023589552237731723 Centerline is valid? [True, True] Translation: X:251.86, Y:-58.84, Z:-6.43 [[ 9.68165800e-01 2.49608801e-01 1.87197662e-02 2.51858320e+02] [-2.49556878e-01 9.68346723e-01 -5.09781057e-03 -5.88399960e+01] [-1.93996827e-02 2.63879421e-04 9.99811774e-01 -6.43265415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.41862385300004 meters 0.027330102927363303 Centerline is valid? [True, True] Translation: X:251.89, Y:-58.85, Z:-6.43 [[ 9.69093400e-01 2.46013508e-01 1.83121599e-02 2.51886681e+02] [-2.45963120e-01 9.69266343e-01 -4.98997172e-03 -5.88547075e+01] [-1.89769607e-02 3.31632673e-04 9.99819866e-01 -6.43449326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.448623853 meters 0.02862508275250308 Centerline is valid? [True, True] Translation: X:251.92, Y:-58.87, Z:-6.44 [[ 9.69431791e-01 2.44684092e-01 1.82125667e-02 2.51916829e+02] [-2.44633963e-01 9.69602788e-01 -4.96564214e-03 -5.88656115e+01] [-1.88739691e-02 3.58438977e-04 9.99821807e-01 -6.43545450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.47862385300004 meters 0.04056492725583241 Centerline is valid? [True, True] Translation: X:251.95, Y:-58.88, Z:-6.43 [[ 9.69736707e-01 2.43528548e-01 1.74517896e-02 2.51945698e+02] [-2.43482263e-01 9.69893659e-01 -4.76205900e-03 -5.88772167e+01] [-1.80860774e-02 3.68742189e-04 9.99836366e-01 -6.42829182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.508623853 meters 0.032037551613207496 Centerline is valid? [True, True] Translation: X:251.98, Y:-58.89, Z:-6.44 [[ 9.70030455e-01 2.42274314e-01 1.85492273e-02 2.51975477e+02] [-2.42221801e-01 9.70207701e-01 -5.06118086e-03 -5.88900375e+01] [-1.92227973e-02 4.16472334e-04 9.99815138e-01 -6.43644856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.53862385300005 meters 0.029860237079646523 Centerline is valid? [True, True] Translation: X:252.01, Y:-58.90, Z:-6.44 [[ 9.70051842e-01 2.42182223e-01 1.86331470e-02 2.52008075e+02] [-2.42129160e-01 9.70230690e-01 -5.08706756e-03 -5.88969451e+01] [-1.93104484e-02 4.23091030e-04 9.99813446e-01 -6.43570326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.568623853 meters 0.03219465652057238 Centerline is valid? [True, True] Translation: X:252.04, Y:-58.91, Z:-6.44 [[ 9.69866078e-01 2.42943062e-01 1.83972553e-02 2.52036416e+02] [-2.42891396e-01 9.70040465e-01 -5.02661551e-03 -5.89100320e+01] [-1.90672634e-02 4.06608867e-04 9.99818121e-01 -6.43789906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.598623853 meters 0.031256477650211126 Centerline is valid? [True, True] Translation: X:252.07, Y:-58.92, Z:-6.44 [[ 9.69558873e-01 2.44157241e-01 1.85157497e-02 2.52067759e+02] [-2.44105069e-01 9.69735578e-01 -5.06207623e-03 -5.89178106e+01] [-1.91913238e-02 3.88192566e-04 9.99815754e-01 -6.43840725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.628623853 meters 0.029563437747197836 Centerline is valid? [True, True] Translation: X:252.10, Y:-58.92, Z:-6.44 [[ 9.69103880e-01 2.45976064e-01 1.82604921e-02 2.52099069e+02] [-2.45925586e-01 9.69275840e-01 -4.99528653e-03 -5.89241222e+01] [-1.89281747e-02 3.50229350e-04 9.99820785e-01 -6.43978851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.658623853 meters 0.025032928340367886 Centerline is valid? [True, True] Translation: X:252.13, Y:-58.93, Z:-6.44 [[ 9.67862047e-01 2.50869117e-01 1.75426263e-02 2.52130391e+02] [-2.50823265e-01 9.68020984e-01 -4.80263719e-03 -5.89257029e+01] [-1.81864637e-02 2.48191458e-04 9.99834582e-01 -6.44195615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.688623853 meters 0.02265297136421372 Centerline is valid? [True, True] Translation: X:252.16, Y:-58.93, Z:-6.44 [[ 9.67170528e-01 2.53567613e-01 1.68711341e-02 2.52162072e+02] [-2.53525608e-01 9.67317647e-01 -4.61918278e-03 -5.89299034e+01] [-1.74910209e-02 1.90272924e-04 9.99847002e-01 -6.44401332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.718623853 meters 0.018982130134204193 Centerline is valid? [True, True] Translation: X:252.19, Y:-58.93, Z:-6.45 [[ 9.65709979e-01 2.59092696e-01 1.65895091e-02 2.52192611e+02] [-2.59052882e-01 9.65852456e-01 -4.54282028e-03 -5.89287631e+01] [-1.72000296e-02 8.94867401e-05 9.99852065e-01 -6.44510210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.748623853 meters 0.017510751201691373 Centerline is valid? [True, True] Translation: X:252.22, Y:-58.93, Z:-6.44 [[ 9.64992699e-01 2.61737843e-01 1.68045072e-02 2.52224863e+02] [-2.61697407e-01 9.65139005e-01 -4.60082890e-03 -5.89318082e+01] [-1.74228964e-02 4.20703479e-05 9.99848209e-01 -6.44317745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.778623853 meters 0.017368868644651255 Centerline is valid? [True, True] Translation: X:252.26, Y:-58.93, Z:-6.44 [[ 9.63779720e-01 2.66119410e-01 1.75815275e-02 2.52255016e+02] [-2.66075856e-01 9.63940070e-01 -4.81463242e-03 -5.89322495e+01] [-1.82288060e-02 -3.77748837e-05 9.99833841e-01 -6.44388032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.80862385300003 meters 0.01784381037180912 Centerline is valid? [True, True] Translation: X:252.28, Y:-58.94, Z:-6.44 [[ 9.63297798e-01 2.67830553e-01 1.80040741e-02 2.52283704e+02] [-2.67785180e-01 9.63466029e-01 -4.93031444e-03 -5.89366723e+01] [-1.86668026e-02 -7.18631660e-05 9.99825757e-01 -6.44348458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.838623853 meters 0.018007119780960857 Centerline is valid? [True, True] Translation: X:252.31, Y:-58.94, Z:-6.44 [[ 9.62842924e-01 2.69448385e-01 1.81953686e-02 2.52312557e+02] [-2.69402349e-01 9.63014827e-01 -4.98172784e-03 -5.89432173e+01] [-1.88647283e-02 -1.05253637e-04 9.99822040e-01 -6.44118217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.86862385300003 meters 0.018702312200925313 Centerline is valid? [True, True] Translation: X:252.34, Y:-58.95, Z:-6.44 [[ 9.62151727e-01 2.71855591e-01 1.89364952e-02 2.52343292e+02] [-2.71806207e-01 9.62338045e-01 -5.18399751e-03 -5.89482984e+01] [-1.96326085e-02 -1.59264786e-04 9.99807249e-01 -6.44037076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.898623853 meters 0.019897808310775363 Centerline is valid? [True, True] Translation: X:252.37, Y:-58.95, Z:-6.44 [[ 9.61922878e-01 2.72647385e-01 1.91776233e-02 2.52372856e+02] [-2.72596890e-01 9.62114012e-01 -5.25007450e-03 -5.89527703e+01] [-1.98824792e-02 -1.77593711e-04 9.99802308e-01 -6.44176268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.92862385300003 meters 0.019726887700360907 Centerline is valid? [True, True] Translation: X:252.40, Y:-58.96, Z:-6.44 [[ 9.61764834e-01 2.73202746e-01 1.92006113e-02 2.52401780e+02] [-2.73152246e-01 9.61956456e-01 -5.25611345e-03 -5.89600547e+01] [-1.99061367e-02 -1.89545026e-04 9.99801835e-01 -6.44188391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.958623853 meters 0.01983679722370268 Centerline is valid? [True, True] Translation: X:252.43, Y:-58.97, Z:-6.44 [[ 9.61792736e-01 2.73117840e-01 1.90099758e-02 2.52429219e+02] [-2.73068324e-01 9.61980567e-01 -5.20382318e-03 -5.89670761e+01] [-1.97084842e-02 -1.86022897e-04 9.99805752e-01 -6.44323490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.98862385300004 meters 0.01959166635508322 Centerline is valid? [True, True] Translation: X:252.46, Y:-58.97, Z:-6.44 [[ 9.61929966e-01 2.72653728e-01 1.87265751e-02 2.52458017e+02] [-2.72605604e-01 9.62112215e-01 -5.12547943e-03 -5.89748414e+01] [-1.94145477e-02 -1.74617039e-04 9.99811505e-01 -6.44460726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.018623853 meters 0.019390748761279317 Centerline is valid? [True, True] Translation: X:252.49, Y:-58.98, Z:-6.45 [[ 9.62040316e-01 2.72282524e-01 1.84569029e-02 2.52486197e+02] [-2.72235717e-01 9.62217335e-01 -5.05121552e-03 -5.89833017e+01] [-1.91349097e-02 -1.65155227e-04 9.99816897e-01 -6.44578515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.04862385300004 meters 0.01882539066251864 Centerline is valid? [True, True] Translation: X:252.51, Y:-58.99, Z:-6.45 [[ 9.62417078e-01 2.70970414e-01 1.81218610e-02 2.52513958e+02] [-2.70925067e-01 9.62587667e-01 -4.95906986e-03 -5.89912882e+01] [-1.87876411e-02 -1.36972879e-04 9.99823487e-01 -6.44719191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.078623853 meters 0.020325561452727844 Centerline is valid? [True, True] Translation: X:252.54, Y:-59.00, Z:-6.44 [[ 9.62685148e-01 2.70019725e-01 1.80735962e-02 2.52542289e+02] [-2.69974460e-01 9.62854784e-01 -4.94538633e-03 -5.89991662e+01] [-1.87376004e-02 -1.18559411e-04 9.99824429e-01 -6.44409260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.10862385300004 meters 0.018018838893694263 Centerline is valid? [True, True] Translation: X:252.57, Y:-59.01, Z:-6.45 [[ 9.62894487e-01 2.69267930e-01 1.81380786e-02 2.52569386e+02] [-2.69222216e-01 9.63065300e-01 -4.96256981e-03 -5.90070469e+01] [-1.88044150e-02 -1.04742602e-04 9.99823176e-01 -6.44832733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.138623853 meters 0.01755842897265409 Centerline is valid? [True, True] Translation: X:252.60, Y:-59.02, Z:-6.45 [[ 9.63357122e-01 2.67597588e-01 1.82917212e-02 2.52597684e+02] [-2.67550805e-01 9.63530760e-01 -5.00410676e-03 -5.90155480e+01] [-1.89637229e-02 -7.32228562e-05 9.99820170e-01 -6.44930636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.16862385300004 meters 0.01732119298311281 Centerline is valid? [True, True] Translation: X:252.63, Y:-59.02, Z:-6.45 [[ 9.63648425e-01 2.66560853e-01 1.80838327e-02 2.52625513e+02] [-2.66514954e-01 9.63818089e-01 -4.94678261e-03 -5.90245509e+01] [-1.87481437e-02 -5.26525675e-05 9.99824237e-01 -6.45035750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.198623853 meters 0.017218932250849264 Centerline is valid? [True, True] Translation: X:252.65, Y:-59.04, Z:-6.45 [[ 9.64385251e-01 2.63934092e-01 1.73171390e-02 2.52652566e+02] [-2.63891588e-01 9.64540717e-01 -4.73655775e-03 -5.90365039e+01] [-1.79532247e-02 -1.98086606e-06 9.99838828e-01 -6.45264065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.22862385300004 meters 0.017360159465049683 Centerline is valid? [True, True] Translation: X:252.68, Y:-59.05, Z:-6.45 [[ 9.64749757e-01 2.62606989e-01 1.71893996e-02 2.52681859e+02] [-2.62564904e-01 9.64902880e-01 -4.70131632e-03 -5.90462427e+01] [-1.78206997e-02 2.22607252e-05 9.99841198e-01 -6.45388226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.258623853 meters 0.01752033658624276 Centerline is valid? [True, True] Translation: X:252.71, Y:-59.06, Z:-6.45 [[ 9.65044346e-01 2.61524191e-01 1.71612312e-02 2.52710559e+02] [-2.61482069e-01 9.65196921e-01 -4.69378990e-03 -5.90551235e+01] [-1.77915072e-02 4.23611525e-05 9.99841718e-01 -6.45459398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.28862385300005 meters 0.018020209304877185 Centerline is valid? [True, True] Translation: X:252.74, Y:-59.06, Z:-6.46 [[ 9.65461037e-01 2.59994160e-01 1.69712397e-02 2.52738721e+02] [-2.59952738e-01 9.65610186e-01 -4.64131523e-03 -5.90644769e+01] [-1.75943168e-02 6.92887804e-05 9.99845206e-01 -6.45601820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.318623853 meters 0.01815275913086477 Centerline is valid? [True, True] Translation: X:252.77, Y:-59.07, Z:-6.46 [[ 9.65575067e-01 2.59560773e-01 1.71171019e-02 2.52766642e+02] [-2.59518572e-01 9.65726773e-01 -4.68098979e-03 -5.90728571e+01] [-1.77454449e-02 7.76411990e-05 9.99842534e-01 -6.45672815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.348623853 meters 0.018288696155775584 Centerline is valid? [True, True] Translation: X:252.79, Y:-59.08, Z:-6.46 [[ 9.65671436e-01 2.59185871e-01 1.73597738e-02 2.52794761e+02] [-2.59142411e-01 9.65827457e-01 -4.74695251e-03 -5.90805409e+01] [-1.79968892e-02 8.53427943e-05 9.99838039e-01 -6.45652274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.378623853 meters 0.018423335083685374 Centerline is valid? [True, True] Translation: X:252.82, Y:-59.09, Z:-6.46 [[ 9.65609693e-01 2.59430211e-01 1.71431166e-02 2.52822832e+02] [-2.59387858e-01 9.65761854e-01 -4.68829911e-03 -5.90875968e+01] [-1.77724545e-02 8.03507706e-05 9.99842054e-01 -6.45799943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.408623853 meters 0.017895793541461653 Centerline is valid? [True, True] Translation: X:252.85, Y:-59.09, Z:-6.46 [[ 9.65285982e-01 2.60599597e-01 1.76301719e-02 2.52852236e+02] [-2.60555012e-01 9.65446967e-01 -4.82074533e-03 -5.90919880e+01] [-1.82772803e-02 5.97682270e-05 9.99832955e-01 -6.45778545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.438623853 meters 0.01754918116183849 Centerline is valid? [True, True] Translation: X:252.88, Y:-59.10, Z:-6.46 [[ 9.65132711e-01 2.61145431e-01 1.79419885e-02 2.52880293e+02] [-2.61099354e-01 9.65299467e-01 -4.90571234e-03 -5.90976993e+01] [-1.86004963e-02 5.00218579e-05 9.99826995e-01 -6.45758687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.468623853 meters 0.017456945503221855 Centerline is valid? [True, True] Translation: X:252.91, Y:-59.10, Z:-6.46 [[ 9.64737052e-01 2.62625059e-01 1.76209671e-02 2.52908067e+02] [-2.62580876e-01 9.64897963e-01 -4.81718578e-03 -5.91016689e+01] [-1.82675490e-02 2.03886198e-05 9.99833134e-01 -6.45920562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.498623853 meters 0.017571113082605363 Centerline is valid? [True, True] Translation: X:252.94, Y:-59.11, Z:-6.46 [[ 9.64600366e-01 2.63142902e-01 1.73766287e-02 2.52936138e+02] [-2.63100040e-01 9.64756867e-01 -4.74928004e-03 -5.91081690e+01] [-1.80139612e-02 9.36554708e-06 9.99837735e-01 -6.46054421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.528623853 meters 0.01768911527745737 Centerline is valid? [True, True] Translation: X:252.96, Y:-59.11, Z:-6.46 [[ 9.64500210e-01 2.63547459e-01 1.67952658e-02 2.52964039e+02] [-2.63507493e-01 9.64646431e-01 -4.58961664e-03 -5.91140386e+01] [-1.74110750e-02 1.00784585e-06 9.99848416e-01 -6.46259469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.55862385300003 meters 0.01765694127469239 Centerline is valid? [True, True] Translation: X:252.99, Y:-59.12, Z:-6.46 [[ 9.64541163e-01 2.63418439e-01 1.64642326e-02 2.52991997e+02] [-2.63380027e-01 9.64681671e-01 -4.49838979e-03 -5.91211711e+01] [-1.70677023e-02 2.53208603e-06 9.99854336e-01 -6.46429323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.588623853 meters 0.01765694127469239 Centerline is valid? [True, True] Translation: X:253.02, Y:-59.13, Z:-6.47 [[ 9.64552808e-01 2.63375783e-01 1.64644316e-02 2.53019347e+02] [-2.63337377e-01 9.64693317e-01 -4.49766143e-03 -5.91285456e+01] [-1.70677022e-02 2.53172710e-06 9.99854336e-01 -6.46500569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.61862385300003 meters 0.017577722217754957 Centerline is valid? [True, True] Translation: X:253.05, Y:-59.14, Z:-6.46 [[ 9.64733254e-01 2.62701353e-01 1.66657377e-02 2.53046894e+02] [-2.62661915e-01 9.64877194e-01 -4.55186029e-03 -5.91369821e+01] [-1.72761700e-02 1.38764100e-05 9.99850756e-01 -6.46486916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.648623853 meters 0.019286503822318272 Centerline is valid? [True, True] Translation: X:253.07, Y:-59.14, Z:-6.46 [[ 9.64844185e-01 2.62291362e-01 1.67015123e-02 2.53073783e+02] [-2.62251706e-01 9.64988726e-01 -4.56089860e-03 -5.91444297e+01] [-1.73130554e-02 2.05564018e-05 9.99850118e-01 -6.46174977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.67862385300003 meters 0.017493124359408377 Centerline is valid? [True, True] Translation: X:253.10, Y:-59.15, Z:-6.46 [[ 9.64989895e-01 2.61673506e-01 1.79298397e-02 2.53102380e+02] [-2.61627724e-01 9.65156451e-01 -4.89481368e-03 -5.91542634e+01] [-1.85859435e-02 3.25025914e-05 9.99827266e-01 -6.46223651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.708623853 meters 0.02426364650491987 Centerline is valid? [True, True] Translation: X:253.13, Y:-59.16, Z:-6.46 [[ 9.65054869e-01 2.61431922e-01 1.79568951e-02 2.53130374e+02] [-2.61385960e-01 9.65221917e-01 -4.90212991e-03 -5.91615056e+01] [-1.86139619e-02 3.71440795e-05 9.99826745e-01 -6.45533763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.73862385300004 meters 0.017330040117212394 Centerline is valid? [True, True] Translation: X:253.16, Y:-59.17, Z:-6.46 [[ 9.65029085e-01 2.61468930e-01 1.87846786e-02 2.53159215e+02] [-2.61418658e-01 9.65211892e-01 -5.12714427e-03 -5.91707861e+01] [-1.94717841e-02 3.71778570e-05 9.99810406e-01 -6.46188899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.768623853 meters 0.01753181440441451 Centerline is valid? [True, True] Translation: X:253.19, Y:-59.18, Z:-6.46 [[ 9.64944978e-01 2.61830768e-01 1.80509931e-02 2.53188069e+02] [-2.61784409e-01 9.65113801e-01 -4.92697021e-03 -5.91778520e+01] [-1.87112949e-02 2.87866047e-05 9.99824928e-01 -6.46403993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.79862385300004 meters 0.017476026340068715 Centerline is valid? [True, True] Translation: X:253.22, Y:-59.19, Z:-6.47 [[ 9.64870815e-01 2.62130799e-01 1.76565509e-02 2.53217300e+02] [-2.62086500e-01 9.65032354e-01 -4.81900183e-03 -5.91852264e+01] [-1.83023517e-02 2.21705892e-05 9.99832498e-01 -6.46547282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.828623853 meters 0.017504053915725615 Centerline is valid? [True, True] Translation: X:253.25, Y:-59.19, Z:-6.47 [[ 9.64606587e-01 2.63131523e-01 1.72027504e-02 2.53245886e+02] [-2.63089626e-01 9.64759971e-01 -4.69541609e-03 -5.91909156e+01] [-1.78320370e-02 3.36412156e-06 9.99840997e-01 -6.46680060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.85862385300004 meters 0.01757025975172122 Centerline is valid? [True, True] Translation: X:253.27, Y:-59.20, Z:-6.47 [[ 9.64547453e-01 2.63370273e-01 1.68614925e-02 2.53274527e+02] [-2.63330071e-01 9.64694822e-01 -4.60154913e-03 -5.91981988e+01] [-1.74781058e-02 -1.72553832e-06 9.99847246e-01 -6.46822997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.888623853 meters 0.01760157438439936 Centerline is valid? [True, True] Translation: X:253.30, Y:-59.21, Z:-6.47 [[ 9.64546255e-01 2.63384456e-01 1.67078240e-02 2.53302587e+02] [-2.63344993e-01 9.64690950e-01 -4.55919487e-03 -5.92062863e+01] [-1.73187077e-02 -2.36746226e-06 9.99850020e-01 -6.46958484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.91862385300004 meters 0.024227043055056074 Centerline is valid? [True, True] Translation: X:253.33, Y:-59.22, Z:-6.46 [[ 9.64748679e-01 2.62651632e-01 1.65561628e-02 2.53330914e+02] [-2.62612781e-01 9.64890730e-01 -4.51739504e-03 -5.92157786e+01] [-1.71613891e-02 1.02909487e-05 9.99852732e-01 -6.46244823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.948623853 meters 0.017473931657572498 Centerline is valid? [True, True] Translation: X:253.36, Y:-59.23, Z:-6.47 [[ 9.64941272e-01 2.61900837e-01 1.72131868e-02 2.53359075e+02] [-2.61858734e-01 9.65094788e-01 -4.69602193e-03 -5.92262896e+01] [-1.78422489e-02 2.39620774e-05 9.99840814e-01 -6.46940312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.97862385300004 meters 0.018156238304315418 Centerline is valid? [True, True] Translation: X:253.39, Y:-59.24, Z:-6.47 [[ 9.65569339e-01 2.59583746e-01 1.70918284e-02 2.53387106e+02] [-2.59541873e-01 9.65720598e-01 -4.66282179e-03 -5.92404313e+01] [-1.77163235e-02 6.62325881e-05 9.99843051e-01 -6.47097515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.008623853 meters 0.018644095742682363 Centerline is valid? [True, True] Translation: X:253.42, Y:-59.25, Z:-6.47 [[ 9.65932995e-01 2.58220754e-01 1.71898466e-02 2.53415125e+02] [-2.58178184e-01 9.66085935e-01 -4.68945941e-03 -5.92520041e+01] [-1.78177848e-02 9.16601834e-05 9.99841246e-01 -6.47170758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.03862385300005 meters 0.019104704236425882 Centerline is valid? [True, True] Translation: X:253.44, Y:-59.26, Z:-6.47 [[ 9.66199960e-01 2.57205579e-01 1.74048413e-02 2.53444560e+02] [-2.57161750e-01 9.66356703e-01 -4.74938033e-03 -5.92629427e+01] [-1.80408522e-02 1.12991618e-04 9.99837244e-01 -6.47244307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.068623853 meters 0.019834626406546756 Centerline is valid? [True, True] Translation: X:253.47, Y:-59.28, Z:-6.47 [[ 9.66537214e-01 2.55908995e-01 1.77876490e-02 2.53472729e+02] [-2.55863006e-01 9.66700867e-01 -4.85341148e-03 -5.92765456e+01] [-1.84373674e-02 1.39801466e-04 9.99830008e-01 -6.47196687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.098623853 meters 0.020284825964491826 Centerline is valid? [True, True] Translation: X:253.50, Y:-59.29, Z:-6.47 [[ 9.66666991e-01 2.55412112e-01 1.78768497e-02 2.53502613e+02] [-2.55365522e-01 9.66832266e-01 -4.88059629e-03 -5.92882812e+01] [-1.85304785e-02 1.52780261e-04 9.99828284e-01 -6.47302264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.128623853 meters 0.0209455071981989 Centerline is valid? [True, True] Translation: X:253.53, Y:-59.30, Z:-6.47 [[ 9.66908918e-01 2.54499919e-01 1.78027008e-02 2.53531752e+02] [-2.54453504e-01 9.67072780e-01 -4.86342112e-03 -5.93021258e+01] [-1.84542477e-02 1.72525639e-04 9.99829691e-01 -6.47341652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.158623853 meters 0.021417956772738948 Centerline is valid? [True, True] Translation: X:253.56, Y:-59.31, Z:-6.47 [[ 9.66990993e-01 2.54192444e-01 1.77375489e-02 2.53562138e+02] [-2.54146253e-01 9.67153643e-01 -4.84903235e-03 -5.93136068e+01] [-1.83875224e-02 1.81039011e-04 9.99830919e-01 -6.47456545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.188623853 meters 0.0214341109028488 Centerline is valid? [True, True] Translation: X:253.59, Y:-59.32, Z:-6.47 [[ 9.67055315e-01 2.53931014e-01 1.79737950e-02 2.53593185e+02] [-2.53883507e-01 9.67222314e-01 -4.91540343e-03 -5.93247498e+01] [-1.86328290e-02 1.90216899e-04 9.99826376e-01 -6.47462856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.218623853 meters 0.02456231385926998 Centerline is valid? [True, True] Translation: X:253.62, Y:-59.34, Z:-6.47 [[ 9.67073420e-01 2.53887660e-01 1.76084112e-02 2.53622385e+02] [-2.53841993e-01 9.67233694e-01 -4.81899653e-03 -5.93389925e+01] [-1.82549324e-02 1.90569247e-04 9.99833347e-01 -6.47127236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.248623853 meters 0.021898306906430905 Centerline is valid? [True, True] Translation: X:253.65, Y:-59.35, Z:-6.48 [[ 9.66978136e-01 2.54235963e-01 1.78145856e-02 2.53651112e+02] [-2.54189206e-01 9.67142202e-01 -4.87940042e-03 -5.93500605e+01] [-1.84697566e-02 1.89998157e-04 9.99829401e-01 -6.47729507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.278623853 meters 0.02075017827498259 Centerline is valid? [True, True] Translation: X:253.68, Y:-59.36, Z:-6.48 [[ 9.66461045e-01 2.56221641e-01 1.74218055e-02 2.53681192e+02] [-2.56177223e-01 9.66618047e-01 -4.77301672e-03 -5.93595387e+01] [-1.80631818e-02 1.49864970e-04 9.99836836e-01 -6.47857506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.30862385300003 meters 0.019856990055902843 Centerline is valid? [True, True] Translation: X:253.71, Y:-59.37, Z:-6.48 [[ 9.66064850e-01 2.57699060e-01 1.76039586e-02 2.53712258e+02] [-2.57653905e-01 9.66225221e-01 -4.82564339e-03 -5.93681482e+01] [-1.82529526e-02 1.26155788e-04 9.99833393e-01 -6.47889971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.338623853 meters 0.018466652849244262 Centerline is valid? [True, True] Translation: X:253.74, Y:-59.38, Z:-6.48 [[ 9.65646803e-01 2.59248458e-01 1.77901560e-02 2.53743300e+02] [-2.59202551e-01 9.65810658e-01 -4.87961822e-03 -5.93753510e+01] [-1.84469557e-02 1.00733921e-04 9.99829835e-01 -6.47717445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.36862385300003 meters 0.01759462615374998 Centerline is valid? [True, True] Translation: X:253.77, Y:-59.38, Z:-6.48 [[ 9.64593285e-01 2.63147448e-01 1.76979035e-02 2.53773053e+02] [-2.63102610e-01 9.64755627e-01 -4.85763719e-03 -5.93829092e+01] [-1.83524268e-02 2.92796232e-05 9.99831580e-01 -6.47835584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.398623853 meters 0.017660159671836442 Centerline is valid? [True, True] Translation: X:253.80, Y:-59.39, Z:-6.48 [[ 9.63937587e-01 2.65568082e-01 1.72604246e-02 2.53804583e+02] [-2.65525773e-01 9.64092109e-01 -4.74027554e-03 -5.93892846e+01] [-1.78995050e-02 -1.37578170e-05 9.99839791e-01 -6.48103930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.42862385300003 meters 0.01869143386784153 Centerline is valid? [True, True] Translation: X:253.83, Y:-59.39, Z:-6.48 [[ 9.62762192e-01 2.69789710e-01 1.73917714e-02 2.53833789e+02] [-2.69747356e-01 9.62919262e-01 -4.78113828e-03 -5.93921558e+01] [-1.80367736e-02 -8.82851870e-05 9.99837320e-01 -6.48192489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.458623853 meters 0.019680057116217543 Centerline is valid? [True, True] Translation: X:253.86, Y:-59.40, Z:-6.48 [[ 9.62241107e-01 2.71639874e-01 1.74307677e-02 2.53862766e+02] [-2.71597645e-01 9.62398963e-01 -4.79116657e-03 -5.93983464e+01] [-1.80768247e-02 -1.23898059e-04 9.99836593e-01 -6.48222428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.48862385300004 meters 0.02023956566186364 Centerline is valid? [True, True] Translation: X:253.89, Y:-59.41, Z:-6.48 [[ 9.61420671e-01 2.74529219e-01 1.74356297e-02 2.53893958e+02] [-2.74487475e-01 9.61578741e-01 -4.79071027e-03 -5.94076961e+01] [-1.80809208e-02 -1.79974082e-04 9.99836511e-01 -6.48049935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.518623853 meters 0.021308929779277893 Centerline is valid? [True, True] Translation: X:253.92, Y:-59.42, Z:-6.48 [[ 9.61130582e-01 2.75540755e-01 1.74727317e-02 2.53923825e+02] [-2.75498941e-01 9.61289370e-01 -4.80416064e-03 -5.94151851e+01] [-1.81200933e-02 -1.96293372e-04 9.99835798e-01 -6.48167190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.54862385300004 meters 0.02198397409104756 Centerline is valid? [True, True] Translation: X:253.95, Y:-59.43, Z:-6.48 [[ 9.60768280e-01 2.76759128e-01 1.81300190e-02 2.53954804e+02] [-2.76714266e-01 9.60939298e-01 -4.98801725e-03 -5.94251011e+01] [-1.88023270e-02 -2.24506148e-04 9.99823195e-01 -6.48107294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.578623853 meters 0.023561698212265992 Centerline is valid? [True, True] Translation: X:253.98, Y:-59.43, Z:-6.48 [[ 9.60712617e-01 2.76937077e-01 1.83608808e-02 2.53984987e+02] [-2.76891019e-01 9.60888029e-01 -5.05568001e-03 -5.94310351e+01] [-1.90428558e-02 -2.26907408e-04 9.99818643e-01 -6.48260055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.60862385300004 meters 0.021896443784894366 Centerline is valid? [True, True] Translation: X:254.02, Y:-59.44, Z:-6.48 [[ 9.60556350e-01 2.77465180e-01 1.85626673e-02 2.54016069e+02] [-2.77418218e-01 9.60735664e-01 -5.11039884e-03 -5.94442655e+01] [-1.92517742e-02 -2.40796026e-04 9.99814638e-01 -6.48100163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.638623853 meters 0.022195444575281432 Centerline is valid? [True, True] Translation: X:254.05, Y:-59.45, Z:-6.48 [[ 9.60433462e-01 2.77882111e-01 1.86841603e-02 2.54047072e+02] [-2.77834536e-01 9.60615153e-01 -5.14770618e-03 -5.94530661e+01] [-1.93787429e-02 -2.47075736e-04 9.99812184e-01 -6.48208673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.66862385300004 meters 0.02207489687937253 Centerline is valid? [True, True] Translation: X:254.08, Y:-59.46, Z:-6.48 [[ 9.60298533e-01 2.78349805e-01 1.86578282e-02 2.54078651e+02] [-2.78302387e-01 9.60479735e-01 -5.14386873e-03 -5.94627497e+01] [-1.93522607e-02 -2.52868508e-04 9.99812695e-01 -6.48314760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.698623853 meters 0.02267865962552523 Centerline is valid? [True, True] Translation: X:254.11, Y:-59.47, Z:-6.48 [[ 9.60068212e-01 2.79183200e-01 1.80490854e-02 2.54109593e+02] [-2.79138905e-01 9.60237822e-01 -4.97970441e-03 -5.94714223e+01] [-1.87216643e-02 -2.57346025e-04 9.99824701e-01 -6.48481373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.72862385300004 meters 0.023021956122396797 Centerline is valid? [True, True] Translation: X:254.14, Y:-59.48, Z:-6.49 [[ 9.59796864e-01 2.80119175e-01 1.79785559e-02 2.54140146e+02] [-2.80075330e-01 9.59965194e-01 -4.96339282e-03 -5.94807178e+01] [-1.86491294e-02 -2.71501110e-04 9.99826053e-01 -6.48553170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.758623853 meters 0.023453301626843802 Centerline is valid? [True, True] Translation: X:254.17, Y:-59.49, Z:-6.49 [[ 9.59635722e-01 2.80676376e-01 1.78900149e-02 2.54172197e+02] [-2.80633003e-01 9.59802425e-01 -4.94197542e-03 -5.94890488e+01] [-1.85579754e-02 -2.78032466e-04 9.99827747e-01 -6.48610119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.78862385300005 meters 0.02439917010845998 Centerline is valid? [True, True] Translation: X:254.20, Y:-59.50, Z:-6.49 [[ 9.59522746e-01 2.81071285e-01 1.77491500e-02 2.54203441e+02] [-2.81028593e-01 9.59686852e-01 -4.90671742e-03 -5.94960965e+01] [-1.84127633e-02 -2.79911674e-04 9.99830432e-01 -6.48807642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.818623853 meters 0.02490536072750034 Centerline is valid? [True, True] Translation: X:254.23, Y:-59.50, Z:-6.49 [[ 9.59469287e-01 2.81264219e-01 1.75820014e-02 2.54232955e+02] [-2.81222283e-01 9.59630326e-01 -4.86467706e-03 -5.95039038e+01] [-1.82404814e-02 -2.76942354e-04 9.99833590e-01 -6.48953948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.848623853 meters 0.02377726111919508 Centerline is valid? [True, True] Translation: X:254.26, Y:-59.52, Z:-6.49 [[ 9.59416646e-01 2.81438923e-01 1.76587853e-02 2.54264391e+02] [-2.81396648e-01 9.59579102e-01 -4.88601314e-03 -5.95154900e+01] [-1.83201156e-02 -2.81400655e-04 9.99832133e-01 -6.48972893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.878623853 meters 0.023554912775552272 Centerline is valid? [True, True] Translation: X:254.29, Y:-59.52, Z:-6.49 [[ 9.59582293e-01 2.80891054e-01 1.73792349e-02 2.54294138e+02] [-2.80849950e-01 9.59739624e-01 -4.81240326e-03 -5.95246328e+01] [-1.80313014e-02 -2.63060286e-04 9.99837388e-01 -6.49133845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.908623853 meters 0.023635180966149916 Centerline is valid? [True, True] Translation: X:254.32, Y:-59.53, Z:-6.49 [[ 9.59672691e-01 2.80585917e-01 1.73167552e-02 2.54324528e+02] [-2.80544999e-01 9.59828880e-01 -4.79840161e-03 -5.95333594e+01] [-1.79674857e-02 -2.53234096e-04 9.99838540e-01 -6.49281325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.938623853 meters 0.029635500869242125 Centerline is valid? [True, True] Translation: X:254.36, Y:-59.54, Z:-6.49 [[ 9.59831445e-01 2.80057058e-01 1.70775103e-02 2.54355428e+02] [-2.80017160e-01 9.59983327e-01 -4.73316414e-03 -5.95441795e+01] [-1.77196812e-02 -2.38956163e-04 9.99842966e-01 -6.48535548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.968623853 meters 0.022220158698782154 Centerline is valid? [True, True] Translation: X:254.39, Y:-59.55, Z:-6.49 [[ 9.60064837e-01 2.79228371e-01 1.75221331e-02 2.54385354e+02] [-2.79186170e-01 9.60224695e-01 -4.85970480e-03 -5.95540472e+01] [-1.81821523e-02 -2.26305526e-04 9.99834665e-01 -6.49306945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.998623853 meters 0.0211254543845701 Centerline is valid? [True, True] Translation: X:254.42, Y:-59.56, Z:-6.49 [[ 9.60123699e-01 2.78961618e-01 1.85174930e-02 2.54415509e+02] [-2.78914367e-01 9.60302225e-01 -5.13936899e-03 -5.95643865e+01] [-1.92160764e-02 -2.30364870e-04 9.99815328e-01 -6.49127550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.028623853 meters 0.022108014078271676 Centerline is valid? [True, True] Translation: X:254.45, Y:-59.57, Z:-6.49 [[ 9.60094373e-01 2.79044738e-01 1.87837381e-02 2.54446893e+02] [-2.78996068e-01 9.60278074e-01 -5.21668334e-03 -5.95712110e+01] [-1.94932999e-02 -2.32080768e-04 9.99809961e-01 -6.49299016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.05862385300003 meters 0.022098529261459977 Centerline is valid? [True, True] Translation: X:254.48, Y:-59.58, Z:-6.49 [[ 9.60106673e-01 2.79000650e-01 1.88099629e-02 2.54478125e+02] [-2.78951761e-01 9.60290886e-01 -5.22777696e-03 -5.95800386e+01] [-1.95215891e-02 -2.27848739e-04 9.99809410e-01 -6.49373865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.088623853 meters 0.0209680171054077 Centerline is valid? [True, True] Translation: X:254.51, Y:-59.59, Z:-6.49 [[ 9.60212779e-01 2.78637645e-01 1.87745205e-02 2.54508397e+02] [-2.78588810e-01 9.60396281e-01 -5.22105751e-03 -5.95897914e+01] [-1.94857628e-02 -2.17045181e-04 9.99810111e-01 -6.49393344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.11862385300003 meters 0.02123545547100498 Centerline is valid? [True, True] Translation: X:254.54, Y:-59.60, Z:-6.50 [[ 9.60254357e-01 2.78505742e-01 1.86043217e-02 2.54539630e+02] [-2.78457702e-01 9.60434541e-01 -5.17693699e-03 -5.95971618e+01] [-1.93100399e-02 -2.09340377e-04 9.99813522e-01 -6.49589908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.148623853 meters 0.020055604112986417 Centerline is valid? [True, True] Translation: X:254.57, Y:-59.61, Z:-6.50 [[ 9.60489799e-01 2.77725881e-01 1.81019486e-02 2.54569570e+02] [-2.77680199e-01 9.60660346e-01 -5.04051187e-03 -5.96082619e+01] [-1.87897048e-02 -1.85192451e-04 9.99823441e-01 -6.49663595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.17862385300003 meters 0.02018663281182187 Centerline is valid? [True, True] Translation: X:254.60, Y:-59.62, Z:-6.50 [[ 9.60638869e-01 2.77218193e-01 1.79732048e-02 2.54599412e+02] [-2.77172999e-01 9.60806976e-01 -5.00840208e-03 -5.96165455e+01] [-1.86572007e-02 -1.70421370e-04 9.99825925e-01 -6.49819486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.208623853 meters 0.019670484069296078 Centerline is valid? [True, True] Translation: X:254.63, Y:-59.63, Z:-6.50 [[ 9.60831978e-01 2.76561616e-01 1.77646152e-02 2.54630168e+02] [-2.76517329e-01 9.60996175e-01 -4.95157707e-03 -5.96259465e+01] [-1.84411434e-02 -1.54590362e-04 9.99829936e-01 -6.49897509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.23862385300004 meters 0.019273831563762632 Centerline is valid? [True, True] Translation: X:254.66, Y:-59.63, Z:-6.50 [[ 9.61227936e-01 2.75196907e-01 1.75362029e-02 2.54660383e+02] [-2.75153467e-01 9.61387876e-01 -4.89105100e-03 -5.96343885e+01] [-1.82050950e-02 -1.23732170e-04 9.99834266e-01 -6.50152252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.268623853 meters 0.018625947819914793 Centerline is valid? [True, True] Translation: X:254.69, Y:-59.64, Z:-6.50 [[ 9.61501620e-01 2.74259561e-01 1.72141502e-02 2.54690744e+02] [-2.74217491e-01 9.61655699e-01 -4.80464373e-03 -5.96446655e+01] [-1.78718051e-02 -1.00748342e-04 9.99840281e-01 -6.50164877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.29862385300004 meters 0.018006353668116416 Centerline is valid? [True, True] Translation: X:254.72, Y:-59.66, Z:-6.50 [[ 9.62039952e-01 2.72353768e-01 1.73941183e-02 2.54721294e+02] [-2.72310496e-01 9.62197184e-01 -4.85521290e-03 -5.96556586e+01] [-1.80589072e-02 -6.56921779e-05 9.99836922e-01 -6.50211561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.328623853 meters 0.017838146529211833 Centerline is valid? [True, True] Translation: X:254.75, Y:-59.67, Z:-6.50 [[ 9.62294136e-01 2.71452895e-01 1.74161334e-02 2.54752131e+02] [-2.71409313e-01 9.62451725e-01 -4.86429901e-03 -5.96659183e+01] [-1.80826157e-02 -4.60143887e-05 9.99836495e-01 -6.50334043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.35862385300004 meters 0.017765249800194935 Centerline is valid? [True, True] Translation: X:254.78, Y:-59.68, Z:-6.50 [[ 9.62616940e-01 2.70306305e-01 1.74106061e-02 2.54782830e+02] [-2.70262499e-01 9.62774377e-01 -4.86626765e-03 -5.96767991e+01] [-1.80778682e-02 -2.10822227e-05 9.99836582e-01 -6.50412501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.388623853 meters 0.0179540982749974 Centerline is valid? [True, True] Translation: X:254.81, Y:-59.69, Z:-6.51 [[ 9.63399926e-01 2.67486014e-01 1.76583016e-02 2.54812666e+02] [-2.67440411e-01 9.63561742e-01 -4.93922307e-03 -5.96905095e+01] [-1.83360369e-02 3.59037167e-05 9.99831880e-01 -6.50537334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.41862385300004 meters 0.018351210932000907 Centerline is valid? [True, True] Translation: X:254.84, Y:-59.70, Z:-6.51 [[ 9.63847492e-01 2.65861691e-01 1.77643744e-02 2.54843917e+02] [-2.65815201e-01 9.64011181e-01 -4.97218630e-03 -5.97026692e+01] [-1.84469694e-02 7.03885468e-05 9.99829838e-01 -6.50592341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.448623853 meters 0.019066711046734 Centerline is valid? [True, True] Translation: X:254.87, Y:-59.71, Z:-6.51 [[ 9.64237426e-01 2.64462382e-01 1.74881412e-02 2.54873626e+02] [-2.64417031e-01 9.64395997e-01 -4.89846376e-03 -5.97144444e+01] [-1.81609528e-02 9.91197095e-05 9.99835071e-01 -6.50722880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.47862385300004 meters 0.03059785496646824 Centerline is valid? [True, True] Translation: X:254.90, Y:-59.73, Z:-6.50 [[ 9.64884800e-01 2.62178265e-01 1.61207835e-02 2.54902128e+02] [-2.62139367e-01 9.65019450e-01 -4.51807065e-03 -5.97279404e+01] [-1.67414096e-02 1.33525716e-04 9.99859844e-01 -6.50068551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.508623853 meters 0.03059785496646824 Centerline is valid? [True, True] Translation: X:254.93, Y:-59.74, Z:-6.50 [[ 9.64836514e-01 2.62355945e-01 1.61201816e-02 2.54933344e+02] [-2.62317036e-01 9.64971160e-01 -4.52021712e-03 -5.97368978e+01] [-1.67414161e-02 1.32672285e-04 9.99859844e-01 -6.50150318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.53862385300005 meters 0.02482601528362889 Centerline is valid? [True, True] Translation: X:254.96, Y:-59.75, Z:-6.51 [[ 9.64960807e-01 2.61887620e-01 1.62946208e-02 2.54964673e+02] [-2.61847742e-01 9.65098365e-01 -4.57238888e-03 -5.97478947e+01] [-1.69233639e-02 1.45466396e-04 9.99856779e-01 -6.50538606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.568623853 meters 0.021172892073792325 Centerline is valid? [True, True] Translation: X:254.99, Y:-59.76, Z:-6.51 [[ 9.64926567e-01 2.61986134e-01 1.67327973e-02 2.54993777e+02] [-2.61944026e-01 9.65071626e-01 -4.69943434e-03 -5.97610131e+01] [-1.73795345e-02 1.51552761e-04 9.99848953e-01 -6.51189487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.598623853 meters 0.020657441556166604 Centerline is valid? [True, True] Translation: X:255.03, Y:-59.77, Z:-6.51 [[ 9.64698593e-01 2.62824281e-01 1.67338474e-02 2.55025093e+02] [-2.62782263e-01 9.64843707e-01 -4.70151523e-03 -5.97698649e+01] [-1.73812198e-02 1.38186825e-04 9.99848926e-01 -6.51220032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.628623853 meters 0.01894413077894307 Centerline is valid? [True, True] Translation: X:255.06, Y:-59.78, Z:-6.51 [[ 9.63918156e-01 2.65615488e-01 1.76125402e-02 2.55055866e+02] [-2.65569345e-01 9.64079044e-01 -4.95171780e-03 -5.97760884e+01] [-1.82951338e-02 9.56999386e-05 9.99832625e-01 -6.51094133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.658623853 meters 0.01806190595102831 Centerline is valid? [True, True] Translation: X:255.09, Y:-59.78, Z:-6.51 [[ 9.63369817e-01 2.67569139e-01 1.80374835e-02 2.55087891e+02] [-2.67521032e-01 9.63538661e-01 -5.07400671e-03 -5.97822963e+01] [-1.87374603e-02 6.27387193e-05 9.99824436e-01 -6.50936546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.688623853 meters 0.017513213310330213 Centerline is valid? [True, True] Translation: X:255.12, Y:-59.79, Z:-6.51 [[ 9.62689874e-01 2.69967981e-01 1.85874976e-02 2.55118923e+02] [-2.69917274e-01 9.62869300e-01 -5.23228233e-03 -5.97883403e+01] [-1.93098795e-02 1.99785318e-05 9.99813547e-01 -6.50927515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.718623853 meters 0.017765521886815187 Centerline is valid? [True, True] Translation: X:255.15, Y:-59.79, Z:-6.51 [[ 9.60992762e-01 2.75869111e-01 1.97267684e-02 2.55152907e+02] [-2.75813169e-01 9.61195206e-01 -5.55632025e-03 -5.97893939e+01] [-2.04940923e-02 -1.01318948e-04 9.99789969e-01 -6.50676987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.748623853 meters 0.019267928552366538 Centerline is valid? [True, True] Translation: X:255.18, Y:-59.79, Z:-6.51 [[ 9.60040771e-01 2.79147608e-01 1.99582546e-02 2.55184021e+02] [-2.79090961e-01 9.60248189e-01 -5.62588759e-03 -5.97922209e+01] [-2.07353309e-02 -1.69086999e-04 9.99784986e-01 -6.50739070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.778623853 meters 0.02255835221570896 Centerline is valid? [True, True] Translation: X:255.22, Y:-59.79, Z:-6.51 [[ 9.58208967e-01 2.85387036e-01 1.97437513e-02 2.55217531e+02] [-2.85332846e-01 9.58412308e-01 -5.56915784e-03 -5.97920258e+01] [-2.05120197e-02 -2.97123770e-04 9.99789562e-01 -6.50855060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.80862385300003 meters 0.02638924841201949 Centerline is valid? [True, True] Translation: X:255.25, Y:-59.79, Z:-6.51 [[ 9.57255321e-01 2.88586174e-01 1.95005409e-02 2.55249330e+02] [-2.88533965e-01 9.57453858e-01 -5.50100824e-03 -5.97931870e+01] [-2.02583830e-02 -3.60698978e-04 9.99794713e-01 -6.51032149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.838623853 meters 0.02837773622195146 Centerline is valid? [True, True] Translation: X:255.28, Y:-59.80, Z:-6.51 [[ 9.56365132e-01 2.91536126e-01 1.92982044e-02 2.55280292e+02] [-2.91485516e-01 9.56559729e-01 -5.44784805e-03 -5.97972638e+01] [-2.00481297e-02 -4.15015145e-04 9.99798930e-01 -6.51094944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.86862385300003 meters 0.03755073087165494 Centerline is valid? [True, True] Translation: X:255.31, Y:-59.79, Z:-6.51 [[ 9.54658448e-01 2.97075269e-01 1.93269993e-02 2.55313341e+02] [-2.97025632e-01 9.54853917e-01 -5.45633802e-03 -5.97887240e+01] [-2.00754041e-02 -5.31675003e-04 9.99798327e-01 -6.51272983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.898623853 meters 0.03537919743800829 Centerline is valid? [True, True] Translation: X:255.34, Y:-59.80, Z:-6.51 [[ 9.53971035e-01 2.99296290e-01 1.89998725e-02 2.55341053e+02] [-2.99248762e-01 9.54160053e-01 -5.36389282e-03 -5.97979502e+01] [-1.97343126e-02 -5.68689940e-04 9.99805098e-01 -6.51273032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.92862385300003 meters 0.04387347686317369 Centerline is valid? [True, True] Translation: X:255.37, Y:-59.79, Z:-6.52 [[ 9.53147362e-01 3.01929586e-01 1.86716542e-02 2.55372844e+02] [-3.01884204e-01 9.53330032e-01 -5.27051802e-03 -5.97911505e+01] [-1.93915740e-02 -6.13097123e-04 9.99811778e-01 -6.51509099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.958623853 meters 0.04061676484664489 Centerline is valid? [True, True] Translation: X:255.40, Y:-59.80, Z:-6.52 [[ 9.52949696e-01 3.02552637e-01 1.86756211e-02 2.55400334e+02] [-3.02507367e-01 9.53132472e-01 -5.27100329e-03 -5.98011503e+01] [-1.93950968e-02 -6.26511975e-04 9.99811701e-01 -6.51503462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.98862385300004 meters 0.03952652342219783 Centerline is valid? [True, True] Translation: X:255.43, Y:-59.81, Z:-6.52 [[ 9.52998307e-01 3.02377888e-01 1.90221076e-02 2.55429199e+02] [-3.02330906e-01 9.53187919e-01 -5.36785657e-03 -5.98065090e+01] [-1.97547643e-02 -6.35412828e-04 9.99804654e-01 -6.51500220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.018623853 meters 0.03880276487545767 Centerline is valid? [True, True] Translation: X:255.46, Y:-59.81, Z:-6.52 [[ 9.53196994e-01 3.01749132e-01 1.90513178e-02 2.55456992e+02] [-3.01701899e-01 9.53387157e-01 -5.37516214e-03 -5.98137275e+01] [-1.97852323e-02 -6.24230388e-04 9.99804058e-01 -6.51541911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.04862385300004 meters 0.04341906302287324 Centerline is valid? [True, True] Translation: X:255.49, Y:-59.81, Z:-6.52 [[ 9.53578950e-01 3.00555917e-01 1.87969886e-02 2.55486140e+02] [-3.00509722e-01 9.53764012e-01 -5.30255853e-03 -5.98136560e+01] [-1.95216066e-02 -5.92269610e-04 9.99809260e-01 -6.51825881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.078623853 meters 0.0349617623370799 Centerline is valid? [True, True] Translation: X:255.51, Y:-59.83, Z:-6.52 [[ 9.54578208e-01 2.97399200e-01 1.82800545e-02 2.55512517e+02] [-2.97354956e-01 9.54753084e-01 -5.15543604e-03 -5.98300518e+01] [-1.89861609e-02 -5.14397891e-04 9.99819614e-01 -6.51872427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.10862385300004 meters 0.0326563923171584 Centerline is valid? [True, True] Translation: X:255.54, Y:-59.84, Z:-6.52 [[ 9.55166527e-01 2.95515332e-01 1.80995872e-02 2.55539775e+02] [-2.95471625e-01 9.55337880e-01 -5.10425531e-03 -5.98390675e+01] [-1.87996070e-02 -4.72500628e-04 9.99823160e-01 -6.51974801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.138623853 meters 0.028669835445495197 Centerline is valid? [True, True] Translation: X:255.57, Y:-59.85, Z:-6.52 [[ 9.56188753e-01 2.92218424e-01 1.76482450e-02 2.55567587e+02] [-2.92176326e-01 9.56351522e-01 -4.97597163e-03 -5.98498386e+01] [-1.83319966e-02 -3.98431290e-04 9.99831875e-01 -6.52078316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.16862385300004 meters 0.027485407685694567 Centerline is valid? [True, True] Translation: X:255.60, Y:-59.86, Z:-6.52 [[ 9.56629460e-01 2.90773659e-01 1.76282460e-02 2.55595909e+02] [-2.90731419e-01 9.56791797e-01 -4.96988634e-03 -5.98581646e+01] [-1.83116732e-02 -3.70745297e-04 9.99832259e-01 -6.52167020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.198623853 meters 0.025736874731074603 Centerline is valid? [True, True] Translation: X:255.62, Y:-59.87, Z:-6.52 [[ 9.57388804e-01 2.88272701e-01 1.74793770e-02 2.55624124e+02] [-2.88230763e-01 9.57548300e-01 -4.92747606e-03 -5.98659232e+01] [-1.81578046e-02 -3.20583764e-04 9.99835082e-01 -6.52255287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.22862385300004 meters 0.023718765110985317 Centerline is valid? [True, True] Translation: X:255.65, Y:-59.88, Z:-6.52 [[ 9.57702598e-01 2.87242704e-01 1.72441934e-02 2.55653062e+02] [-2.87201732e-01 9.57857787e-01 -4.86057432e-03 -5.98761301e+01] [-1.79136494e-02 -2.97577543e-04 9.99839493e-01 -6.52212122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.258623853 meters 0.03275160368513608 Centerline is valid? [True, True] Translation: X:255.68, Y:-59.88, Z:-6.52 [[ 9.58008903e-01 2.86245497e-01 1.68064744e-02 2.55682248e+02] [-2.86206419e-01 9.58156272e-01 -4.73748626e-03 -5.98801106e+01] [-1.74593130e-02 -2.71566862e-04 9.99847538e-01 -6.51590553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.28862385300005 meters 0.02279066412662966 Centerline is valid? [True, True] Translation: X:255.71, Y:-59.89, Z:-6.52 [[ 9.58668082e-01 2.84007821e-01 1.71774708e-02 2.55709693e+02] [-2.83966652e-01 9.58821934e-01 -4.84135663e-03 -5.98876790e+01] [-1.78451189e-02 -2.36574800e-04 9.99840735e-01 -6.52407789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.318623853 meters 0.021938492954955993 Centerline is valid? [True, True] Translation: X:255.74, Y:-59.89, Z:-6.52 [[ 9.59002149e-01 2.82856532e-01 1.75231144e-02 2.55738190e+02] [-2.82813510e-01 9.59162204e-01 -4.93809605e-03 -5.98948241e+01] [-1.82042818e-02 -2.20128773e-04 9.99834264e-01 -6.52452316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.348623853 meters 0.020627761445649446 Centerline is valid? [True, True] Translation: X:255.77, Y:-59.90, Z:-6.52 [[ 9.59593741e-01 2.80836758e-01 1.76229058e-02 2.55766440e+02] [-2.80792916e-01 9.59755532e-01 -4.96555372e-03 -5.99026260e+01] [-1.83081913e-02 -1.83472832e-04 9.99832374e-01 -6.52447613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.378623853 meters 0.02027746485300934 Centerline is valid? [True, True] Translation: X:255.79, Y:-59.91, Z:-6.53 [[ 9.59796958e-01 2.80145186e-01 1.75634465e-02 2.55793162e+02] [-2.80101531e-01 9.59957627e-01 -4.94835118e-03 -5.99097094e+01] [-1.82464212e-02 -1.70135850e-04 9.99833506e-01 -6.52540834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.408623853 meters 0.020087139225187428 Centerline is valid? [True, True] Translation: X:255.82, Y:-59.92, Z:-6.53 [[ 9.59984118e-01 2.79530844e-01 1.71172383e-02 2.55821587e+02] [-2.79489306e-01 9.60136700e-01 -4.82130038e-03 -5.99169327e+01] [-1.77825909e-02 -1.55713246e-04 9.99841865e-01 -6.52649775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.438623853 meters 0.01997961543329272 Centerline is valid? [True, True] Translation: X:255.85, Y:-59.92, Z:-6.53 [[ 9.60129818e-01 2.79046313e-01 1.68489531e-02 2.55849235e+02] [-2.79006002e-01 9.60277634e-01 -4.74521612e-03 -5.99233136e+01] [-1.75038078e-02 -1.44935539e-04 9.99846786e-01 -6.52819361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.468623853 meters 0.019877968849254996 Centerline is valid? [True, True] Translation: X:255.88, Y:-59.93, Z:-6.53 [[ 9.60256259e-01 2.78654162e-01 1.61175372e-02 2.55877659e+02] [-2.78617231e-01 9.60391504e-01 -4.53848075e-03 -5.99280130e+01] [-1.67438123e-02 -1.32519043e-04 9.99859804e-01 -6.53033621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.498623853 meters 0.0202347161363687 Centerline is valid? [True, True] Translation: X:255.91, Y:-59.93, Z:-6.53 [[ 9.60249221e-01 2.78708720e-01 1.55847150e-02 2.55905646e+02] [-2.78674209e-01 9.60375673e-01 -4.38782597e-03 -5.99310881e+01] [-1.61901065e-02 -1.29651661e-04 9.99868923e-01 -6.53217513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.528623853 meters 0.020456354669173615 Centerline is valid? [True, True] Translation: X:255.93, Y:-59.94, Z:-6.53 [[ 9.60187516e-01 2.78920437e-01 1.55988738e-02 2.55934413e+02] [-2.78885908e-01 9.60314205e-01 -4.39074861e-03 -5.99363525e+01] [-1.62044896e-02 -1.34364088e-04 9.99868690e-01 -6.53293013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.55862385300003 meters 0.02041392981124811 Centerline is valid? [True, True] Translation: X:255.96, Y:-59.94, Z:-6.53 [[ 9.60178355e-01 2.78961184e-01 1.54332134e-02 2.55962526e+02] [-2.78927402e-01 9.60302369e-01 -4.34338356e-03 -5.99413764e+01] [-1.60321868e-02 -1.34323241e-04 9.99871467e-01 -6.53345931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.588623853 meters 0.020613719458557705 Centerline is valid? [True, True] Translation: X:255.99, Y:-59.95, Z:-6.53 [[ 9.60127161e-01 2.79119914e-01 1.57451216e-02 2.55990684e+02] [-2.79084783e-01 9.60256244e-01 -4.43058576e-03 -5.99461232e+01] [-1.63560160e-02 -1.40298124e-04 9.99866222e-01 -6.53381082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.61862385300003 meters 0.02010125497657558 Centerline is valid? [True, True] Translation: X:256.02, Y:-59.95, Z:-6.53 [[ 9.60319951e-01 2.78408309e-01 1.65651905e-02 2.56018604e+02] [-2.78369341e-01 9.60462802e-01 -4.65997359e-03 -5.99495765e+01] [-1.72076246e-02 -1.36175540e-04 9.99851929e-01 -6.53324195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.648623853 meters 0.019388041071026343 Centerline is valid? [True, True] Translation: X:256.05, Y:-59.96, Z:-6.53 [[ 9.60599730e-01 2.77398726e-01 1.72657249e-02 2.56046433e+02] [-2.77356249e-01 9.60754876e-01 -4.85587035e-03 -5.99566161e+01] [-1.79351417e-02 -1.24208954e-04 9.99839145e-01 -6.53281229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.67862385300003 meters 0.017698296481131567 Centerline is valid? [True, True] Translation: X:256.07, Y:-59.97, Z:-6.53 [[ 9.61333474e-01 2.74811781e-01 1.77886892e-02 2.56073840e+02] [-2.74766264e-01 9.61498039e-01 -5.00209412e-03 -5.99654244e+01] [-1.84784242e-02 -7.90511661e-05 9.99829256e-01 -6.53106797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.708623853 meters 0.01732546127225155 Centerline is valid? [True, True] Translation: X:256.10, Y:-59.97, Z:-6.53 [[ 9.61813532e-01 2.73149270e-01 1.74415199e-02 2.56100068e+02] [-2.73105254e-01 9.61971660e-01 -4.90370039e-03 -5.99735799e+01] [-1.81176900e-02 -4.69253260e-05 9.99835860e-01 -6.53224299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.73862385300004 meters 0.02086931594365336 Centerline is valid? [True, True] Translation: X:256.13, Y:-59.98, Z:-6.53 [[ 9.62902149e-01 2.69312829e-01 1.70308859e-02 2.56127586e+02] [-2.69270280e-01 9.63052750e-01 -4.78712706e-03 -5.99836983e+01] [-1.76908762e-02 2.36235286e-05 9.99843504e-01 -6.52883483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.768623853 meters 0.017727242109235007 Centerline is valid? [True, True] Translation: X:256.16, Y:-59.99, Z:-6.53 [[ 9.63613160e-01 2.66758883e-01 1.70110547e-02 2.56155715e+02] [-2.66716054e-01 9.63763297e-01 -4.78052348e-03 -5.99941059e+01] [-1.76698773e-02 6.94539485e-05 9.99843873e-01 -6.53426980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.79862385300004 meters 0.020186316400885387 Centerline is valid? [True, True] Translation: X:256.18, Y:-60.01, Z:-6.54 [[ 9.64939084e-01 2.61952899e-01 1.65300723e-02 2.56182614e+02] [-2.61911760e-01 9.65080647e-01 -4.64483598e-03 -6.00073297e+01] [-1.71695812e-02 1.52563434e-04 9.99852580e-01 -6.53700323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.828623853 meters 0.02218344979715095 Centerline is valid? [True, True] Translation: X:256.21, Y:-60.02, Z:-6.54 [[ 9.65722245e-01 2.59058442e-01 1.64094330e-02 2.56209963e+02] [-2.59017485e-01 9.65861627e-01 -4.61082021e-03 -6.00193125e+01] [-1.70437135e-02 2.02441583e-04 9.99854725e-01 -6.53847250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.85862385300004 meters 0.024893462474090883 Centerline is valid? [True, True] Translation: X:256.24, Y:-60.03, Z:-6.54 [[ 9.66392689e-01 2.56542157e-01 1.64709209e-02 2.56236557e+02] [-2.56500534e-01 9.66533010e-01 -4.62773988e-03 -6.00319315e+01] [-1.71068991e-02 2.47413984e-04 9.99853636e-01 -6.54008587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.888623853 meters 0.02743985271759184 Centerline is valid? [True, True] Translation: X:256.27, Y:-60.04, Z:-6.54 [[ 9.67626048e-01 2.51921383e-01 1.53443011e-02 2.56265530e+02] [-2.51884693e-01 9.67747655e-01 -4.31020481e-03 -6.00441205e+01] [-1.59352442e-02 3.05671858e-04 9.99872979e-01 -6.54107760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.91862385300004 meters 0.02963737324322586 Centerline is valid? [True, True] Translation: X:256.29, Y:-60.06, Z:-6.54 [[ 9.68065769e-01 2.50228809e-01 1.53039413e-02 2.56294381e+02] [-2.50192114e-01 9.68186673e-01 -4.29799446e-03 -6.00562887e+01] [-1.58925541e-02 3.31815873e-04 9.99873650e-01 -6.54331809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.948623853 meters 0.031261770559106575 Centerline is valid? [True, True] Translation: X:256.32, Y:-60.07, Z:-6.54 [[ 9.68747056e-01 2.47569836e-01 1.54375207e-02 2.56323925e+02] [-2.47532119e-01 9.68869976e-01 -4.33814226e-03 -6.00686482e+01] [-1.60309435e-02 3.81280348e-04 9.99871423e-01 -6.54323053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.97862385300004 meters 0.034788217377559306 Centerline is valid? [True, True] Translation: X:256.35, Y:-60.08, Z:-6.54 [[ 9.68947367e-01 2.46772176e-01 1.56362893e-02 2.56352313e+02] [-2.46733332e-01 9.69073440e-01 -4.39672251e-03 -6.00823401e+01] [-1.62377014e-02 4.02198940e-04 9.99868079e-01 -6.54499384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.008623853 meters 0.03724116187398685 Centerline is valid? [True, True] Translation: X:256.38, Y:-60.09, Z:-6.54 [[ 9.69036355e-01 2.46451828e-01 1.51670364e-02 2.56383298e+02] [-2.46415204e-01 9.69154961e-01 -4.26717195e-03 -6.00912725e+01] [-1.57508609e-02 3.97656396e-04 9.99875868e-01 -6.53942576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.03862385300005 meters 0.03888867739370744 Centerline is valid? [True, True] Translation: X:256.41, Y:-60.11, Z:-6.55 [[ 9.69257540e-01 2.45569394e-01 1.53458331e-02 2.56410696e+02] [-2.45531746e-01 9.69378923e-01 -4.32030081e-03 -6.01075175e+01] [-1.59368608e-02 4.19594953e-04 9.99872912e-01 -6.54814307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.068623853 meters 0.03377721491968105 Centerline is valid? [True, True] Translation: X:256.44, Y:-60.11, Z:-6.55 [[ 9.69329600e-01 2.45298500e-01 1.51252238e-02 2.56442999e+02] [-2.45261860e-01 9.69447507e-01 -4.26036220e-03 -6.01105785e+01] [-1.57081710e-02 4.20054670e-04 9.99876531e-01 -6.54691955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.098623853 meters 0.034340436642907514 Centerline is valid? [True, True] Translation: X:256.47, Y:-60.12, Z:-6.54 [[ 9.69289713e-01 2.45450765e-01 1.52110134e-02 2.56473910e+02] [-2.45413686e-01 9.69408966e-01 -4.28709954e-03 -6.01219480e+01] [-1.57979646e-02 4.22450623e-04 9.99875115e-01 -6.54469104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.128623853 meters 0.042507346470851255 Centerline is valid? [True, True] Translation: X:256.50, Y:-60.14, Z:-6.54 [[ 9.69205076e-01 2.45787447e-01 1.51674841e-02 2.56503966e+02] [-2.45750569e-01 9.69323659e-01 -4.27811982e-03 -6.01352057e+01] [-1.57537093e-02 4.18957585e-04 9.99875815e-01 -6.54058321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.158623853 meters 0.03469782150093758 Centerline is valid? [True, True] Translation: X:256.53, Y:-60.15, Z:-6.55 [[ 9.69128131e-01 2.46036934e-01 1.60153985e-02 2.56534005e+02] [-2.45995792e-01 9.69260353e-01 -4.52083841e-03 -6.01458093e+01] [-1.66353840e-02 4.41551041e-04 9.99861525e-01 -6.54866590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.188623853 meters 0.03325380478408659 Centerline is valid? [True, True] Translation: X:256.57, Y:-60.15, Z:-6.55 [[ 9.68983736e-01 2.46598632e-01 1.61131630e-02 2.56565429e+02] [-2.46557016e-01 9.69117600e-01 -4.55132040e-03 -6.01539042e+01] [-1.67378993e-02 4.37342050e-04 9.99859816e-01 -6.54927007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.218623853 meters 0.033579759573957216 Centerline is valid? [True, True] Translation: X:256.59, Y:-60.17, Z:-6.55 [[ 9.68622657e-01 2.48044822e-01 1.56177811e-02 2.56594273e+02] [-2.48005858e-01 9.68748473e-01 -4.41479205e-03 -6.01664426e+01] [-1.62247679e-02 4.02966400e-04 9.99868289e-01 -6.55117947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.248623853 meters 0.03714309718775484 Centerline is valid? [True, True] Translation: X:256.63, Y:-60.17, Z:-6.54 [[ 9.68302890e-01 2.49303470e-01 1.54042975e-02 2.56625898e+02] [-2.49265708e-01 9.68425339e-01 -4.35535085e-03 -6.01744881e+01] [-1.60037161e-02 3.77535685e-04 9.99871861e-01 -6.54294306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.278623853 meters 0.03200325606554811 Centerline is valid? [True, True] Translation: X:256.66, Y:-60.19, Z:-6.55 [[ 9.68111101e-01 2.50030295e-01 1.56763740e-02 2.56655102e+02] [-2.49991234e-01 9.68237941e-01 -4.43529836e-03 -6.01861613e+01] [-1.62874190e-02 3.74905495e-04 9.99867281e-01 -6.55240592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.30862385300003 meters 0.030572747186380495 Centerline is valid? [True, True] Translation: X:256.68, Y:-60.20, Z:-6.55 [[ 9.67597089e-01 2.52022826e-01 1.55038569e-02 2.56684907e+02] [-2.51984834e-01 9.67721230e-01 -4.38904367e-03 -6.01962939e+01] [-1.61095506e-02 3.40089080e-04 9.99870175e-01 -6.55401855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.338623853 meters 0.030546704084158688 Centerline is valid? [True, True] Translation: X:256.71, Y:-60.21, Z:-6.56 [[ 9.67339394e-01 2.53006267e-01 1.55667974e-02 2.56714258e+02] [-2.52968051e-01 9.67464584e-01 -4.40943921e-03 -6.02067579e+01] [-1.61759409e-02 3.27521861e-04 9.99869107e-01 -6.55555696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.36862385300003 meters 0.028237405258067557 Centerline is valid? [True, True] Translation: X:256.75, Y:-60.22, Z:-6.56 [[ 9.66807580e-01 2.55019841e-01 1.57475249e-02 2.56745416e+02] [-2.54980943e-01 9.66935774e-01 -4.46410755e-03 -6.02162449e+01] [-1.63652812e-02 3.00614259e-04 9.99866035e-01 -6.55548837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.398623853 meters 0.028237405258067557 Centerline is valid? [True, True] Translation: X:256.78, Y:-60.23, Z:-6.56 [[ 9.66760249e-01 2.55199207e-01 1.57475714e-02 2.56776615e+02] [-2.55160336e-01 9.66888451e-01 -4.46394433e-03 -6.02252992e+01] [-1.63653399e-02 2.97408333e-04 9.99866035e-01 -6.55630581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.42862385300003 meters 0.028039214477571954 Centerline is valid? [True, True] Translation: X:256.81, Y:-60.24, Z:-6.56 [[ 9.66512902e-01 2.56130287e-01 1.58141462e-02 2.56805930e+02] [-2.56091153e-01 9.66642227e-01 -4.48633098e-03 -6.02351057e+01] [-1.64357067e-02 2.86233834e-04 9.99864884e-01 -6.55778776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.458623853 meters 0.024675372527426773 Centerline is valid? [True, True] Translation: X:256.84, Y:-60.24, Z:-6.56 [[ 9.65839222e-01 2.58678332e-01 1.54957386e-02 2.56837143e+02] [-2.58641049e-01 9.65963490e-01 -4.39826633e-03 -6.02433621e+01] [-1.61060539e-02 2.40184055e-04 9.99870260e-01 -6.55822683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.48862385300004 meters 0.024660291437315317 Centerline is valid? [True, True] Translation: X:256.87, Y:-60.25, Z:-6.56 [[ 9.65487673e-01 2.59990004e-01 1.54516043e-02 2.56866683e+02] [-2.59953054e-01 9.65611283e-01 -4.38864105e-03 -6.02537079e+01] [-1.60612463e-02 2.20487087e-04 9.99870986e-01 -6.55945695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.518623853 meters 0.022812365526091713 Centerline is valid? [True, True] Translation: X:256.90, Y:-60.26, Z:-6.56 [[ 9.64752069e-01 2.62702039e-01 1.55268950e-02 2.56897467e+02] [-2.62665038e-01 9.64876991e-01 -4.41259841e-03 -6.02610880e+01] [-1.61407424e-02 1.78690973e-04 9.99869714e-01 -6.56052126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.54862385300004 meters 0.02196153899157939 Centerline is valid? [True, True] Translation: X:256.93, Y:-60.27, Z:-6.56 [[ 9.64443100e-01 2.63829291e-01 1.56080587e-02 2.56927458e+02] [-2.63791985e-01 9.64569374e-01 -4.43968774e-03 -6.02694558e+01] [-1.62263751e-02 1.64545412e-04 9.99868330e-01 -6.56120248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.578623853 meters 0.02070048168239896 Centerline is valid? [True, True] Translation: X:256.96, Y:-60.28, Z:-6.56 [[ 9.64107928e-01 2.65052697e-01 1.55875001e-02 2.56958682e+02] [-2.65015664e-01 9.64233917e-01 -4.43290347e-03 -6.02778220e+01] [-1.62049493e-02 1.42865685e-04 9.99868681e-01 -6.56116608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.60862385300004 meters 0.01972057784932185 Centerline is valid? [True, True] Translation: X:256.99, Y:-60.29, Z:-6.56 [[ 9.63645925e-01 2.66733093e-01 1.54915641e-02 2.56987893e+02] [-2.66696676e-01 9.63770431e-01 -4.40901514e-03 -6.02877804e+01] [-1.61063417e-02 1.17180804e-04 9.99870278e-01 -6.56205208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.638623853 meters 0.01963445277902007 Centerline is valid? [True, True] Translation: X:257.02, Y:-60.30, Z:-6.56 [[ 9.63468941e-01 2.67372596e-01 1.54755983e-02 2.57019318e+02] [-2.67336326e-01 9.63593215e-01 -4.40515690e-03 -6.02979471e+01] [-1.60899997e-02 1.07042276e-04 9.99870542e-01 -6.56342956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.66862385300004 meters 0.01976667962799284 Centerline is valid? [True, True] Translation: X:257.05, Y:-60.31, Z:-6.57 [[ 9.63453800e-01 2.67431952e-01 1.53924497e-02 2.57048927e+02] [-2.67396027e-01 9.63576743e-01 -4.38466929e-03 -6.03101426e+01] [-1.60044072e-02 1.08546406e-04 9.99871915e-01 -6.56518242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.698623853 meters 0.019955603769259922 Centerline is valid? [True, True] Translation: X:257.08, Y:-60.32, Z:-6.57 [[ 9.63435101e-01 2.67490288e-01 1.55483849e-02 2.57079196e+02] [-2.67453589e-01 9.63560550e-01 -4.43219434e-03 -6.03210453e+01] [-1.61673792e-02 1.11660261e-04 9.99869293e-01 -6.56575012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.72862385300004 meters 0.019904482348520762 Centerline is valid? [True, True] Translation: X:257.11, Y:-60.33, Z:-6.57 [[ 9.63435129e-01 2.67481844e-01 1.56912809e-02 2.57110783e+02] [-2.67444425e-01 9.63562894e-01 -4.47546282e-03 -6.03322438e+01] [-1.63166411e-02 1.15272493e-04 9.99866868e-01 -6.56604883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.758623853 meters 0.019965787428912824 Centerline is valid? [True, True] Translation: X:257.14, Y:-60.34, Z:-6.57 [[ 9.63369099e-01 2.67724567e-01 1.56055928e-02 2.57140931e+02] [-2.67687536e-01 9.63495482e-01 -4.45419133e-03 -6.03443183e+01] [-1.62284146e-02 1.13607597e-04 9.99868304e-01 -6.56704048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.78862385300005 meters 0.019717857142515283 Centerline is valid? [True, True] Translation: X:257.17, Y:-60.35, Z:-6.57 [[ 9.63209705e-01 2.68297862e-01 1.55987437e-02 2.57171824e+02] [-2.68260893e-01 9.63335998e-01 -4.45504077e-03 -6.03545395e+01] [-1.62221093e-02 1.06605588e-04 9.99868407e-01 -6.56766558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.818623853 meters 0.01941138019937249 Centerline is valid? [True, True] Translation: X:257.20, Y:-60.37, Z:-6.57 [[ 9.62983316e-01 2.69115512e-01 1.54910768e-02 2.57203142e+02] [-2.69079109e-01 9.63107903e-01 -4.42730090e-03 -6.03656190e+01] [-1.61110338e-02 9.50917646e-05 9.99870204e-01 -6.56851907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.848623853 meters 0.01905319151314898 Centerline is valid? [True, True] Translation: X:257.23, Y:-60.38, Z:-6.57 [[ 9.62783500e-01 2.69818096e-01 1.56884500e-02 2.57234192e+02] [-2.69780801e-01 9.62911308e-01 -4.48684690e-03 -6.03753769e+01] [-1.63172184e-02 8.74195686e-05 9.99866862e-01 -6.56945782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.878623853 meters 0.018904512851181027 Centerline is valid? [True, True] Translation: X:257.27, Y:-60.39, Z:-6.57 [[ 9.62628001e-01 2.70364716e-01 1.58193327e-02 2.57265338e+02] [-2.70326819e-01 9.62757973e-01 -4.52738988e-03 -6.03855327e+01] [-1.64542351e-02 8.18023836e-05 9.99864617e-01 -6.57018142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.908623853 meters 0.018566215928871956 Centerline is valid? [True, True] Translation: X:257.29, Y:-60.40, Z:-6.57 [[ 9.62334721e-01 2.71399519e-01 1.59432268e-02 2.57294472e+02] [-2.71361111e-01 9.62466777e-01 -4.56628130e-03 -6.03965255e+01] [-1.65841127e-02 6.79192953e-05 9.99862472e-01 -6.57111662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.938623853 meters 0.01816780305973968 Centerline is valid? [True, True] Translation: X:257.33, Y:-60.41, Z:-6.57 [[ 9.62207891e-01 2.71844102e-01 1.60237198e-02 2.57325846e+02] [-2.71805329e-01 9.62341301e-01 -4.59155072e-03 -6.04067354e+01] [-1.66684733e-02 6.26939066e-05 9.99861069e-01 -6.57131121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.968623853 meters 0.018471668099638454 Centerline is valid? [True, True] Translation: X:257.36, Y:-60.42, Z:-6.57 [[ 9.62098771e-01 2.72244759e-01 1.57716975e-02 2.57355870e+02] [-2.72207199e-01 9.62228033e-01 -4.52248628e-03 -6.04183118e+01] [-1.64071926e-02 5.79088868e-05 9.99865391e-01 -6.57374089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.998623853 meters 0.018335064901403488 Centerline is valid? [True, True] Translation: X:257.39, Y:-60.43, Z:-6.57 [[ 9.62026749e-01 2.72485302e-01 1.60092177e-02 2.57386705e+02] [-2.72446583e-01 9.62159943e-01 -4.59376001e-03 -6.04278373e+01] [-1.66551601e-02 5.76633314e-05 9.99861292e-01 -6.57482774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.028623853 meters 0.018343558661301353 Centerline is valid? [True, True] Translation: X:257.42, Y:-60.44, Z:-6.58 [[ 9.61947506e-01 2.72771127e-01 1.59030667e-02 2.57417669e+02] [-2.72732919e-01 9.62078952e-01 -4.56570319e-03 -6.04379674e+01] [-1.65453978e-02 5.46769782e-05 9.99863114e-01 -6.57617742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.05862385300003 meters 0.017743870832086204 Centerline is valid? [True, True] Translation: X:257.45, Y:-60.45, Z:-6.57 [[ 9.61790653e-01 2.73339519e-01 1.56283984e-02 2.57448674e+02] [-2.73302651e-01 9.61917619e-01 -4.48948338e-03 -6.04489388e+01] [-1.62603850e-02 4.66604445e-05 9.99867790e-01 -6.57450011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.088623853 meters 0.017612751060223468 Centerline is valid? [True, True] Translation: X:257.48, Y:-60.46, Z:-6.57 [[ 9.61649080e-01 2.73833887e-01 1.56859351e-02 2.57480055e+02] [-2.73796758e-01 9.61777001e-01 -4.50939838e-03 -6.04592914e+01] [-1.63211977e-02 4.17006185e-05 9.99866800e-01 -6.57493428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.11862385300003 meters 0.017544591706043215 Centerline is valid? [True, True] Translation: X:257.51, Y:-60.47, Z:-6.58 [[ 9.61171157e-01 2.75507628e-01 1.56701689e-02 2.57511045e+02] [-2.75470739e-01 9.61298885e-01 -4.50835400e-03 -6.04681807e+01] [-1.63058018e-02 1.66268099e-05 9.99867051e-01 -6.57613106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.148623853 meters 0.017290153517251692 Centerline is valid? [True, True] Translation: X:257.54, Y:-60.48, Z:-6.58 [[ 9.60847776e-01 2.76612305e-01 1.60369817e-02 2.57541727e+02] [-2.76573766e-01 9.60981599e-01 -4.61730789e-03 -6.04763544e+01] [-1.66884485e-02 1.12160481e-06 9.99860738e-01 -6.57690126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.17862385300003 meters 0.017267974027469553 Centerline is valid? [True, True] Translation: X:257.57, Y:-60.48, Z:-6.58 [[ 9.60246471e-01 2.78651151e-01 1.67406832e-02 2.57573934e+02] [-2.78609407e-01 9.60392386e-01 -4.82318716e-03 -6.04841887e+01] [-1.74216113e-02 -3.26633673e-05 9.99848232e-01 -6.57619556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.208623853 meters 0.017426061589151547 Centerline is valid? [True, True] Translation: X:257.60, Y:-60.49, Z:-6.58 [[ 9.59941507e-01 2.79691755e-01 1.68767882e-02 2.57604387e+02] [-2.79649427e-01 9.60089850e-01 -4.86598092e-03 -6.04922688e+01] [-1.75642078e-02 -4.85271050e-05 9.99845736e-01 -6.57752704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.23862385300004 meters 0.017615203634670357 Centerline is valid? [True, True] Translation: X:257.64, Y:-60.50, Z:-6.58 [[ 9.59430176e-01 2.81455196e-01 1.66346172e-02 2.57636135e+02] [-2.81414288e-01 9.59574368e-01 -4.79911683e-03 -6.05009204e+01] [-1.73128886e-02 -7.68014372e-05 9.99850118e-01 -6.57780478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.268623853 meters 0.0185014367333899 Centerline is valid? [True, True] Translation: X:257.67, Y:-60.51, Z:-6.58 [[ 9.59250516e-01 2.82077771e-01 1.64492839e-02 2.57667668e+02] [-2.82037802e-01 9.59391539e-01 -4.74910104e-03 -6.05083651e+01] [-1.71209196e-02 -8.37422456e-05 9.99853423e-01 -6.58211888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.29862385300004 meters 0.018049030344901355 Centerline is valid? [True, True] Translation: X:257.70, Y:-60.52, Z:-6.58 [[ 9.59091792e-01 2.82647277e-01 1.59201637e-02 2.57698643e+02] [-2.82609870e-01 9.59223910e-01 -4.59917619e-03 -6.05189204e+01] [-1.65709463e-02 -8.81632370e-05 9.99862689e-01 -6.58111270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.328623853 meters 0.030149771275326816 Centerline is valid? [True, True] Translation: X:257.73, Y:-60.53, Z:-6.58 [[ 9.58906353e-01 2.83352110e-01 1.44978390e-02 2.57729808e+02] [-2.83321128e-01 9.59015940e-01 -4.19099201e-03 -6.05269826e+01] [-1.50911851e-02 -8.87752289e-05 9.99886118e-01 -6.57513166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.35862385300004 meters 0.018134710140777274 Centerline is valid? [True, True] Translation: X:257.76, Y:-60.54, Z:-6.58 [[ 9.59056260e-01 2.82815421e-01 1.50508191e-02 2.57759453e+02] [-2.82781917e-01 9.59174349e-01 -4.35386296e-03 -6.05372559e+01] [-1.56676992e-02 -8.04999540e-05 9.99877251e-01 -6.58477070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.388623853 meters 0.017941473948627926 Centerline is valid? [True, True] Translation: X:257.79, Y:-60.55, Z:-6.58 [[ 9.59118418e-01 2.82598131e-01 1.51709278e-02 2.57789977e+02] [-2.82564026e-01 9.59238391e-01 -4.39097052e-03 -6.05466447e+01] [-1.57934164e-02 -7.52977399e-05 9.99875273e-01 -6.58448749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.41862385300004 meters 0.01796132391398304 Centerline is valid? [True, True] Translation: X:257.82, Y:-60.56, Z:-6.58 [[ 9.59058138e-01 2.82780052e-01 1.55861930e-02 2.57820877e+02] [-2.82744019e-01 9.59184777e-01 -4.51482649e-03 -6.05552226e+01] [-1.62267419e-02 -7.69217487e-05 9.99868335e-01 -6.58443567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.448623853 meters 0.017743569687724278 Centerline is valid? [True, True] Translation: X:257.85, Y:-60.56, Z:-6.58 [[ 9.58988836e-01 2.82979561e-01 1.62166928e-02 2.57852169e+02] [-2.82940555e-01 9.59125936e-01 -4.69903687e-03 -6.05641959e+01] [-1.68835820e-02 -8.20361507e-05 9.99857459e-01 -6.58361766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.47862385300004 meters 0.03110323699986652 Centerline is valid? [True, True] Translation: X:257.88, Y:-60.57, Z:-6.57 [[ 9.58774332e-01 2.83666447e-01 1.68856937e-02 2.57883426e+02] [-2.83624197e-01 9.58923009e-01 -4.89660335e-03 -6.05713527e+01] [-1.75810823e-02 -9.44536985e-05 9.99845436e-01 -6.57482233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.508623853 meters 0.017507950102347992 Centerline is valid? [True, True] Translation: X:257.91, Y:-60.58, Z:-6.58 [[ 9.58863437e-01 2.83325142e-01 1.75434608e-02 2.57912448e+02] [-2.83279412e-01 9.59023908e-01 -5.09102237e-03 -6.05810085e+01] [-1.82670129e-02 -8.81060457e-05 9.99833140e-01 -6.58345041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.53862385300005 meters 0.017297795491651197 Centerline is valid? [True, True] Translation: X:257.94, Y:-60.59, Z:-6.58 [[ 9.59058877e-01 2.82643837e-01 1.78474889e-02 2.57943121e+02] [-2.82596336e-01 9.59224925e-01 -5.18213384e-03 -6.05905064e+01] [-1.85844544e-02 -7.36635195e-05 9.99827291e-01 -6.58396996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.568623853 meters 0.017136533057969878 Centerline is valid? [True, True] Translation: X:257.97, Y:-60.60, Z:-6.58 [[ 9.59174575e-01 2.82246481e-01 1.79180925e-02 2.57974568e+02] [-2.82198480e-01 9.59341920e-01 -5.20557074e-03 -6.06003560e+01] [-1.86588313e-02 -6.34073698e-05 9.99825907e-01 -6.58458274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.598623853 meters 0.016838408865038318 Centerline is valid? [True, True] Translation: X:258.01, Y:-60.61, Z:-6.59 [[ 9.59359055e-01 2.81617562e-01 1.79374468e-02 2.58006035e+02] [-2.81569280e-01 9.59526730e-01 -5.21477695e-03 -6.06106183e+01] [-1.86800324e-02 -4.77904949e-05 9.99825512e-01 -6.58547017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.628623853 meters 0.016682080058631612 Centerline is valid? [True, True] Translation: X:258.04, Y:-60.62, Z:-6.59 [[ 9.59638743e-01 2.80670366e-01 1.78221550e-02 2.58036681e+02] [-2.80622475e-01 9.59804222e-01 -5.18476050e-03 -6.06216392e+01] [-1.85609882e-02 -2.58001928e-05 9.99827730e-01 -6.58676856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.658623853 meters 0.017059965625581753 Centerline is valid? [True, True] Translation: X:258.07, Y:-60.64, Z:-6.59 [[ 9.60386083e-01 2.78162332e-01 1.68608406e-02 2.58065496e+02] [-2.78119023e-01 9.60534079e-01 -4.90844241e-03 -6.06354800e+01] [-1.75607558e-02 2.46792589e-05 9.99845798e-01 -6.59014885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.688623853 meters 0.025221830441346564 Centerline is valid? [True, True] Translation: X:258.10, Y:-60.65, Z:-6.59 [[ 9.60674941e-01 2.77205593e-01 1.61467096e-02 2.58095967e+02] [-2.77165700e-01 9.60810625e-01 -4.70287377e-03 -6.06462837e+01] [-1.68175930e-02 4.26189210e-05 9.99858573e-01 -6.58514596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.718623853 meters 0.027384367673381774 Centerline is valid? [True, True] Translation: X:258.12, Y:-60.66, Z:-6.59 [[ 9.61461314e-01 2.74487392e-01 1.57738205e-02 2.58123846e+02] [-2.74448902e-01 9.61590694e-01 -4.59751092e-03 -6.06613306e+01] [-1.64299178e-02 9.12211730e-05 9.99865016e-01 -6.58556064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.748623853 meters 0.019493182661639716 Centerline is valid? [True, True] Translation: X:258.15, Y:-60.67, Z:-6.59 [[ 9.61885174e-01 2.72968841e-01 1.62764884e-02 2.58154151e+02] [-2.72927628e-01 9.62022867e-01 -4.74480184e-03 -6.06748482e+01] [-1.69535371e-02 1.21651168e-04 9.99856271e-01 -6.59307991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.778623853 meters 0.021148680388946205 Centerline is valid? [True, True] Translation: X:258.18, Y:-60.69, Z:-6.59 [[ 9.62468267e-01 2.70867109e-01 1.69069561e-02 2.58182896e+02] [-2.70822250e-01 9.62616736e-01 -4.93232317e-03 -6.06886299e+01] [-1.76109230e-02 1.68424631e-04 9.99844901e-01 -6.59287775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.80862385300003 meters 0.02168035475406886 Centerline is valid? [True, True] Translation: X:258.21, Y:-60.70, Z:-6.59 [[ 9.62610547e-01 2.70354952e-01 1.70039873e-02 2.58213913e+02] [-2.70309453e-01 9.62760701e-01 -4.96306597e-03 -6.06994127e+01] [-1.77125602e-02 1.81161129e-04 9.99843104e-01 -6.59303448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.838623853 meters 0.022483668345033198 Centerline is valid? [True, True] Translation: X:258.24, Y:-60.71, Z:-6.59 [[ 9.62832265e-01 2.69540959e-01 1.73695612e-02 2.58243415e+02] [-2.69493284e-01 9.62988904e-01 -5.07346399e-03 -6.07106056e+01] [-1.80942010e-02 2.03914747e-04 9.99836266e-01 -6.59339625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.86862385300003 meters 0.023051150960120968 Centerline is valid? [True, True] Translation: X:258.27, Y:-60.72, Z:-6.59 [[ 9.63001846e-01 2.68907881e-01 1.77762821e-02 2.58274656e+02] [-2.68857791e-01 9.63165874e-01 -5.19487691e-03 -6.07222329e+01] [-1.85184516e-02 2.23384121e-04 9.99828494e-01 -6.59367312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.898623853 meters 0.024807658870157897 Centerline is valid? [True, True] Translation: X:258.30, Y:-60.74, Z:-6.59 [[ 9.63361695e-01 2.67617179e-01 1.77563830e-02 2.58303274e+02] [-2.67566914e-01 9.63525289e-01 -5.19269773e-03 -6.07364018e+01] [-1.84983792e-02 2.51425481e-04 9.99828859e-01 -6.59452135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.92862385300003 meters 0.025349711676427057 Centerline is valid? [True, True] Translation: X:258.33, Y:-60.75, Z:-6.60 [[ 9.63441535e-01 2.67346166e-01 1.75053264e-02 2.58333464e+02] [-2.67297220e-01 9.63600520e-01 -5.12186999e-03 -6.07477664e+01] [-1.82374540e-02 2.55497189e-04 9.99833651e-01 -6.59578017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.958623853 meters 0.025444587351511408 Centerline is valid? [True, True] Translation: X:258.36, Y:-60.76, Z:-6.60 [[ 9.63390700e-01 2.67547094e-01 1.72311500e-02 2.58363945e+02] [-2.67499655e-01 9.63544752e-01 -5.04426506e-03 -6.07596828e+01] [-1.79525626e-02 2.50271371e-04 9.99838808e-01 -6.59668172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.98862385300004 meters 0.025279766314191435 Centerline is valid? [True, True] Translation: X:258.39, Y:-60.77, Z:-6.60 [[ 9.63254292e-01 2.68039690e-01 1.72015782e-02 2.58393696e+02] [-2.67992423e-01 9.63407839e-01 -5.03949398e-03 -6.07694348e+01] [-1.79229197e-02 2.44421592e-04 9.99839342e-01 -6.59753890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.018623853 meters 0.022082781885065943 Centerline is valid? [True, True] Translation: X:258.43, Y:-60.77, Z:-6.60 [[ 9.63073291e-01 2.68697278e-01 1.70765752e-02 2.58426844e+02] [-2.68650786e-01 9.63224646e-01 -5.00359632e-03 -6.07747261e+01] [-1.77930308e-02 2.31194618e-04 9.99841665e-01 -6.59635496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.04862385300004 meters 0.021240308699236092 Centerline is valid? [True, True] Translation: X:258.46, Y:-60.78, Z:-6.60 [[ 9.62677301e-01 2.70132590e-01 1.67570357e-02 2.58457853e+02] [-2.70087975e-01 9.62823111e-01 -4.91359739e-03 -6.07844815e+01] [-1.74613840e-02 2.04334832e-04 9.99847518e-01 -6.59767475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.078623853 meters 0.020905004739447487 Centerline is valid? [True, True] Translation: X:258.49, Y:-60.79, Z:-6.60 [[ 9.62475355e-01 2.70862370e-01 1.65761179e-02 2.58489337e+02] [-2.70818773e-01 9.62618065e-01 -4.86333887e-03 -6.07943838e+01] [-1.72737660e-02 1.91719896e-04 9.99850779e-01 -6.59856400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.10862385300004 meters 0.02042578468754138 Centerline is valid? [True, True] Translation: X:258.52, Y:-60.80, Z:-6.60 [[ 9.62260144e-01 2.71616908e-01 1.67233283e-02 2.58520530e+02] [-2.71572583e-01 9.62405435e-01 -4.91024913e-03 -6.08036495e+01] [-1.74283287e-02 1.83339572e-04 9.99848098e-01 -6.59967287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.138623853 meters 0.019988263986474235 Centerline is valid? [True, True] Translation: X:258.55, Y:-60.81, Z:-6.60 [[ 9.61978276e-01 2.72666210e-01 1.58408976e-02 2.58552007e+02] [-2.72626541e-01 9.62108680e-01 -4.65360163e-03 -6.08142940e+01] [-1.65095450e-02 1.58014552e-04 9.99863696e-01 -6.60254791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.16862385300004 meters 0.02018805575654765 Centerline is valid? [True, True] Translation: X:258.58, Y:-60.82, Z:-6.60 [[ 9.61829861e-01 2.73180058e-01 1.59992147e-02 2.58580983e+02] [-2.73139592e-01 9.61962906e-01 -4.70437807e-03 -6.08246042e+01] [-1.66757934e-02 1.54792317e-04 9.99860937e-01 -6.60371048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.198623853 meters 0.019461875203972447 Centerline is valid? [True, True] Translation: X:258.61, Y:-60.84, Z:-6.60 [[ 9.61687344e-01 2.73612166e-01 1.71416158e-02 2.58611275e+02] [-2.73565759e-01 9.61840089e-01 -5.04167639e-03 -6.08357916e+01] [-1.78669573e-02 1.59157241e-04 9.99840361e-01 -6.60100017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.22862385300004 meters 0.019338828652669695 Centerline is valid? [True, True] Translation: X:258.64, Y:-60.85, Z:-6.60 [[ 9.61669794e-01 2.73616153e-01 1.80390591e-02 2.58642683e+02] [-2.73564696e-01 9.61838953e-01 -5.30897952e-03 -6.08468293e+01] [-1.88032923e-02 1.70635513e-04 9.99823188e-01 -6.60052088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.258623853 meters 0.01948643303700686 Centerline is valid? [True, True] Translation: X:258.67, Y:-60.86, Z:-6.60 [[ 9.61600805e-01 2.73823363e-01 1.85649347e-02 2.58672813e+02] [-2.73768821e-01 9.61779983e-01 -5.46786957e-03 -6.08577902e+01] [-1.93526130e-02 1.75407493e-04 9.99812705e-01 -6.60052308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.28862385300005 meters 0.01893615169767922 Centerline is valid? [True, True] Translation: X:258.70, Y:-60.87, Z:-6.60 [[ 9.61277379e-01 2.74945050e-01 1.87355483e-02 2.58703198e+02] [-2.74889639e-01 9.61459929e-01 -5.52190406e-03 -6.08694865e+01] [-1.95316991e-02 1.57873349e-04 9.99809226e-01 -6.60112795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.318623853 meters 0.01893615169767922 Centerline is valid? [True, True] Translation: X:258.73, Y:-60.88, Z:-6.60 [[ 9.61225418e-01 2.75126711e-01 1.87346777e-02 2.58734285e+02] [-2.75071277e-01 9.61407961e-01 -5.52485605e-03 -6.08788486e+01] [-1.95317037e-02 1.57260348e-04 9.99809226e-01 -6.60194562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.348623853 meters 0.018727917913109144 Centerline is valid? [True, True] Translation: X:258.77, Y:-60.89, Z:-6.60 [[ 9.60978228e-01 2.76033160e-01 1.80703990e-02 2.58766021e+02] [-2.75981682e-01 9.61148103e-01 -5.33250005e-03 -6.08890176e+01] [-1.88402766e-02 1.37317332e-04 9.99822497e-01 -6.60328933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.378623853 meters 0.01745874756415644 Centerline is valid? [True, True] Translation: X:258.80, Y:-60.90, Z:-6.61 [[ 9.60107266e-01 2.79098635e-01 1.72623883e-02 2.58796133e+02] [-2.79052081e-01 9.60262436e-01 -5.09808465e-03 -6.08959058e+01] [-1.79992916e-02 7.76027252e-05 9.99837997e-01 -6.60565133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.408623853 meters 0.01712169480582033 Centerline is valid? [True, True] Translation: X:258.83, Y:-60.90, Z:-6.61 [[ 9.59508680e-01 2.81172841e-01 1.68797634e-02 2.58828477e+02] [-2.81128632e-01 9.59657143e-01 -4.98601529e-03 -6.09034288e+01] [-1.76007176e-02 3.87401508e-05 9.99845095e-01 -6.60715171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.438623853 meters 0.01682774901211767 Centerline is valid? [True, True] Translation: X:258.86, Y:-60.91, Z:-6.61 [[ 9.58852980e-01 2.83422987e-01 1.65037106e-02 2.58861160e+02] [-2.83381004e-01 9.58995000e-01 -4.87814010e-03 -6.09105882e+01] [-1.72095530e-02 5.81087780e-07 9.99851905e-01 -6.60825147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.468623853 meters 0.01724728284070119 Centerline is valid? [True, True] Translation: X:258.89, Y:-60.92, Z:-6.61 [[ 9.57684686e-01 2.87329426e-01 1.67881956e-02 2.58892736e+02] [-2.87286519e-01 9.57831820e-01 -4.96584622e-03 -6.09152997e+01] [-1.75071017e-02 -6.73073998e-05 9.99846737e-01 -6.60899588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.498623853 meters 0.01784923302650511 Centerline is valid? [True, True] Translation: X:258.92, Y:-60.92, Z:-6.61 [[ 9.57031283e-01 2.89499567e-01 1.67667765e-02 2.58924318e+02] [-2.89457044e-01 9.57178139e-01 -4.96281263e-03 -6.09227056e+01] [-1.74855241e-02 -1.03694640e-04 9.99847111e-01 -6.60940835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.528623853 meters 0.01894537264549881 Centerline is valid? [True, True] Translation: X:258.95, Y:-60.93, Z:-6.61 [[ 9.56451448e-01 2.91414083e-01 1.66871305e-02 2.58954549e+02] [-2.91372202e-01 9.56596997e-01 -4.94226433e-03 -6.09294931e+01] [-1.74031044e-02 -1.35130082e-04 9.99848545e-01 -6.61118244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.55862385300003 meters 0.020888922534402016 Centerline is valid? [True, True] Translation: X:258.99, Y:-60.93, Z:-6.61 [[ 9.55465176e-01 2.94593304e-01 1.73517496e-02 2.58985778e+02] [-2.94548489e-01 9.55622701e-01 -5.14212536e-03 -6.09342427e+01] [-1.80965615e-02 -1.97809895e-04 9.99836224e-01 -6.61070366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.588623853 meters 0.020587861475997015 Centerline is valid? [True, True] Translation: X:259.02, Y:-60.94, Z:-6.61 [[ 9.55063832e-01 2.95869336e-01 1.77316908e-02 2.59016117e+02] [-2.95822706e-01 9.55228395e-01 -5.25747079e-03 -6.09438750e+01] [-1.84933389e-02 -2.24216558e-04 9.99828958e-01 -6.60949809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.61862385300003 meters 0.022986398564987142 Centerline is valid? [True, True] Translation: X:259.05, Y:-60.95, Z:-6.61 [[ 9.54592049e-01 2.97356504e-01 1.82518559e-02 2.59047306e+02] [-2.97307294e-01 9.54766487e-01 -5.41562247e-03 -6.09489554e+01] [-1.90366309e-02 -2.56699734e-04 9.99818754e-01 -6.61077455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.648623853 meters 0.022360362722796207 Centerline is valid? [True, True] Translation: X:259.08, Y:-60.96, Z:-6.61 [[ 9.54404990e-01 2.97954629e-01 1.82798695e-02 2.59078157e+02] [-2.97905356e-01 9.54579995e-01 -5.42513609e-03 -6.09598964e+01] [-1.90660421e-02 -2.67894058e-04 9.99818191e-01 -6.60998832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.67862385300003 meters 0.022226553840094265 Centerline is valid? [True, True] Translation: X:259.11, Y:-60.97, Z:-6.61 [[ 9.54297451e-01 2.98298832e-01 1.82806248e-02 2.59109514e+02] [-2.98249547e-01 9.54472490e-01 -5.42901940e-03 -6.09697106e+01] [-1.90678236e-02 -2.71288703e-04 9.99818156e-01 -6.61092279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.708623853 meters 0.0229284722141526 Centerline is valid? [True, True] Translation: X:259.14, Y:-60.98, Z:-6.61 [[ 9.54247894e-01 2.98470937e-01 1.80570412e-02 2.59140079e+02] [-2.98422812e-01 9.54418686e-01 -5.36632016e-03 -6.09776487e+01] [-1.88356681e-02 -2.67833289e-04 9.99822557e-01 -6.61241855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.73862385300004 meters 0.022575548636160753 Centerline is valid? [True, True] Translation: X:259.17, Y:-60.99, Z:-6.61 [[ 9.54151468e-01 2.98785317e-01 1.79530014e-02 2.59171963e+02] [-2.98737739e-01 9.54320314e-01 -5.33872130e-03 -6.09878961e+01] [-1.87280455e-02 -2.69290269e-04 9.99824579e-01 -6.61242323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.768623853 meters 0.021859816129402753 Centerline is valid? [True, True] Translation: X:259.20, Y:-61.00, Z:-6.61 [[ 9.54243327e-01 2.98448772e-01 1.86548502e-02 2.59203026e+02] [-2.98397257e-01 9.54425617e-01 -5.55152664e-03 -6.09979102e+01] [-1.94615132e-02 -2.69048872e-04 9.99810571e-01 -6.61159244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.79862385300004 meters 0.022247542132936855 Centerline is valid? [True, True] Translation: X:259.23, Y:-61.01, Z:-6.61 [[ 9.54286574e-01 2.98284180e-01 1.90704521e-02 2.59233428e+02] [-2.98230240e-01 9.54477069e-01 -5.67877231e-03 -6.10057150e+01] [-1.98961972e-02 -2.68209324e-04 9.99802015e-01 -6.61265303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.828623853 meters 0.021051857950558223 Centerline is valid? [True, True] Translation: X:259.26, Y:-61.02, Z:-6.61 [[ 9.54344974e-01 2.98093603e-01 1.91278327e-02 2.59264413e+02] [-2.98039240e-01 9.54536607e-01 -5.69880934e-03 -6.10166644e+01] [-1.99569952e-02 -2.62214678e-04 9.99800805e-01 -6.61245074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.85862385300004 meters 0.02198792378330306 Centerline is valid? [True, True] Translation: X:259.30, Y:-61.02, Z:-6.61 [[ 9.54352273e-01 2.98094817e-01 1.87408427e-02 2.59295298e+02] [-2.98042556e-01 9.54536231e-01 -5.58736416e-03 -6.10235100e+01] [-1.95543776e-02 -2.53254967e-04 9.99808763e-01 -6.61462687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.888623853 meters 0.020748768203523303 Centerline is valid? [True, True] Translation: X:259.33, Y:-61.03, Z:-6.62 [[ 9.54499333e-01 2.97665772e-01 1.80585807e-02 2.59326785e+02] [-2.97617110e-01 9.54670118e-01 -5.38720355e-03 -6.10343443e+01] [-1.88435735e-02 -2.32460395e-04 9.99822417e-01 -6.61649475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.91862385300004 meters 0.02057056318265119 Centerline is valid? [True, True] Translation: X:259.36, Y:-61.04, Z:-6.62 [[ 9.54590571e-01 2.97387890e-01 1.78124661e-02 2.59357810e+02] [-2.97340430e-01 9.54756720e-01 -5.31738238e-03 -6.10439509e+01] [-1.85878969e-02 -2.20443255e-04 9.99827206e-01 -6.61750785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.948623853 meters 0.01954962676164236 Centerline is valid? [True, True] Translation: X:259.39, Y:-61.06, Z:-6.62 [[ 9.55122097e-01 2.95693117e-01 1.75316932e-02 2.59388062e+02] [-2.95646788e-01 9.55282967e-01 -5.23725176e-03 -6.10557934e+01] [-1.82963472e-02 -1.80973897e-04 9.99832591e-01 -6.61888116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.97862385300004 meters 0.019528443423851405 Centerline is valid? [True, True] Translation: X:259.42, Y:-61.07, Z:-6.62 [[ 9.55348888e-01 2.94969010e-01 1.73719410e-02 2.59417847e+02] [-2.94923345e-01 9.55506806e-01 -5.19267633e-03 -6.10654756e+01] [-1.81306865e-02 -1.62573399e-04 9.99835612e-01 -6.62083327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.008623853 meters 0.01830339944387278 Centerline is valid? [True, True] Translation: X:259.45, Y:-61.08, Z:-6.62 [[ 9.55799256e-01 2.93472169e-01 1.79406648e-02 2.59448235e+02] [-2.93423145e-01 9.55967608e-01 -5.36568601e-03 -6.10770323e+01] [-1.87253739e-02 -1.35687591e-04 9.99824656e-01 -6.62054494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.03862385300005 meters 0.01814109609137354 Centerline is valid? [True, True] Translation: X:259.48, Y:-61.09, Z:-6.62 [[ 9.55877655e-01 2.93210152e-01 1.80475682e-02 2.59479704e+02] [-2.93160437e-01 9.56048006e-01 -5.40071086e-03 -6.10866987e+01] [-1.88378848e-02 -1.28414147e-04 9.99822543e-01 -6.62106507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.068623853 meters 0.017801711496779497 Centerline is valid? [True, True] Translation: X:259.51, Y:-61.10, Z:-6.62 [[ 9.56034182e-01 2.92696310e-01 1.80973034e-02 2.59510145e+02] [-2.92646158e-01 9.56205447e-01 -5.41933245e-03 -6.10967238e+01] [-1.88909587e-02 -1.15039250e-04 9.99821543e-01 -6.62204695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.098623853 meters 0.017512253293564862 Centerline is valid? [True, True] Translation: X:259.54, Y:-61.11, Z:-6.62 [[ 9.56336637e-01 2.91716503e-01 1.79365054e-02 2.59541341e+02] [-2.91667005e-01 9.56504822e-01 -5.37443916e-03 -6.11088181e+01] [-1.87241665e-02 -9.17137346e-05 9.99824683e-01 -6.62329656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.128623853 meters 0.01732032848420502 Centerline is valid? [True, True] Translation: X:259.57, Y:-61.12, Z:-6.62 [[ 9.56461461e-01 2.91310627e-01 1.78771488e-02 2.59571175e+02] [-2.91261318e-01 9.56628513e-01 -5.36028953e-03 -6.11190256e+01] [-1.86632996e-02 -8.00115613e-05 9.99825822e-01 -6.62435032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.158623853 meters 0.0173282456434558 Centerline is valid? [True, True] Translation: X:259.60, Y:-61.13, Z:-6.63 [[ 9.56464299e-01 2.91325805e-01 1.74734320e-02 2.59602350e+02] [-2.91278644e-01 9.56623891e-01 -5.24232191e-03 -6.11291521e+01] [-1.82427262e-02 -7.55438235e-05 9.99833585e-01 -6.62551885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.188623853 meters 0.017506305016974203 Centerline is valid? [True, True] Translation: X:259.63, Y:-61.14, Z:-6.63 [[ 9.56434941e-01 2.91449856e-01 1.70054361e-02 2.59633271e+02] [-2.91405140e-01 9.56586105e-01 -5.10566103e-03 -6.11382806e+01] [-1.77552081e-02 -7.22389014e-05 9.99842361e-01 -6.62739966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.218623853 meters 0.01771408043116194 Centerline is valid? [True, True] Translation: X:259.66, Y:-61.15, Z:-6.63 [[ 9.56281045e-01 2.91971445e-01 1.67104388e-02 2.59664488e+02] [-2.91928320e-01 9.56427033e-01 -5.01865297e-03 -6.11465910e+01] [-1.74476188e-02 -7.90076291e-05 9.99847776e-01 -6.62902699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.248623853 meters 0.01785626914128598 Centerline is valid? [True, True] Translation: X:259.70, Y:-61.16, Z:-6.63 [[ 9.56076334e-01 2.92637741e-01 1.67688765e-02 2.59696633e+02] [-2.92594364e-01 9.56223376e-01 -5.03919873e-03 -6.11555497e+01] [-1.75094515e-02 -8.86201142e-05 9.99846694e-01 -6.62976149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.278623853 meters 0.02898184029382764 Centerline is valid? [True, True] Translation: X:259.73, Y:-61.16, Z:-6.62 [[ 9.55611819e-01 2.94210646e-01 1.56890661e-02 2.59728001e+02] [-2.94172840e-01 9.55740595e-01 -4.71764929e-03 -6.11633537e+01] [-1.63826600e-02 -1.07055691e-04 9.99865789e-01 -6.62206276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.30862385300003 meters 0.01898459129028377 Centerline is valid? [True, True] Translation: X:259.76, Y:-61.17, Z:-6.63 [[ 9.55319929e-01 2.95096788e-01 1.67845043e-02 2.59759083e+02] [-2.95053599e-01 9.55467357e-01 -5.05016814e-03 -6.11710779e+01] [-1.75273343e-02 -1.27802134e-04 9.99846376e-01 -6.63058972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.338623853 meters 0.020013526576823676 Centerline is valid? [True, True] Translation: X:259.79, Y:-61.18, Z:-6.63 [[ 9.54705371e-01 2.97039174e-01 1.74752153e-02 2.59789487e+02] [-2.96992617e-01 9.54865279e-01 -5.26159468e-03 -6.11770426e+01] [-1.82493760e-02 -1.66737209e-04 9.99833452e-01 -6.63027137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.36862385300003 meters 0.019601768156658435 Centerline is valid? [True, True] Translation: X:259.82, Y:-61.19, Z:-6.63 [[ 9.54351738e-01 2.98160915e-01 1.76869897e-02 2.59819857e+02] [-2.98113366e-01 9.54515602e-01 -5.32798772e-03 -6.11867610e+01] [-1.84711053e-02 -1.87953704e-04 9.99829377e-01 -6.62849049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.398623853 meters 0.03178189620149485 Centerline is valid? [True, True] Translation: X:259.85, Y:-61.19, Z:-6.62 [[ 9.53989632e-01 2.99354622e-01 1.70467491e-02 2.59851135e+02] [-2.99310582e-01 9.54141903e-01 -5.13862704e-03 -6.11930918e+01] [-1.78032894e-02 -2.00075464e-04 9.99841489e-01 -6.62074211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.42862385300003 meters 0.022768848949698287 Centerline is valid? [True, True] Translation: X:259.88, Y:-61.20, Z:-6.63 [[ 9.53521364e-01 3.00708720e-01 1.92684878e-02 2.59882535e+02] [-3.00652692e-01 9.53715996e-01 -5.81010161e-03 -6.11974021e+01] [-2.01238133e-02 -2.53066724e-04 9.99797464e-01 -6.62900579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.458623853 meters 0.02308086437279146 Centerline is valid? [True, True] Translation: X:259.91, Y:-61.21, Z:-6.63 [[ 9.53413835e-01 3.01026677e-01 1.96213739e-02 2.59912742e+02] [-3.00968560e-01 9.53615684e-01 -5.92062992e-03 -6.12064014e+01] [-2.04935174e-02 -2.60606167e-04 9.99789952e-01 -6.62914520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.48862385300004 meters 0.030181385050954232 Centerline is valid? [True, True] Translation: X:259.94, Y:-61.22, Z:-6.62 [[ 9.53279085e-01 3.01476939e-01 1.92520460e-02 2.59944066e+02] [-3.01421046e-01 9.53473432e-01 -5.81096688e-03 -6.12180623e+01] [-2.01081868e-02 -2.63498643e-04 9.99797775e-01 -6.62117131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.518623853 meters 0.02240612199252919 Centerline is valid? [True, True] Translation: X:259.98, Y:-61.23, Z:-6.63 [[ 9.53162505e-01 3.01812595e-01 1.97584754e-02 2.59975294e+02] [-3.01753703e-01 9.53367234e-01 -5.96825303e-03 -6.12258186e+01] [-2.06383769e-02 -2.73478096e-04 9.99786969e-01 -6.62933870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.54862385300004 meters 0.026946404313706027 Centerline is valid? [True, True] Translation: X:260.01, Y:-61.24, Z:-6.62 [[ 9.52909958e-01 3.02654511e-01 1.90488262e-02 2.60006667e+02] [-3.02599902e-01 9.53100293e-01 -5.75591246e-03 -6.12351003e+01] [-1.98974947e-02 -2.79306637e-04 9.99801986e-01 -6.62442882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.578623853 meters 0.02377672836034785 Centerline is valid? [True, True] Translation: X:260.04, Y:-61.24, Z:-6.63 [[ 9.52597622e-01 3.03600050e-01 1.96157951e-02 2.60036891e+02] [-3.03542267e-01 9.52799516e-01 -5.93086750e-03 -6.12413765e+01] [-2.04905317e-02 -3.04492634e-04 9.99790001e-01 -6.63152021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.60862385300004 meters 0.025530015920770963 Centerline is valid? [True, True] Translation: X:260.07, Y:-61.25, Z:-6.63 [[ 9.51913104e-01 3.05808374e-01 1.85116392e-02 2.60068651e+02] [-3.05757278e-01 9.52093026e-01 -5.59974625e-03 -6.12468735e+01] [-1.93372518e-02 -3.29596565e-04 9.99812964e-01 -6.63410774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.638623853 meters 0.0265553069718271 Centerline is valid? [True, True] Translation: X:260.10, Y:-61.25, Z:-6.63 [[ 9.51262325e-01 3.07834158e-01 1.83880660e-02 2.60100987e+02] [-3.07784060e-01 9.51439960e-01 -5.56548655e-03 -6.12517313e+01] [-1.92083877e-02 -3.65315945e-04 9.99815435e-01 -6.63435300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.66862385300004 meters 0.02613868281015384 Centerline is valid? [True, True] Translation: X:260.13, Y:-61.26, Z:-6.63 [[ 9.51004967e-01 3.08608668e-01 1.87147596e-02 2.60132067e+02] [-3.08556859e-01 9.51189015e-01 -5.66771510e-03 -6.12603543e+01] [-1.95503797e-02 -3.84542218e-04 9.99808799e-01 -6.63400526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.698623853 meters 0.026564701111652836 Centerline is valid? [True, True] Translation: X:260.16, Y:-61.27, Z:-6.63 [[ 9.50912677e-01 3.08874823e-01 1.90111507e-02 2.60163122e+02] [-3.08821337e-01 9.51102618e-01 -5.76124721e-03 -6.12674828e+01] [-1.98610594e-02 -3.92605971e-04 9.99802673e-01 -6.63494741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.72862385300004 meters 0.026506537862667736 Centerline is valid? [True, True] Translation: X:260.19, Y:-61.28, Z:-6.64 [[ 9.50903994e-01 3.08918829e-01 1.87283598e-02 2.60194522e+02] [-3.08866893e-01 9.51088328e-01 -5.67750180e-03 -6.12761899e+01] [-1.95662117e-02 -3.85811178e-04 9.99808489e-01 -6.63574127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.758623853 meters 0.027536437249559204 Centerline is valid? [True, True] Translation: X:260.22, Y:-61.28, Z:-6.64 [[ 9.51311823e-01 3.07620456e-01 1.93770620e-02 2.60224932e+02] [-3.07564503e-01 9.51509075e-01 -5.87848960e-03 -6.12819597e+01] [-2.02457940e-02 -3.67419779e-04 9.99794965e-01 -6.63670721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.78862385300005 meters 0.023903072848611026 Centerline is valid? [True, True] Translation: X:260.25, Y:-61.30, Z:-6.64 [[ 9.51610132e-01 3.06664733e-01 1.98720302e-02 2.60253800e+02] [-3.06605607e-01 9.51817533e-01 -6.03198183e-03 -6.12964401e+01] [-2.07643429e-02 -3.52780853e-04 9.99784336e-01 -6.63600226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.818623853 meters 0.022619555424075243 Centerline is valid? [True, True] Translation: X:260.28, Y:-61.31, Z:-6.64 [[ 9.52283388e-01 3.04559463e-01 1.99970702e-02 2.60283845e+02] [-3.04499049e-01 9.52493276e-01 -6.07361689e-03 -6.13063798e+01] [-2.08968524e-02 -3.05284419e-04 9.99781590e-01 -6.63731947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.848623853 meters 0.02265103645492073 Centerline is valid? [True, True] Translation: X:260.31, Y:-61.31, Z:-6.64 [[ 9.52520577e-01 3.03838434e-01 1.96661131e-02 2.60314163e+02] [-3.03779776e-01 9.52723531e-01 -5.97668118e-03 -6.13147951e+01] [-2.05523141e-02 -2.81255612e-04 9.99788739e-01 -6.63873513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.878623853 meters 0.02136356152400141 Centerline is valid? [True, True] Translation: X:260.34, Y:-61.33, Z:-6.64 [[ 9.52674913e-01 3.03352763e-01 1.96878398e-02 2.60344885e+02] [-3.03293806e-01 9.52878287e-01 -5.98648124e-03 -6.13258556e+01] [-2.05761307e-02 -2.68029370e-04 9.99788253e-01 -6.63902098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.908623853 meters 0.021851148071786945 Centerline is valid? [True, True] Translation: X:260.38, Y:-61.33, Z:-6.64 [[ 9.52831486e-01 3.02873324e-01 1.94912460e-02 2.60375890e+02] [-3.02815367e-01 9.53030790e-01 -5.93024070e-03 -6.13314569e+01] [-2.03718693e-02 -2.51728742e-04 9.99792440e-01 -6.64094649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.938623853 meters 0.02173923435102144 Centerline is valid? [True, True] Translation: X:260.41, Y:-61.34, Z:-6.64 [[ 9.52870452e-01 3.02754109e-01 1.94384246e-02 2.60406531e+02] [-3.02696375e-01 9.53068670e-01 -5.91736404e-03 -6.13396195e+01] [-2.03176597e-02 -2.45459298e-04 9.99793545e-01 -6.64135904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.968623853 meters 0.021096436599102476 Centerline is valid? [True, True] Translation: X:260.44, Y:-61.35, Z:-6.64 [[ 9.53084312e-01 3.02057614e-01 1.97861819e-02 2.60436930e+02] [-3.01997573e-01 9.53289643e-01 -6.02676232e-03 -6.13466754e+01] [-2.06823917e-02 -2.31366288e-04 9.99786070e-01 -6.64136542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.998623853 meters 0.019827908762176084 Centerline is valid? [True, True] Translation: X:260.47, Y:-61.36, Z:-6.64 [[ 9.53256186e-01 3.01495603e-01 2.00759640e-02 2.60467399e+02] [-3.01433599e-01 9.53467542e-01 -6.11819639e-03 -6.13576033e+01] [-2.09863894e-02 -2.19361524e-04 9.99779737e-01 -6.64113659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.028623853 meters 0.01900364321312845 Centerline is valid? [True, True] Translation: X:260.50, Y:-61.37, Z:-6.64 [[ 9.53441506e-01 3.00893177e-01 2.03123094e-02 2.60498169e+02] [-3.00829489e-01 9.53657829e-01 -6.19390544e-03 -6.13675106e+01] [-2.12346967e-02 -2.05015121e-04 9.99774497e-01 -6.64071615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.05862385300003 meters 0.01816188504267423 Centerline is valid? [True, True] Translation: X:260.53, Y:-61.38, Z:-6.64 [[ 9.53880656e-01 2.99457475e-01 2.09024863e-02 2.60529186e+02] [-2.99389600e-01 9.54109632e-01 -6.37786545e-03 -6.13764145e+01] [-2.18531630e-02 -1.74264538e-04 9.99761176e-01 -6.64078194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.088623853 meters 0.01781662059694653 Centerline is valid? [True, True] Translation: X:260.56, Y:-61.39, Z:-6.64 [[ 9.54152242e-01 2.98582768e-01 2.10197507e-02 2.60559443e+02] [-2.98513830e-01 9.54383732e-01 -6.41758984e-03 -6.13851596e+01] [-2.19770899e-02 -1.51328558e-04 9.99758463e-01 -6.64136365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.11862385300003 meters 0.01719851352667345 Centerline is valid? [True, True] Translation: X:260.59, Y:-61.40, Z:-6.64 [[ 9.54491605e-01 2.97490906e-01 2.10935128e-02 2.60589550e+02] [-2.97421138e-01 9.54724644e-01 -6.44368235e-03 -6.13950276e+01] [-2.20554334e-02 -1.23215876e-04 9.99756742e-01 -6.64210102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.148623853 meters 0.016482023179628186 Centerline is valid? [True, True] Translation: X:260.62, Y:-61.41, Z:-6.64 [[ 9.55388282e-01 2.94583656e-01 2.13002493e-02 2.60619460e+02] [-2.94511703e-01 9.55625694e-01 -6.51075946e-03 -6.14070941e+01] [-2.22730289e-02 -5.28694049e-05 9.99751924e-01 -6.64321140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.17862385300003 meters 0.016331387796026418 Centerline is valid? [True, True] Translation: X:260.65, Y:-61.42, Z:-6.64 [[ 9.55904794e-01 2.92908041e-01 2.12344849e-02 2.60648916e+02] [-2.92836033e-01 9.56140617e-01 -6.49449877e-03 -6.14186943e+01] [-2.22054444e-02 -1.00998078e-05 9.99753429e-01 -6.64449349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.208623853 meters 0.016331387796026418 Centerline is valid? [True, True] Translation: X:260.68, Y:-61.43, Z:-6.65 [[ 9.55850750e-01 2.93084442e-01 2.12333242e-02 2.60679912e+02] [-2.93012393e-01 9.56086560e-01 -6.49829139e-03 -6.14283791e+01] [-2.22054440e-02 -1.02304238e-05 9.99753429e-01 -6.64531124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.23862385300004 meters 0.017207751809609293 Centerline is valid? [True, True] Translation: X:260.71, Y:-61.44, Z:-6.65 [[ 9.57008977e-01 2.89340144e-01 2.03985042e-02 2.60709219e+02] [-2.89272713e-01 9.57226345e-01 -6.24682143e-03 -6.14438411e+01] [-2.13334418e-02 7.75335417e-05 9.99772413e-01 -6.64791774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.268623853 meters 0.017752262837905788 Centerline is valid? [True, True] Translation: X:260.74, Y:-61.46, Z:-6.65 [[ 9.57525023e-01 2.87646607e-01 2.01310611e-02 2.60739117e+02] [-2.87580485e-01 9.57736611e-01 -6.16839452e-03 -6.14562526e+01] [-2.10545720e-02 1.17091809e-04 9.99778321e-01 -6.64911616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.29862385300004 meters 0.01859937148624666 Centerline is valid? [True, True] Translation: X:260.77, Y:-61.47, Z:-6.65 [[ 9.58063834e-01 2.85876320e-01 1.97083465e-02 2.60769347e+02] [-2.85812501e-01 9.58266510e-01 -6.04229279e-03 -6.14681740e+01] [-2.06131968e-02 1.56010406e-04 9.99787513e-01 -6.65010690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.328623853 meters 0.020239662860815938 Centerline is valid? [True, True] Translation: X:260.80, Y:-61.48, Z:-6.65 [[ 9.58692483e-01 2.83755346e-01 1.97895669e-02 2.60797927e+02] [-2.83690471e-01 9.58896690e-01 -6.07088205e-03 -6.14806950e+01] [-2.06987954e-02 2.05997429e-04 9.99785736e-01 -6.65076805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.35862385300004 meters 0.020449946163792542 Centerline is valid? [True, True] Translation: X:260.83, Y:-61.49, Z:-6.65 [[ 9.58775227e-01 2.83476719e-01 1.97740541e-02 2.60829198e+02] [-2.83411821e-01 9.58979094e-01 -6.06929617e-03 -6.14903362e+01] [-2.06834087e-02 2.14890141e-04 9.99786052e-01 -6.65165023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.388623853 meters 0.019995180059364893 Centerline is valid? [True, True] Translation: X:260.86, Y:-61.50, Z:-6.65 [[ 9.58702653e-01 2.83715275e-01 1.98712063e-02 2.60860927e+02] [-2.83649703e-01 9.58908544e-01 -6.10323784e-03 -6.14990994e+01] [-2.07862513e-02 2.14728542e-04 9.99783919e-01 -6.65224945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.41862385300004 meters 0.020179555942860777 Centerline is valid? [True, True] Translation: X:260.89, Y:-61.51, Z:-6.65 [[ 9.58537373e-01 2.84283425e-01 1.97240679e-02 2.60891335e+02] [-2.84218853e-01 9.58740263e-01 -6.06225746e-03 -6.15089929e+01] [-2.06336574e-02 2.04948384e-04 9.99787082e-01 -6.65298352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.448623853 meters 0.019639019827868972 Centerline is valid? [True, True] Translation: X:260.92, Y:-61.52, Z:-6.65 [[ 9.58197001e-01 2.85418960e-01 1.98626600e-02 2.60921298e+02] [-2.85353637e-01 9.58402829e-01 -6.10895505e-03 -6.15165664e+01] [-2.07800411e-02 1.85700139e-04 9.99784054e-01 -6.65359795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.47862385300004 meters 0.018986753732710623 Centerline is valid? [True, True] Translation: X:260.95, Y:-61.52, Z:-6.65 [[ 9.57883894e-01 2.86467276e-01 1.98732404e-02 2.60952313e+02] [-2.86402041e-01 9.58090013e-01 -6.11547175e-03 -6.15249079e+01] [-2.07922357e-02 1.66175286e-04 9.99783804e-01 -6.65388178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.508623853 meters 0.01792566142870637 Centerline is valid? [True, True] Translation: X:260.98, Y:-61.53, Z:-6.65 [[ 9.57299624e-01 2.88409627e-01 1.99328392e-02 2.60983678e+02] [-2.88344346e-01 9.57507113e-01 -6.13737635e-03 -6.15309492e+01] [-2.08559137e-02 1.27786602e-04 9.99782484e-01 -6.65420911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.53862385300005 meters 0.017689818124452413 Centerline is valid? [True, True] Translation: X:261.01, Y:-61.54, Z:-6.66 [[ 9.57041745e-01 2.89272648e-01 1.98099169e-02 2.61014898e+02] [-2.89208282e-01 9.57246741e-01 -6.10303384e-03 -6.15395135e+01] [-2.07284192e-02 1.11666116e-04 9.99785137e-01 -6.65557002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.568623853 meters 0.017024712599434118 Centerline is valid? [True, True] Translation: X:261.05, Y:-61.55, Z:-6.66 [[ 9.56531080e-01 2.90975405e-01 1.95347633e-02 2.61046729e+02] [-2.90913092e-01 9.56730530e-01 -6.02202470e-03 -6.15452723e+01] [-2.04417655e-02 7.73353909e-05 9.99791042e-01 -6.65715804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.598623853 meters 0.01689843943639171 Centerline is valid? [True, True] Translation: X:261.08, Y:-61.55, Z:-6.66 [[ 9.56217070e-01 2.92016801e-01 1.93675848e-02 2.61077406e+02] [-2.91955696e-01 9.56413187e-01 -5.97386293e-03 -6.15533852e+01] [-2.02678819e-02 5.78329903e-05 9.99794584e-01 -6.65858623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.628623853 meters 0.016568348908660276 Centerline is valid? [True, True] Translation: X:261.11, Y:-61.56, Z:-6.66 [[ 9.55908935e-01 2.93006754e-01 1.96252347e-02 2.61109037e+02] [-2.92944143e-01 9.56110371e-01 -6.05708406e-03 -6.15613903e+01] [-2.05386569e-02 4.09232090e-05 9.99789059e-01 -6.65901765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.658623853 meters 0.016478892996891356 Centerline is valid? [True, True] Translation: X:261.14, Y:-61.57, Z:-6.66 [[ 9.55528166e-01 2.94251234e-01 1.95482755e-02 2.61139904e+02] [-2.94189293e-01 9.55728105e-01 -6.03733176e-03 -6.15694296e+01] [-2.04593287e-02 1.79471896e-05 9.99790686e-01 -6.65989350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.688623853 meters 0.016601735289317788 Centerline is valid? [True, True] Translation: X:261.17, Y:-61.57, Z:-6.66 [[ 9.54522826e-01 2.97498082e-01 1.95209122e-02 2.61171051e+02] [-2.97436914e-01 9.54722415e-01 -6.03268849e-03 -6.15727296e+01] [-2.04317657e-02 -4.79010193e-05 9.99791249e-01 -6.66097905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.718623853 meters 0.017067889335391526 Centerline is valid? [True, True] Translation: X:261.20, Y:-61.58, Z:-6.66 [[ 9.53948464e-01 2.99341350e-01 1.94186327e-02 2.61200863e+02] [-2.99281130e-01 9.54146084e-01 -6.00469617e-03 -6.15772751e+01] [-2.03256662e-02 -8.34596384e-05 9.99793409e-01 -6.66199883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.748623853 meters 0.018783855934520182 Centerline is valid? [True, True] Translation: X:261.23, Y:-61.58, Z:-6.66 [[ 9.52820341e-01 3.02900129e-01 1.96191269e-02 2.61232124e+02] [-3.02839379e-01 9.53022291e-01 -6.06830136e-03 -6.15779873e+01] [-2.05355545e-02 -1.59443237e-04 9.99789111e-01 -6.66223820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.778623853 meters 0.01967059840801037 Centerline is valid? [True, True] Translation: X:261.26, Y:-61.58, Z:-6.66 [[ 9.52420141e-01 3.04170973e-01 1.93880167e-02 2.61261751e+02] [-3.04111918e-01 9.52617439e-01 -5.99634700e-03 -6.15834586e+01] [-2.02932775e-02 -1.85085296e-04 9.99794053e-01 -6.66296834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.80862385300003 meters 0.02853775655317163 Centerline is valid? [True, True] Translation: X:261.29, Y:-61.59, Z:-6.66 [[ 9.51947079e-01 3.05683592e-01 1.88228664e-02 2.61290790e+02] [-3.05628232e-01 9.52133130e-01 -5.82123676e-03 -6.15884594e+01] [-1.97013312e-02 -2.11290041e-04 9.99805888e-01 -6.65679896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.838623853 meters 0.021021461033165666 Centerline is valid? [True, True] Translation: X:261.32, Y:-61.59, Z:-6.66 [[ 9.51418647e-01 3.07302828e-01 1.91710799e-02 2.61321178e+02] [-3.07245754e-01 9.51611743e-01 -5.92773216e-03 -6.15943406e+01] [-2.00650336e-02 -2.50477962e-04 9.99798646e-01 -6.66463679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.86862385300003 meters 0.021534475213474326 Centerline is valid? [True, True] Translation: X:261.35, Y:-61.60, Z:-6.67 [[ 9.51160847e-01 3.08102155e-01 1.91338561e-02 2.61351381e+02] [-3.08045464e-01 9.51353242e-01 -5.91622252e-03 -6.16013054e+01] [-2.00258570e-02 -2.66818355e-04 9.99799427e-01 -6.66567284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.898623853 meters 0.022180847428938378 Centerline is valid? [True, True] Translation: X:261.38, Y:-61.61, Z:-6.67 [[ 9.50898846e-01 3.08914583e-01 1.90568990e-02 2.61380333e+02] [-3.08858507e-01 9.51089744e-01 -5.89255631e-03 -6.16072408e+01] [-1.99451178e-02 -2.82660375e-04 9.99801036e-01 -6.66622065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.92862385300003 meters 0.02468940041588007 Centerline is valid? [True, True] Translation: X:261.41, Y:-61.61, Z:-6.67 [[ 9.50675314e-01 3.09598381e-01 1.91125784e-02 2.61409289e+02] [-3.09542125e-01 9.50867369e-01 -5.90929190e-03 -6.16097491e+01] [-2.00030343e-02 -2.98330181e-04 9.99799875e-01 -6.66792889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.958623853 meters 0.023539229176078286 Centerline is valid? [True, True] Translation: X:261.44, Y:-61.62, Z:-6.67 [[ 9.50346865e-01 3.10573067e-01 1.96266682e-02 2.61437683e+02] [-3.10513961e-01 9.50549453e-01 -6.06774047e-03 -6.16163400e+01] [-2.05405955e-02 -3.27896347e-04 9.99788966e-01 -6.66690614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.98862385300004 meters 0.023834899503217037 Centerline is valid? [True, True] Translation: X:261.47, Y:-61.62, Z:-6.67 [[ 9.50315082e-01 3.10688658e-01 1.93339858e-02 2.61466194e+02] [-3.10631346e-01 9.50511679e-01 -5.97626821e-03 -6.16227161e+01] [-2.02339380e-02 -3.26404206e-04 9.99795220e-01 -6.66784103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.018623853 meters 0.024008013030401475 Centerline is valid? [True, True] Translation: X:261.49, Y:-61.63, Z:-6.67 [[ 9.50513593e-01 3.10103823e-01 1.89612651e-02 2.61494094e+02] [-3.10048600e-01 9.50702647e-01 -5.86016342e-03 -6.16280712e+01] [-1.98437840e-02 -3.08748721e-04 9.99803045e-01 -6.66967221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.04862385300004 meters 0.022907532975807422 Centerline is valid? [True, True] Translation: X:261.52, Y:-61.64, Z:-6.67 [[ 9.50740163e-01 3.09396953e-01 1.91485598e-02 2.61521914e+02] [-3.09340517e-01 9.50932930e-01 -5.91673445e-03 -6.16368658e+01] [-2.00396157e-02 -2.98148316e-04 9.99799142e-01 -6.67031821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.078623853 meters 0.022135712392916302 Centerline is valid? [True, True] Translation: X:261.55, Y:-61.64, Z:-6.67 [[ 9.51075909e-01 3.08373563e-01 1.89831967e-02 2.61549798e+02] [-3.08317913e-01 9.51265300e-01 -5.86467226e-03 -6.16449343e+01] [-1.98665662e-02 -2.75111089e-04 9.99802602e-01 -6.67159166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.10862385300004 meters 0.02038073996374298 Centerline is valid? [True, True] Translation: X:261.58, Y:-61.65, Z:-6.67 [[ 9.51947824e-01 3.05679251e-01 1.88556625e-02 2.61577666e+02] [-3.05623840e-01 9.52134522e-01 -5.82416816e-03 -6.16537145e+01] [-1.97334545e-02 -2.18435757e-04 9.99805253e-01 -6.67312847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.138623853 meters 0.01936388689564324 Centerline is valid? [True, True] Translation: X:261.61, Y:-61.66, Z:-6.67 [[ 9.52470521e-01 3.04053701e-01 1.87417294e-02 2.61605288e+02] [-3.03998650e-01 9.52654876e-01 -5.78863173e-03 -6.16630313e+01] [-1.96144548e-02 -1.83959340e-04 9.99807601e-01 -6.67399260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.16862385300004 meters 0.019493585556629035 Centerline is valid? [True, True] Translation: X:261.63, Y:-61.67, Z:-6.67 [[ 9.53519178e-01 3.00771444e-01 1.83770161e-02 2.61633444e+02] [-3.00717925e-01 9.53696244e-01 -5.67490646e-03 -6.16739390e+01] [-1.92329411e-02 -1.15166014e-04 9.99815023e-01 -6.67165839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.198623853 meters 0.017133767341177834 Centerline is valid? [True, True] Translation: X:261.66, Y:-61.68, Z:-6.68 [[ 9.54186765e-01 2.98618472e-01 1.88315190e-02 2.61660740e+02] [-2.98561863e-01 9.54372570e-01 -5.81474466e-03 -6.16831323e+01] [-1.97086753e-02 -7.40209996e-05 9.99805762e-01 -6.67597470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.22862385300004 meters 0.016520116409153532 Centerline is valid? [True, True] Translation: X:261.69, Y:-61.69, Z:-6.68 [[ 9.54845586e-01 2.96484531e-01 1.91528026e-02 2.61688467e+02] [-2.96425554e-01 9.55037655e-01 -5.91345565e-03 -6.16938943e+01] [-2.00448958e-02 -3.09430962e-05 9.99799080e-01 -6.67582491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.258623853 meters 0.016847951451950473 Centerline is valid? [True, True] Translation: X:261.72, Y:-61.71, Z:-6.68 [[ 9.56240749e-01 2.91944461e-01 1.92889231e-02 2.61716697e+02] [-2.91883733e-01 9.56435271e-01 -5.95472636e-03 -6.17081383e+01] [-2.01870557e-02 6.40291220e-05 9.99796219e-01 -6.67619258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.28862385300005 meters 0.017700060410590777 Centerline is valid? [True, True] Translation: X:261.75, Y:-61.72, Z:-6.68 [[ 9.56895770e-01 2.89793696e-01 1.92379564e-02 2.61745514e+02] [-2.89732858e-01 9.57089130e-01 -5.93880527e-03 -6.17207833e+01] [-2.01334673e-02 1.08949568e-04 9.99797295e-01 -6.67689331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.318623853 meters 0.020457170476737382 Centerline is valid? [True, True] Translation: X:261.77, Y:-61.74, Z:-6.68 [[ 9.58297415e-01 2.85093114e-01 1.96972373e-02 2.61774043e+02] [-2.85028270e-01 9.58499802e-01 -6.08401524e-03 -6.17362479e+01] [-2.06143089e-02 2.16026593e-04 9.99787479e-01 -6.67719235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.348623853 meters 0.02195413112164222 Centerline is valid? [True, True] Translation: X:261.80, Y:-61.75, Z:-6.68 [[ 9.58875097e-01 2.83142419e-01 1.97210158e-02 2.61803874e+02] [-2.83076933e-01 9.59077839e-01 -6.09494248e-03 -6.17485763e+01] [-2.06397260e-02 2.61723914e-04 9.99786944e-01 -6.67760929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.378623853 meters 0.024052058397761873 Centerline is valid? [True, True] Translation: X:261.83, Y:-61.76, Z:-6.68 [[ 9.59468754e-01 2.81138265e-01 1.95188664e-02 2.61832187e+02] [-2.81073627e-01 9.59667225e-01 -6.03604685e-03 -6.17613700e+01] [-2.04285801e-02 3.05159787e-04 9.99791268e-01 -6.67880864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.408623853 meters 0.02564303222886617 Centerline is valid? [True, True] Translation: X:261.86, Y:-61.77, Z:-6.68 [[ 9.60011798e-01 2.79264627e-01 1.97133569e-02 2.61861462e+02] [-2.79198229e-01 9.60214114e-01 -6.09954255e-03 -6.17739197e+01] [-2.06324300e-02 3.51698463e-04 9.99787067e-01 -6.67960096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.438623853 meters 0.028818984510687075 Centerline is valid? [True, True] Translation: X:261.89, Y:-61.79, Z:-6.68 [[ 9.60875810e-01 2.76291349e-01 1.95132628e-02 2.61888852e+02] [-2.76225605e-01 9.61073836e-01 -6.04123774e-03 -6.17891601e+01] [-2.04228280e-02 4.14816397e-04 9.99791346e-01 -6.68062988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.468623853 meters 0.029970432089933764 Centerline is valid? [True, True] Translation: X:261.92, Y:-61.80, Z:-6.68 [[ 9.61134797e-01 2.75391192e-01 1.94831564e-02 2.61918330e+02] [-2.75325438e-01 9.61332150e-01 -6.03328365e-03 -6.18015160e+01] [-2.03912978e-02 4.34590298e-04 9.99791981e-01 -6.68196900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.498623853 meters 0.03187949641028462 Centerline is valid? [True, True] Translation: X:261.95, Y:-61.82, Z:-6.68 [[ 9.61467834e-01 2.74233888e-01 1.93746774e-02 2.61947110e+02] [-2.74168559e-01 9.61662916e-01 -6.00319297e-03 -6.18151220e+01] [-2.02781877e-02 4.59949582e-04 9.99794271e-01 -6.68286344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.528623853 meters 0.03201979558042998 Centerline is valid? [True, True] Translation: X:261.98, Y:-61.83, Z:-6.68 [[ 9.61380140e-01 2.74535672e-01 1.94522582e-02 2.61978281e+02] [-2.74469818e-01 9.61576806e-01 -6.03030017e-03 -6.18259165e+01] [-2.03603728e-02 4.58353063e-04 9.99792601e-01 -6.68365239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.55862385300003 meters 0.030797028668009686 Centerline is valid? [True, True] Translation: X:262.01, Y:-61.83, Z:-6.69 [[ 9.61014224e-01 2.75848562e-01 1.89534178e-02 2.62008916e+02] [-2.75786221e-01 9.61201015e-01 -5.87948784e-03 -6.18348387e+01] [-1.98398927e-02 4.23179972e-04 9.99803080e-01 -6.68601018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.588623853 meters 0.030159322036091802 Centerline is valid? [True, True] Translation: X:262.04, Y:-61.84, Z:-6.69 [[ 9.60675222e-01 2.77082799e-01 1.81174192e-02 2.62038861e+02] [-2.77025991e-01 9.60845969e-01 -5.62361305e-03 -6.18436720e+01] [-1.89662557e-02 3.83469710e-04 9.99820051e-01 -6.68845706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.61862385300003 meters 0.029141449506545226 Centerline is valid? [True, True] Translation: X:262.07, Y:-61.85, Z:-6.69 [[ 9.60304703e-01 2.78400561e-01 1.75500948e-02 2.62069385e+02] [-2.78347453e-01 9.60464995e-01 -5.44872214e-03 -6.18522148e+01] [-1.83731790e-02 3.47409315e-04 9.99831139e-01 -6.69021848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.648623853 meters 0.029568284768278413 Centerline is valid? [True, True] Translation: X:262.10, Y:-61.86, Z:-6.69 [[ 9.59712108e-01 2.80458877e-01 1.71897616e-02 2.62100064e+02] [-2.80408203e-01 9.59865993e-01 -5.33985722e-03 -6.18597014e+01] [-1.79974780e-02 3.04575466e-04 9.99837986e-01 -6.68597927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.67862385300003 meters 0.02997061945573614 Centerline is valid? [True, True] Translation: X:262.13, Y:-61.86, Z:-6.68 [[ 9.58516224e-01 2.84513519e-01 1.72831289e-02 2.62130211e+02] [-2.84462881e-01 9.58672000e-01 -5.37277181e-03 -6.18641132e+01] [-1.80974780e-02 2.33480314e-04 9.99836200e-01 -6.68368798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.708623853 meters 0.02165053254314807 Centerline is valid? [True, True] Translation: X:262.16, Y:-61.87, Z:-6.69 [[ 9.57853346e-01 2.86664541e-01 1.84501511e-02 2.62160534e+02] [-2.86607232e-01 9.58031001e-01 -5.73549327e-03 -6.18704760e+01] [-1.93199792e-02 2.05814689e-04 9.99813331e-01 -6.69106279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.73862385300004 meters 0.019909267062689966 Centerline is valid? [True, True] Translation: X:262.19, Y:-61.88, Z:-6.69 [[ 9.57171368e-01 2.88932090e-01 1.84721555e-02 2.62189822e+02] [-2.88875058e-01 9.57349582e-01 -5.74276415e-03 -6.18762564e+01] [-1.93435791e-02 1.60664444e-04 9.99812883e-01 -6.69114736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.768623853 meters 0.018508204161622584 Centerline is valid? [True, True] Translation: X:262.22, Y:-61.88, Z:-6.69 [[ 9.56541897e-01 2.90993284e-01 1.87218369e-02 2.62218797e+02] [-2.90935102e-01 9.56725088e-01 -5.81998728e-03 -6.18818767e+01] [-1.96052282e-02 1.20222154e-04 9.99807792e-01 -6.69121007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.79862385300004 meters 0.017056512227930445 Centerline is valid? [True, True] Translation: X:262.25, Y:-61.88, Z:-6.69 [[ 9.55486524e-01 2.94422143e-01 1.90027638e-02 2.62247522e+02] [-2.94362890e-01 9.55675468e-01 -5.90673259e-03 -6.18842750e+01] [-1.98995480e-02 5.00949211e-05 9.99801983e-01 -6.69184373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.828623853 meters 0.016766995393269785 Centerline is valid? [True, True] Translation: X:262.28, Y:-61.89, Z:-6.69 [[ 9.55081574e-01 2.95742233e-01 1.88605148e-02 2.62275559e+02] [-2.95684145e-01 9.55267780e-01 -5.86132023e-03 -6.18906225e+01] [-1.97502820e-02 2.12837500e-05 9.99804944e-01 -6.69303559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.85862385300004 meters 0.016759714961505683 Centerline is valid? [True, True] Translation: X:262.30, Y:-61.90, Z:-6.69 [[ 9.54768306e-01 2.96773015e-01 1.85272360e-02 2.62303251e+02] [-2.96717173e-01 9.54948050e-01 -5.75687721e-03 -6.18979223e+01] [-1.94010337e-02 -8.65200368e-07 9.99811782e-01 -6.69493204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.888623853 meters 0.01684965706827234 Centerline is valid? [True, True] Translation: X:262.33, Y:-61.91, Z:-6.70 [[ 9.54357342e-01 2.98097070e-01 1.84445102e-02 2.62330844e+02] [-2.98041990e-01 9.54535560e-01 -5.73029800e-03 -6.19062269e+01] [-1.93141260e-02 -2.84865651e-05 9.99813464e-01 -6.69570679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.91862385300004 meters 0.016960916502010703 Centerline is valid? [True, True] Translation: X:262.36, Y:-61.91, Z:-6.70 [[ 9.54188234e-01 2.98632505e-01 1.85321454e-02 2.62357376e+02] [-2.98577017e-01 9.54368181e-01 -5.75669705e-03 -6.19141146e+01] [-1.94056268e-02 -4.03000926e-05 9.99811692e-01 -6.69625455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.948623853 meters 0.017132038519884863 Centerline is valid? [True, True] Translation: X:262.38, Y:-61.92, Z:-6.70 [[ 9.53997165e-01 2.99231475e-01 1.87065270e-02 2.62384251e+02] [-2.99175075e-01 9.54180550e-01 -5.80973539e-03 -6.19215210e+01] [-1.95878599e-02 -5.40555301e-05 9.99808138e-01 -6.69656281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.97862385300004 meters 0.0179982276086424 Centerline is valid? [True, True] Translation: X:262.41, Y:-61.93, Z:-6.70 [[ 9.53280615e-01 3.01492232e-01 1.89341587e-02 2.62413336e+02] [-3.01434920e-01 9.53468627e-01 -5.87923766e-03 -6.19266815e+01] [-1.98256708e-02 -1.02853319e-04 9.99803447e-01 -6.69654261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.008623853 meters 0.01816618191426608 Centerline is valid? [True, True] Translation: X:262.44, Y:-61.93, Z:-6.70 [[ 9.52817219e-01 3.02948591e-01 1.90131244e-02 2.62441603e+02] [-3.02891110e-01 9.53006890e-01 -5.90275331e-03 -6.19346579e+01] [-1.99078693e-02 -1.34661359e-04 9.99801810e-01 -6.69537965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.03862385300005 meters 0.019194567012201773 Centerline is valid? [True, True] Translation: X:262.47, Y:-61.94, Z:-6.70 [[ 9.52047874e-01 3.05375173e-01 1.87309711e-02 2.62470714e+02] [-3.05319864e-01 9.52232099e-01 -5.81469158e-03 -6.19406647e+01] [-1.96118943e-02 -1.83072774e-04 9.99807652e-01 -6.69701238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.068623853 meters 0.021810745300586725 Centerline is valid? [True, True] Translation: X:262.50, Y:-61.95, Z:-6.70 [[ 9.51791702e-01 3.06185233e-01 1.85245294e-02 2.62499302e+02] [-3.06131298e-01 9.51971934e-01 -5.75019501e-03 -6.19450419e+01] [-1.93954569e-02 -1.97950327e-04 9.99811871e-01 -6.70071542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.09862385300005 meters 0.022067377060870863 Centerline is valid? [True, True] Translation: X:262.53, Y:-61.95, Z:-6.70 [[ 9.51706836e-01 3.06456454e-01 1.83994634e-02 2.62526292e+02] [-3.06403308e-01 9.51884657e-01 -5.71068856e-03 -6.19539797e+01] [-1.92642442e-02 -2.02755093e-04 9.99814407e-01 -6.70141175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.128623853 meters 0.022067377060870863 Centerline is valid? [True, True] Translation: X:262.55, Y:-61.96, Z:-6.70 [[ 9.51726105e-01 3.06396596e-01 1.83996666e-02 2.62552595e+02] [-3.06343451e-01 9.51903927e-01 -5.71003355e-03 -6.19619941e+01] [-1.92642497e-02 -2.02229387e-04 9.99814407e-01 -6.70210330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.158623853 meters 0.02025800866631781 Centerline is valid? [True, True] Translation: X:262.58, Y:-61.97, Z:-6.70 [[ 9.51718471e-01 3.06401561e-01 1.87092171e-02 2.62578655e+02] [-3.06346642e-01 9.51902327e-01 -5.80468613e-03 -6.19745874e+01] [-1.95879122e-02 -2.07078801e-04 9.99808117e-01 -6.70016258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.188623853 meters 0.02508937850816391 Centerline is valid? [True, True] Translation: X:262.60, Y:-61.98, Z:-6.69 [[ 9.51895653e-01 3.05784300e-01 1.97642818e-02 2.62604880e+02] [-3.05722900e-01 9.52100793e-01 -6.13099699e-03 -6.19832157e+01] [-2.06923510e-02 -2.06324147e-04 9.99785869e-01 -6.69173222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.218623853 meters 0.019360895941759184 Centerline is valid? [True, True] Translation: X:262.63, Y:-61.99, Z:-6.70 [[ 9.52055787e-01 3.05233937e-01 2.05431660e-02 2.62632458e+02] [-3.05167506e-01 9.52277377e-01 -6.37110833e-03 -6.19944127e+01] [-2.15074708e-02 -2.03456188e-04 9.99768667e-01 -6.69807576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.248623853 meters 0.03118997223955836 Centerline is valid? [True, True] Translation: X:262.66, Y:-62.00, Z:-6.69 [[ 9.52187713e-01 3.04868634e-01 1.98412613e-02 2.62659377e+02] [-3.04806595e-01 9.52394393e-01 -6.15298902e-03 -6.20034650e+01] [-2.07725594e-02 -1.88946750e-04 9.99784209e-01 -6.69035329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.278623853 meters 0.019212534146855465 Centerline is valid? [True, True] Translation: X:262.69, Y:-62.01, Z:-6.70 [[ 9.52267668e-01 3.04607380e-01 2.00157874e-02 2.62686970e+02] [-3.04544204e-01 9.52477984e-01 -6.20628116e-03 -6.20142909e+01] [-2.09550759e-02 -1.85651154e-04 9.99780401e-01 -6.70074606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.30862385300003 meters 0.01935658705583583 Centerline is valid? [True, True] Translation: X:262.71, Y:-62.02, Z:-6.70 [[ 9.52260386e-01 3.04662348e-01 1.95195180e-02 2.62714534e+02] [-3.04602288e-01 9.52460404e-01 -6.05193009e-03 -6.20229040e+01] [-2.04353632e-02 -1.82676562e-04 9.99791159e-01 -6.70258480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.338623853 meters 0.019901908552867425 Centerline is valid? [True, True] Translation: X:262.74, Y:-62.03, Z:-6.70 [[ 9.52174398e-01 3.04967291e-01 1.89437809e-02 2.62742364e+02] [-3.04910792e-01 9.52362808e-01 -5.87296926e-03 -6.20310396e+01] [-1.98324159e-02 -1.84072275e-04 9.99803301e-01 -6.70477539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.36862385300003 meters 0.02933034475620465 Centerline is valid? [True, True] Translation: X:262.77, Y:-62.04, Z:-6.70 [[ 9.51871237e-01 3.06014029e-01 1.72209618e-02 2.62771106e+02] [-3.05967523e-01 9.52026984e-01 -5.33820302e-03 -6.20385287e+01] [-1.80283853e-02 -1.87773095e-04 9.99837458e-01 -6.69875840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.398623853 meters 0.020764812351830808 Centerline is valid? [True, True] Translation: X:262.80, Y:-62.05, Z:-6.71 [[ 9.51703117e-01 3.06525232e-01 1.74200954e-02 2.62798464e+02] [-3.06477734e-01 9.51862512e-01 -5.39965396e-03 -6.20458984e+01] [-1.82366660e-02 -2.00003870e-04 9.99833678e-01 -6.70839438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.42862385300003 meters 0.02188107720381045 Centerline is valid? [True, True] Translation: X:262.83, Y:-62.05, Z:-6.71 [[ 9.51336062e-01 3.07676301e-01 1.71752956e-02 2.62826332e+02] [-3.07630329e-01 9.51491064e-01 -5.32306558e-03 -6.20511729e+01] [-1.79799214e-02 -2.19617585e-04 9.99838324e-01 -6.71052642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.458623853 meters 0.02233870718853437 Centerline is valid? [True, True] Translation: X:262.85, Y:-62.06, Z:-6.71 [[ 9.51189732e-01 3.08122605e-01 1.72787288e-02 2.62854487e+02] [-3.08076178e-01 9.51346628e-01 -5.35367035e-03 -6.20584476e+01] [-1.80876472e-02 -2.30808469e-04 9.99836378e-01 -6.71127151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.48862385300004 meters 0.02263881884993499 Centerline is valid? [True, True] Translation: X:262.88, Y:-62.07, Z:-6.71 [[ 9.51135319e-01 3.08282503e-01 1.74213273e-02 2.62881485e+02] [-3.08235348e-01 9.51294824e-01 -5.39705180e-03 -6.20653631e+01] [-1.82366351e-02 -2.36542280e-04 9.99833671e-01 -6.71148092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.518623853 meters 0.026493942618708098 Centerline is valid? [True, True] Translation: X:262.91, Y:-62.07, Z:-6.70 [[ 9.51146156e-01 3.08252216e-01 1.73654992e-02 2.62909076e+02] [-3.08205378e-01 9.51304639e-01 -5.37860014e-03 -6.20741275e+01] [-1.81778454e-02 -2.36305403e-04 9.99834741e-01 -6.70451272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.54862385300004 meters 0.021560130639476874 Centerline is valid? [True, True] Translation: X:262.94, Y:-62.08, Z:-6.71 [[ 9.51261699e-01 3.07813525e-01 1.87620570e-02 2.62936194e+02] [-3.07758785e-01 9.51446674e-01 -5.81010345e-03 -6.20836501e+01] [-1.96395252e-02 -2.47259013e-04 9.99807095e-01 -6.71032340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.578623853 meters 0.021089673832581316 Centerline is valid? [True, True] Translation: X:262.96, Y:-62.09, Z:-6.71 [[ 9.51425330e-01 3.07305285e-01 1.87963651e-02 2.62964042e+02] [-3.07250268e-01 9.51610952e-01 -5.81962230e-03 -6.20934850e+01] [-1.96752276e-02 -2.38252133e-04 9.99806396e-01 -6.71049991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.60862385300004 meters 0.02230961706587551 Centerline is valid? [True, True] Translation: X:262.99, Y:-62.10, Z:-6.71 [[ 9.51618989e-01 3.06688484e-01 1.90649655e-02 2.62991918e+02] [-3.06631767e-01 9.51809919e-01 -5.90240824e-03 -6.20992042e+01] [-1.99564239e-02 -2.29080293e-04 9.99800824e-01 -6.71194616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.638623853 meters 0.020449856665917105 Centerline is valid? [True, True] Translation: X:263.02, Y:-62.11, Z:-6.71 [[ 9.52099198e-01 3.05203878e-01 1.89132551e-02 2.63018650e+02] [-3.05147786e-01 9.52287013e-01 -5.85446329e-03 -6.21101122e+01] [-1.97976521e-02 -1.97308107e-04 9.99803988e-01 -6.71237362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.66862385300004 meters 0.01934015699415106 Centerline is valid? [True, True] Translation: X:263.05, Y:-62.12, Z:-6.71 [[ 9.52387812e-01 3.04308205e-01 1.88141428e-02 2.63045960e+02] [-3.04252545e-01 9.52573611e-01 -5.82274372e-03 -6.21208113e+01] [-1.96937646e-02 -1.78740675e-04 9.99806043e-01 -6.71260928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.698623853 meters 0.018511356022512783 Centerline is valid? [True, True] Translation: X:263.07, Y:-62.13, Z:-6.71 [[ 9.52862362e-01 3.02840635e-01 1.84626323e-02 2.63074452e+02] [-3.02786772e-01 9.53041200e-01 -5.71334748e-03 -6.21317139e+01] [-1.93258831e-02 -1.46207068e-04 9.99813227e-01 -6.71423866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.72862385300004 meters 0.01835162302382731 Centerline is valid? [True, True] Translation: X:263.10, Y:-62.14, Z:-6.72 [[ 9.53139724e-01 3.01993029e-01 1.80243470e-02 2.63102153e+02] [-3.01941540e-01 9.53310125e-01 -5.57779611e-03 -6.21408337e+01] [-1.88672480e-02 -1.25880046e-04 9.99821990e-01 -6.71592794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.758623853 meters 0.018248009715103774 Centerline is valid? [True, True] Translation: X:263.13, Y:-62.15, Z:-6.72 [[ 9.53323345e-01 3.01422373e-01 1.78648681e-02 2.63129405e+02] [-3.01371692e-01 9.53490713e-01 -5.52837003e-03 -6.21499373e+01] [-1.87003603e-02 -1.13641337e-04 9.99825127e-01 -6.71763582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.78862385300005 meters 0.01790591151427824 Centerline is valid? [True, True] Translation: X:263.16, Y:-62.16, Z:-6.72 [[ 9.53507230e-01 3.00851813e-01 1.76677307e-02 2.63157804e+02] [-3.00802164e-01 9.53670895e-01 -5.46645464e-03 -6.21602735e+01] [-1.84937933e-02 -1.02187593e-04 9.99828970e-01 -6.71783296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.818623853 meters 0.02134154228755592 Centerline is valid? [True, True] Translation: X:263.19, Y:-62.17, Z:-6.71 [[ 9.53633614e-01 3.00452119e-01 1.76480702e-02 2.63185708e+02] [-3.00402510e-01 9.53796894e-01 -5.46045395e-03 -6.21691214e+01] [-1.84732795e-02 -9.42521593e-05 9.99829350e-01 -6.71229335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.84862385300005 meters 0.01772523199844376 Centerline is valid? [True, True] Translation: X:263.21, Y:-62.18, Z:-6.72 [[ 9.53629970e-01 3.00404563e-01 1.86273820e-02 2.63213107e+02] [-3.00349290e-01 9.53811873e-01 -5.76327488e-03 -6.21775848e+01] [-1.94983322e-02 -9.86893173e-05 9.99809885e-01 -6.71800798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.878623853 meters 0.017661792116345863 Centerline is valid? [True, True] Translation: X:263.24, Y:-62.19, Z:-6.72 [[ 9.53730984e-01 3.00082825e-01 1.86415984e-02 2.63241414e+02] [-3.00027415e-01 9.53913146e-01 -5.76718018e-03 -6.21865940e+01] [-1.95130975e-02 -9.26521530e-05 9.99809597e-01 -6.71860677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.908623853 meters 0.017446231412571723 Centerline is valid? [True, True] Translation: X:263.27, Y:-62.20, Z:-6.72 [[ 9.53707667e-01 3.00162882e-01 1.85453626e-02 2.63271614e+02] [-3.00108090e-01 9.53887957e-01 -5.73577700e-03 -6.21965662e+01] [-1.94118654e-02 -9.53588623e-05 9.99811567e-01 -6.71866424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.938623853 meters 0.017590148313768428 Centerline is valid? [True, True] Translation: X:263.30, Y:-62.20, Z:-6.72 [[ 9.53693935e-01 3.00236696e-01 1.80500557e-02 2.63301793e+02] [-3.00184742e-01 9.53864727e-01 -5.58592433e-03 -6.22044678e+01] [-1.88944109e-02 -9.10891561e-05 9.99821481e-01 -6.72152917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.968623853 meters 0.01782875000735172 Centerline is valid? [True, True] Translation: X:263.33, Y:-62.21, Z:-6.72 [[ 9.53591848e-01 3.00566109e-01 1.79611067e-02 2.63328609e+02] [-3.00514640e-01 9.53760979e-01 -5.56293033e-03 -6.22106509e+01] [-1.88026310e-02 -9.28104929e-05 9.99823211e-01 -6.72298275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.998623853 meters 0.01814534890040656 Centerline is valid? [True, True] Translation: X:263.36, Y:-62.22, Z:-6.72 [[ 9.53447390e-01 3.01032030e-01 1.78267222e-02 2.63355732e+02] [-3.00981432e-01 9.53614024e-01 -5.52008130e-03 -6.22170403e+01] [-1.86615336e-02 -1.02405258e-04 9.99825853e-01 -6.72395042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.028623853 meters 0.018390213043370483 Centerline is valid? [True, True] Translation: X:263.38, Y:-62.22, Z:-6.72 [[ 9.53282551e-01 3.01550556e-01 1.78784620e-02 2.63383714e+02] [-3.01499780e-01 9.53450182e-01 -5.53474052e-03 -6.22233278e+01] [-1.87152269e-02 -1.14180792e-04 9.99824848e-01 -6.72447760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.05862385300003 meters 0.018979861335940595 Centerline is valid? [True, True] Translation: X:263.41, Y:-62.23, Z:-6.72 [[ 9.52699336e-01 3.03369315e-01 1.81943497e-02 2.63412427e+02] [-3.03317078e-01 9.52873042e-01 -5.63161682e-03 -6.22279089e+01] [-1.90453651e-02 -1.53419379e-04 9.99818609e-01 -6.72374758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.088623853 meters 0.020067853832205183 Centerline is valid? [True, True] Translation: X:263.44, Y:-62.23, Z:-6.72 [[ 9.52430074e-01 3.04211793e-01 1.82246927e-02 2.63439952e+02] [-3.04159552e-01 9.52604407e-01 -5.64013957e-03 -6.22323287e+01] [-1.90767196e-02 -1.71375825e-04 9.99818008e-01 -6.72473931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.11862385300003 meters 0.02070069912844124 Centerline is valid? [True, True] Translation: X:263.47, Y:-62.24, Z:-6.73 [[ 9.52120416e-01 3.05169405e-01 1.83942245e-02 2.63468130e+02] [-3.05116391e-01 9.52298061e-01 -5.69131968e-03 -6.22376493e+01] [-1.92536010e-02 -1.93557736e-04 9.99814614e-01 -6.72513216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.148623853 meters 0.02200482683991175 Centerline is valid? [True, True] Translation: X:263.50, Y:-62.24, Z:-6.72 [[ 9.51383915e-01 3.07446055e-01 1.85895032e-02 2.63497842e+02] [-3.07392362e-01 9.51565481e-01 -5.75081673e-03 -6.22392193e+01] [-1.94571954e-02 -2.43036752e-04 9.99810661e-01 -6.72497822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.17862385300003 meters 0.023822764663996587 Centerline is valid? [True, True] Translation: X:263.53, Y:-62.24, Z:-6.73 [[ 9.51089286e-01 3.08354511e-01 1.86189482e-02 2.63526005e+02] [-3.08300838e-01 9.51271479e-01 -5.75905038e-03 -6.22422751e+01] [-1.94875035e-02 -2.62866215e-04 9.99810066e-01 -6.72656387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.208623853 meters 0.02320889065709693 Centerline is valid? [True, True] Translation: X:263.55, Y:-62.25, Z:-6.73 [[ 9.50929894e-01 3.08843096e-01 1.86622065e-02 2.63554293e+02] [-3.08789292e-01 9.51112962e-01 -5.77118109e-03 -6.22499368e+01] [-1.95322560e-02 -2.74700924e-04 9.99809190e-01 -6.72628462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.23862385300004 meters 0.02366120948602319 Centerline is valid? [True, True] Translation: X:263.58, Y:-62.26, Z:-6.73 [[ 9.50771375e-01 3.09316614e-01 1.88951164e-02 2.63583190e+02] [-3.09261571e-01 9.50959068e-01 -5.84223621e-03 -6.22556996e+01] [-1.97755830e-02 -2.88902439e-04 9.99804402e-01 -6.72672100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.268623853 meters 0.025935131212855355 Centerline is valid? [True, True] Translation: X:263.61, Y:-62.26, Z:-6.73 [[ 9.50625025e-01 3.09783391e-01 1.86094753e-02 2.63611866e+02] [-3.09730106e-01 9.50807112e-01 -5.75306236e-03 -6.22556553e+01] [-1.94762247e-02 -2.94909713e-04 9.99810277e-01 -6.72893672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.29862385300004 meters 0.024040205211835718 Centerline is valid? [True, True] Translation: X:263.64, Y:-62.26, Z:-6.73 [[ 9.50646848e-01 3.09716336e-01 1.86107900e-02 2.63638642e+02] [-3.09663052e-01 9.50828956e-01 -5.75236599e-03 -6.22646060e+01] [-1.94772798e-02 -2.94605447e-04 9.99810256e-01 -6.72895400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.328623853 meters 0.023477947886744198 Centerline is valid? [True, True] Translation: X:263.67, Y:-62.27, Z:-6.73 [[ 9.50655257e-01 3.09676394e-01 1.88444332e-02 2.63666252e+02] [-3.09621785e-01 9.50841964e-01 -5.82313881e-03 -6.22717559e+01] [-1.97213665e-02 -2.98849519e-04 9.99805470e-01 -6.72894197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.35862385300004 meters 0.023400412599833283 Centerline is valid? [True, True] Translation: X:263.69, Y:-62.28, Z:-6.73 [[ 9.50681403e-01 3.09575440e-01 1.91811574e-02 2.63693931e+02] [-3.09518871e-01 9.50874837e-01 -5.92566656e-03 -6.22761841e+01] [-2.00733208e-02 -3.03509192e-04 9.99798465e-01 -6.72886183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.388623853 meters 0.024735339752920523 Centerline is valid? [True, True] Translation: X:263.72, Y:-62.28, Z:-6.73 [[ 9.50720632e-01 3.09458886e-01 1.91174609e-02 2.63720804e+02] [-3.09402697e-01 9.50912776e-01 -5.90456810e-03 -6.22796620e+01] [-2.00062588e-02 -3.01399228e-04 9.99799809e-01 -6.73028769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.41862385300004 meters 0.02312603517328718 Centerline is valid? [True, True] Translation: X:263.75, Y:-62.29, Z:-6.73 [[ 9.50977795e-01 3.08673386e-01 1.90256379e-02 2.63749338e+02] [-3.08617616e-01 9.51168050e-01 -5.87430251e-03 -6.22860782e+01] [-1.99098197e-02 -2.85315762e-04 9.99801739e-01 -6.73060306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.448623853 meters 0.023700710453837308 Centerline is valid? [True, True] Translation: X:263.78, Y:-62.29, Z:-6.73 [[ 9.51167882e-01 3.08063970e-01 1.93971850e-02 2.63776932e+02] [-3.08005894e-01 9.51365604e-01 -5.98806502e-03 -6.22907227e+01] [-2.02985217e-02 -2.78792198e-04 9.99793925e-01 -6.73154621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.47862385300004 meters 0.022872663632910194 Centerline is valid? [True, True] Translation: X:263.80, Y:-62.30, Z:-6.73 [[ 9.51471872e-01 3.07114858e-01 1.95381641e-02 2.63804823e+02] [-3.07055761e-01 9.51672420e-01 -6.03026527e-03 -6.22978793e+01] [-2.04459160e-02 -2.61678064e-04 9.99790926e-01 -6.73192990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.508623853 meters 0.028233427849058534 Centerline is valid? [True, True] Translation: X:263.83, Y:-62.31, Z:-6.72 [[ 9.52109757e-01 3.05131902e-01 1.95328720e-02 2.63833300e+02] [-3.05072440e-01 9.52310073e-01 -6.02763129e-03 -6.23056208e+01] [-2.04405734e-02 -2.19974352e-04 9.99791045e-01 -6.72425101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.53862385300005 meters 0.019484157390907298 Centerline is valid? [True, True] Translation: X:263.86, Y:-62.31, Z:-6.73 [[ 9.52495588e-01 3.03873703e-01 2.03206096e-02 2.63860122e+02] [-3.03809077e-01 9.52712303e-01 -6.26995494e-03 -6.23143417e+01] [-2.12649692e-02 -2.01481236e-04 9.99773855e-01 -6.73203050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.568623853 meters 0.019312085741486382 Centerline is valid? [True, True] Translation: X:263.89, Y:-62.32, Z:-6.73 [[ 9.52824350e-01 3.02849916e-01 2.01912324e-02 2.63887192e+02] [-3.02785902e-01 9.53038245e-01 -6.22904454e-03 -6.23212084e+01] [-2.11294823e-02 -1.78435205e-04 9.99776732e-01 -6.73282129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.59862385300005 meters 0.01824697382157369 Centerline is valid? [True, True] Translation: X:263.91, Y:-62.33, Z:-6.74 [[ 9.53524725e-01 3.00685090e-01 1.94698505e-02 2.63914159e+02] [-3.00625142e-01 9.53723472e-01 -6.00528443e-03 -6.23265509e+01] [-2.03745529e-02 -1.26939383e-04 9.99792409e-01 -6.73537887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.628623853 meters 0.01789198062508483 Centerline is valid? [True, True] Translation: X:263.94, Y:-62.33, Z:-6.74 [[ 9.53792553e-01 2.99844739e-01 1.93105464e-02 2.63942725e+02] [-2.99785623e-01 9.53988008e-01 -5.95483377e-03 -6.23333712e+01] [-2.02075553e-02 -1.09348084e-04 9.99795801e-01 -6.73686156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.658623853 meters 0.017419794286430645 Centerline is valid? [True, True] Translation: X:263.97, Y:-62.34, Z:-6.74 [[ 9.54235032e-01 2.98443844e-01 1.91514045e-02 2.63971022e+02] [-2.98385427e-01 9.54427193e-01 -5.90516821e-03 -6.23372290e+01] [-2.00409823e-02 -7.95816342e-05 9.99799156e-01 -6.73818347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.688623853 meters 0.017259156836741164 Centerline is valid? [True, True] Translation: X:264.00, Y:-62.34, Z:-6.74 [[ 9.54464030e-01 2.97708111e-01 1.91910344e-02 2.63997488e+02] [-2.97649326e-01 9.54656942e-01 -5.91631133e-03 -6.23428100e+01] [-2.00821881e-02 -6.52921005e-05 9.99798330e-01 -6.73860166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.718623853 meters 0.01694824296764391 Centerline is valid? [True, True] Translation: X:264.03, Y:-62.35, Z:-6.74 [[ 9.54724493e-01 2.96852379e-01 1.94886599e-02 2.64025838e+02] [-2.96791616e-01 9.54923380e-01 -6.00619322e-03 -6.23493482e+01] [-2.03931297e-02 -4.98110838e-05 9.99792037e-01 -6.73847318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.748623853 meters 0.01670042969502859 Centerline is valid? [True, True] Translation: X:264.05, Y:-62.35, Z:-6.74 [[ 9.55497811e-01 2.94330336e-01 1.98390250e-02 2.64053314e+02] [-2.94266844e-01 9.55703748e-01 -6.11317930e-03 -6.23548982e+01] [-2.07595247e-02 3.16215306e-06 9.99784498e-01 -6.73899180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.778623853 meters 0.017045013370591413 Centerline is valid? [True, True] Translation: X:264.08, Y:-62.36, Z:-6.74 [[ 9.56137826e-01 2.92259698e-01 1.96144330e-02 2.64078760e+02] [-2.92197220e-01 9.56338991e-01 -6.04303353e-03 -6.23632307e+01] [-2.05241822e-02 4.66901649e-05 9.99789356e-01 -6.74130029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.80862385300003 meters 0.017400465616290415 Centerline is valid? [True, True] Translation: X:264.11, Y:-62.37, Z:-6.74 [[ 9.56808353e-01 2.90046938e-01 1.97623070e-02 2.64106801e+02] [-2.89983103e-01 9.57012417e-01 -6.08561279e-03 -6.23714884e+01] [-2.06778865e-02 9.20300454e-05 9.99786185e-01 -6.74051084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.838623853 meters 0.01861605557836799 Centerline is valid? [True, True] Translation: X:264.13, Y:-62.38, Z:-6.74 [[ 9.57619368e-01 2.87376658e-01 1.94885384e-02 2.64133269e+02] [-2.87314045e-01 9.57817642e-01 -6.00034268e-03 -6.23815241e+01] [-2.03908243e-02 1.46713568e-04 9.99792075e-01 -6.74182984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.86862385300003 meters 0.029600132597366314 Centerline is valid? [True, True] Translation: X:264.16, Y:-62.40, Z:-6.74 [[ 9.59416397e-01 2.81351263e-01 1.90169213e-02 2.64159274e+02] [-2.81290487e-01 9.59604812e-01 -5.85376730e-03 -6.23957088e+01] [-1.98956941e-02 2.66921271e-04 9.99802025e-01 -6.73562867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.898623853 meters 0.02422907544601774 Centerline is valid? [True, True] Translation: X:264.19, Y:-62.41, Z:-6.74 [[ 9.60380431e-01 2.78002990e-01 1.95899338e-02 2.64185689e+02] [-2.77937812e-01 9.60580147e-01 -6.02948891e-03 -6.24054731e+01] [-2.04939174e-02 3.45819833e-04 9.99789918e-01 -6.74338507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.92862385300003 meters 0.030285768795711224 Centerline is valid? [True, True] Translation: X:264.21, Y:-62.42, Z:-6.74 [[ 9.62101825e-01 2.71998986e-01 1.94069585e-02 2.64211403e+02] [-2.71933828e-01 9.62297424e-01 -5.97163656e-03 -6.24220958e+01] [-2.02995453e-02 4.67913897e-04 9.99793833e-01 -6.74483843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.958623853 meters 0.03377842400822638 Centerline is valid? [True, True] Translation: X:264.24, Y:-62.43, Z:-6.75 [[ 9.62876522e-01 2.69261394e-01 1.91599836e-02 2.64237009e+02] [-2.69197346e-01 9.63066993e-01 -5.89544427e-03 -6.24346711e+01] [-2.00397633e-02 5.18768126e-04 9.99799049e-01 -6.74633492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.98862385300004 meters 0.036599971952850856 Centerline is valid? [True, True] Translation: X:264.26, Y:-62.45, Z:-6.75 [[ 9.63565021e-01 2.66809073e-01 1.88512220e-02 2.64264544e+02] [-2.66746613e-01 9.63749244e-01 -5.79999733e-03 -6.24463632e+01] [-1.97153429e-02 5.60174935e-04 9.99805477e-01 -6.74787623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.018623853 meters 0.036599971952850856 Centerline is valid? [True, True] Translation: X:264.29, Y:-62.45, Z:-6.75 [[ 9.63577378e-01 2.66764437e-01 1.88513193e-02 2.64291655e+02] [-2.66701974e-01 9.63761600e-01 -5.79968125e-03 -6.24546105e+01] [-1.97153263e-02 5.60757597e-04 9.99805477e-01 -6.74858902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.04862385300004 meters 0.039218171386684035 Centerline is valid? [True, True] Translation: X:264.32, Y:-62.47, Z:-6.75 [[ 9.64537326e-01 2.63282933e-01 1.87041106e-02 2.64319374e+02] [-2.63220810e-01 9.64718459e-01 -5.75325096e-03 -6.24662445e+01] [-1.95589336e-02 6.25914134e-04 9.99808510e-01 -6.74975773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.078623853 meters 0.03903133356832825 Centerline is valid? [True, True] Translation: X:264.35, Y:-62.47, Z:-6.75 [[ 9.64851035e-01 2.62150316e-01 1.84307487e-02 2.64347948e+02] [-2.62089792e-01 9.65026841e-01 -5.66900881e-03 -6.24749381e+01] [-1.92722996e-02 6.39237913e-04 9.99814068e-01 -6.75051228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.10862385300004 meters 0.040530499420576814 Centerline is valid? [True, True] Translation: X:264.37, Y:-62.49, Z:-6.75 [[ 9.64968031e-01 2.61705783e-01 1.86221194e-02 2.64374580e+02] [-2.61643921e-01 9.65147478e-01 -5.72744902e-03 -6.24857373e+01] [-1.94719981e-02 6.54440860e-04 9.99810188e-01 -6.75125023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.138623853 meters 0.04884751700561889 Centerline is valid? [True, True] Translation: X:264.40, Y:-62.49, Z:-6.74 [[ 9.64862046e-01 2.62110201e-01 1.84248234e-02 2.64402036e+02] [-2.62049730e-01 9.65037737e-01 -5.66606024e-03 -6.24943540e+01] [-1.92657821e-02 6.38746477e-04 9.99814194e-01 -6.74228073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.16862385300004 meters 0.04213841708417764 Centerline is valid? [True, True] Translation: X:264.43, Y:-62.50, Z:-6.75 [[ 9.64578392e-01 2.63115003e-01 1.89478687e-02 2.64428520e+02] [-2.63051258e-01 9.64764267e-01 -5.82615481e-03 -6.25041295e+01] [-1.98131754e-02 6.35522339e-04 9.99803498e-01 -6.75250067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.198623853 meters 0.03797785955619706 Centerline is valid? [True, True] Translation: X:264.46, Y:-62.51, Z:-6.75 [[ 9.64222339e-01 2.64429459e-01 1.87707607e-02 2.64458386e+02] [-2.64367165e-01 9.64404842e-01 -5.77092911e-03 -6.25067077e+01] [-1.96286162e-02 6.02085971e-04 9.99807159e-01 -6.75269107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.22862385300004 meters 0.038660364661872344 Centerline is valid? [True, True] Translation: X:264.49, Y:-62.51, Z:-6.75 [[ 9.63306929e-01 2.67789879e-01 1.81201652e-02 2.64487111e+02] [-2.67732429e-01 9.63477200e-01 -5.57054187e-03 -6.25107416e+01] [-1.89501008e-02 5.14785737e-04 9.99820298e-01 -6.74647383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.258623853 meters 0.03322004316710388 Centerline is valid? [True, True] Translation: X:264.52, Y:-62.52, Z:-6.75 [[ 9.62824799e-01 2.69480837e-01 1.86677349e-02 2.64515690e+02] [-2.69420190e-01 9.63005625e-01 -5.73829680e-03 -6.25169699e+01] [-1.95234947e-02 4.95509780e-04 9.99809276e-01 -6.75417814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.28862385300005 meters 0.02777561665750595 Centerline is valid? [True, True] Translation: X:264.55, Y:-62.52, Z:-6.75 [[ 9.61841303e-01 2.72940869e-01 1.90942225e-02 2.64546321e+02] [-2.72878131e-01 9.62030714e-01 -5.86785157e-03 -6.25174821e+01] [-1.99708050e-02 4.33546250e-04 9.99800470e-01 -6.75386858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.318623853 meters 0.02839867129303816 Centerline is valid? [True, True] Translation: X:264.57, Y:-62.53, Z:-6.75 [[ 9.61400401e-01 2.74488671e-01 1.91112131e-02 2.64573116e+02] [-2.74426133e-01 9.61590250e-01 -5.87275680e-03 -6.25260624e+01] [-1.99891614e-02 4.01454437e-04 9.99800116e-01 -6.75490534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.34862385300005 meters 0.026712578522127262 Centerline is valid? [True, True] Translation: X:264.60, Y:-62.53, Z:-6.76 [[ 9.60848658e-01 2.76399536e-01 1.93171683e-02 2.64601756e+02] [-2.76336057e-01 9.61042748e-01 -5.93466105e-03 -6.25312816e+01] [-2.02049620e-02 3.64281002e-04 9.99795793e-01 -6.75541979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.378623853 meters 0.023559627072201002 Centerline is valid? [True, True] Translation: X:264.63, Y:-62.53, Z:-6.76 [[ 9.60327471e-01 2.78203469e-01 1.93385448e-02 2.64631489e+02] [-2.78140234e-01 9.60522110e-01 -5.94026369e-03 -6.25336857e+01] [-2.02277018e-02 3.25771042e-04 9.99795346e-01 -6.75564555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.408623853 meters 0.022233866723055315 Centerline is valid? [True, True] Translation: X:264.66, Y:-62.54, Z:-6.76 [[ 9.59065686e-01 2.82569486e-01 1.86412174e-02 2.64659481e+02] [-2.82511568e-01 9.59246806e-01 -5.72525596e-03 -6.25373030e+01] [-1.94993109e-02 2.24536973e-04 9.99809845e-01 -6.75882579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.438623853 meters 0.019501751606828946 Centerline is valid? [True, True] Translation: X:264.69, Y:-62.54, Z:-6.76 [[ 9.58486396e-01 2.84528549e-01 1.86368808e-02 2.64688919e+02] [-2.84471061e-01 9.58667550e-01 -5.72226351e-03 -6.25399391e+01] [-1.94947202e-02 1.83058466e-04 9.99809943e-01 -6.75830700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.468623853 meters 0.018515816601661975 Centerline is valid? [True, True] Translation: X:264.72, Y:-62.54, Z:-6.76 [[ 9.57971499e-01 2.86246516e-01 1.88026302e-02 2.64717289e+02] [-2.86188350e-01 9.58155995e-01 -5.77215824e-03 -6.25447663e+01] [-1.96681131e-02 1.48469360e-04 9.99806553e-01 -6.75863917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.498623853 meters 0.01795119361867916 Centerline is valid? [True, True] Translation: X:264.74, Y:-62.55, Z:-6.76 [[ 9.57517257e-01 2.87748352e-01 1.90154909e-02 2.64744741e+02] [-2.87689174e-01 9.57706047e-01 -5.83669949e-03 -6.25502345e+01] [-1.98907513e-02 1.18189615e-04 9.99802152e-01 -6.75951477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.528623853 meters 0.017048385654018477 Centerline is valid? [True, True] Translation: X:264.77, Y:-62.55, Z:-6.76 [[ 9.56838846e-01 2.89985645e-01 1.91767754e-02 2.64773186e+02] [-2.89925949e-01 9.57030993e-01 -5.88414331e-03 -6.25532791e+01] [-2.00590855e-02 7.03320962e-05 9.99798794e-01 -6.75998670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.55862385300003 meters 0.01673638876710568 Centerline is valid? [True, True] Translation: X:264.80, Y:-62.56, Z:-6.76 [[ 9.56620094e-01 2.90689918e-01 1.94259454e-02 2.64801522e+02] [-2.90628833e-01 9.56817312e-01 -5.95927145e-03 -6.25591150e+01] [-2.03193810e-02 5.50189636e-05 9.99793539e-01 -6.75971153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.588623853 meters 0.01670784188363543 Centerline is valid? [True, True] Translation: X:264.83, Y:-62.56, Z:-6.76 [[ 9.56496250e-01 2.91081232e-01 1.96631500e-02 2.64828054e+02] [-2.91018747e-01 9.56698340e-01 -6.03116386e-03 -6.25648516e+01] [-2.05672616e-02 4.64403459e-05 9.99788470e-01 -6.76076079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.61862385300003 meters 0.016686477566722254 Centerline is valid? [True, True] Translation: X:264.86, Y:-62.57, Z:-6.76 [[ 9.56644032e-01 2.90592429e-01 1.97037184e-02 2.64855178e+02] [-2.90529620e-01 9.56846925e-01 -6.04175717e-03 -6.25729480e+01] [-2.06091312e-02 5.52971162e-05 9.99787608e-01 -6.76140201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.648623853 meters 0.01731436510456593 Centerline is valid? [True, True] Translation: X:264.88, Y:-62.58, Z:-6.76 [[ 9.57202638e-01 2.88744108e-01 1.97471399e-02 2.64881116e+02] [-2.88680661e-01 9.57406304e-01 -6.05347386e-03 -6.25837718e+01] [-2.06539411e-02 9.37837587e-05 9.99786680e-01 -6.76297321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.67862385300003 meters 0.017793320697262423 Centerline is valid? [True, True] Translation: X:264.91, Y:-62.59, Z:-6.76 [[ 9.57584449e-01 2.87486284e-01 1.95872553e-02 2.64908218e+02] [-2.87423624e-01 9.57784747e-01 -6.00315570e-03 -6.25937425e+01] [-2.04861993e-02 1.18688635e-04 9.99790129e-01 -6.76329883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.708623853 meters 0.018527055858826108 Centerline is valid? [True, True] Translation: X:264.94, Y:-62.60, Z:-6.76 [[ 9.58003353e-01 2.86095009e-01 1.94736064e-02 2.64935474e+02] [-2.86032807e-01 9.58201244e-01 -5.96733451e-03 -6.26036616e+01] [-2.03668585e-02 1.46636166e-04 9.99792563e-01 -6.76422430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.73862385300004 meters 0.019567469895545732 Centerline is valid? [True, True] Translation: X:264.96, Y:-62.61, Z:-6.77 [[ 9.58397627e-01 2.84765323e-01 1.95627024e-02 2.64961615e+02] [-2.84702289e-01 9.58597246e-01 -5.99383035e-03 -6.26141998e+01] [-2.04595877e-02 1.74926623e-04 9.99790665e-01 -6.76546561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.768623853 meters 0.021535276081259276 Centerline is valid? [True, True] Translation: X:264.99, Y:-62.63, Z:-6.76 [[ 9.59181600e-01 2.82087923e-01 1.99264248e-02 2.64988140e+02] [-2.82021990e-01 9.59388528e-01 -6.10315108e-03 -6.26262490e+01] [-2.08388086e-02 2.34340233e-04 9.99782821e-01 -6.76497065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.79862385300004 meters 0.02224311500797943 Centerline is valid? [True, True] Translation: X:265.02, Y:-62.64, Z:-6.76 [[ 9.59568875e-01 2.80752885e-01 2.01343177e-02 2.65015221e+02] [-2.80685296e-01 9.59780051e-01 -6.16582849e-03 -6.26359210e+01] [-2.10555907e-02 2.65130174e-04 9.99778271e-01 -6.76498155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.828623853 meters 0.023082833856110697 Centerline is valid? [True, True] Translation: X:265.04, Y:-62.65, Z:-6.77 [[ 9.59871967e-01 2.79714236e-01 2.01433141e-02 2.65042374e+02] [-2.79646379e-01 9.60083259e-01 -6.16757273e-03 -6.26456912e+01] [-2.10644165e-02 2.87075335e-04 9.99778079e-01 -6.76537259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.85862385300004 meters 0.02430381355603892 Centerline is valid? [True, True] Translation: X:265.07, Y:-62.66, Z:-6.77 [[ 9.60203374e-01 2.78592831e-01 1.98875602e-02 2.65068146e+02] [-2.78526465e-01 9.60409257e-01 -6.08833842e-03 -6.26560380e+01] [-2.07963644e-02 3.06831248e-04 9.99783685e-01 -6.76721049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.888623853 meters 0.024598345032533893 Centerline is valid? [True, True] Translation: X:265.10, Y:-62.67, Z:-6.77 [[ 9.60275159e-01 2.78364448e-01 1.96176976e-02 2.65095305e+02] [-2.78299849e-01 9.60475476e-01 -6.00447682e-03 -6.26651226e+01] [-2.05137503e-02 3.06347662e-04 9.99789524e-01 -6.76854037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.91862385300004 meters 0.024362136936376455 Centerline is valid? [True, True] Translation: X:265.12, Y:-62.67, Z:-6.77 [[ 9.60177833e-01 2.78752310e-01 1.88594317e-02 2.65123205e+02] [-2.78692701e-01 9.60362988e-01 -5.77150965e-03 -6.26729998e+01] [-1.97207218e-02 2.85689660e-04 9.99805487e-01 -6.77086564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.948623853 meters 0.024263692003935702 Centerline is valid? [True, True] Translation: X:265.15, Y:-62.68, Z:-6.77 [[ 9.60137286e-01 2.78927547e-01 1.83252604e-02 2.65148938e+02] [-2.78871311e-01 9.60312110e-01 -5.60738206e-03 -6.26803184e+01] [-1.91620228e-02 2.73467194e-04 9.99816354e-01 -6.77247680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.97862385300004 meters 0.023688637939570236 Centerline is valid? [True, True] Translation: X:265.18, Y:-62.69, Z:-6.77 [[ 9.59999681e-01 2.79439240e-01 1.77291663e-02 2.65176440e+02] [-2.79386723e-01 9.60163344e-01 -5.42329988e-03 -6.26876469e+01] [-1.85383784e-02 2.53072500e-04 9.99828117e-01 -6.77420655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.008623853 meters 0.02342525734946662 Centerline is valid? [True, True] Translation: X:265.20, Y:-62.70, Z:-6.78 [[ 9.59896349e-01 2.79801534e-01 1.76097033e-02 2.65204596e+02] [-2.79749798e-01 9.60057833e-01 -5.38590061e-03 -6.26955977e+01] [-1.84133168e-02 2.43595373e-04 9.99830431e-01 -6.77516698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.03862385300005 meters 0.023135928811596294 Centerline is valid? [True, True] Translation: X:265.23, Y:-62.70, Z:-6.78 [[ 9.59778749e-01 2.80218093e-01 1.73946591e-02 2.65230955e+02] [-2.80167696e-01 9.59936335e-01 -5.31936804e-03 -6.27028769e+01] [-1.81883484e-02 2.31994851e-04 9.99834551e-01 -6.77621868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.068623853 meters 0.021131104837693628 Centerline is valid? [True, True] Translation: X:265.26, Y:-62.71, Z:-6.77 [[ 9.59675553e-01 2.80557351e-01 1.76183558e-02 2.65259921e+02] [-2.80505727e-01 9.59837237e-01 -5.38662248e-03 -6.27082761e+01] [-1.84220105e-02 2.27360200e-04 9.99830275e-01 -6.77467865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.09862385300005 meters 0.02191377641401353 Centerline is valid? [True, True] Translation: X:265.29, Y:-62.72, Z:-6.78 [[ 9.59390517e-01 2.81455269e-01 1.87820968e-02 2.65285601e+02] [-2.81396792e-01 9.59574323e-01 -5.74141553e-03 -6.27188203e+01] [-1.96387695e-02 2.23037824e-04 9.99807116e-01 -6.77506453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.128623853 meters 0.027760905725010457 Centerline is valid? [True, True] Translation: X:265.31, Y:-62.72, Z:-6.77 [[ 9.59355275e-01 2.81586557e-01 1.86136141e-02 2.65313931e+02] [-2.81529171e-01 9.59535806e-01 -5.68877146e-03 -6.27238241e+01] [-1.94623107e-02 2.17277586e-04 9.99810568e-01 -6.76642236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.158623853 meters 0.019554299177927247 Centerline is valid? [True, True] Translation: X:265.34, Y:-62.73, Z:-6.77 [[ 9.58916228e-01 2.83013800e-01 1.95667093e-02 2.65340892e+02] [-2.82950718e-01 9.59115817e-01 -5.97837508e-03 -6.27313281e+01] [-2.04587030e-02 1.96346438e-04 9.99790680e-01 -6.77342547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.188623853 meters 0.019276679729344347 Centerline is valid? [True, True] Translation: X:265.37, Y:-62.74, Z:-6.77 [[ 9.58692688e-01 2.83770194e-01 1.95654332e-02 2.65368046e+02] [-2.83707304e-01 9.58892301e-01 -5.97671577e-03 -6.27392787e+01] [-2.04571571e-02 1.78977412e-04 9.99790714e-01 -6.77436190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.218623853 meters 0.018610805231041295 Centerline is valid? [True, True] Translation: X:265.40, Y:-62.75, Z:-6.78 [[ 9.58452735e-01 2.84583676e-01 1.95060707e-02 2.65396351e+02] [-2.84521361e-01 9.58651191e-01 -5.95728870e-03 -6.27464390e+01] [-2.03948650e-02 1.59885860e-04 9.99791990e-01 -6.77530773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.248623853 meters 0.01796917220718782 Centerline is valid? [True, True] Translation: X:265.42, Y:-62.75, Z:-6.78 [[ 9.58120283e-01 2.85714470e-01 1.93071085e-02 2.65424886e+02] [-2.85653669e-01 9.58314783e-01 -5.89554669e-03 -6.27529220e+01] [-2.01867305e-02 1.33496485e-04 9.99796218e-01 -6.77576421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.278623853 meters 0.016734854029972945 Centerline is valid? [True, True] Translation: X:265.45, Y:-62.76, Z:-6.78 [[ 9.57381206e-01 2.88174842e-01 1.94032741e-02 2.65454427e+02] [-2.88113948e-01 9.57577806e-01 -5.92446545e-03 -6.27564330e+01] [-2.02874265e-02 8.16179834e-05 9.99794186e-01 -6.77581908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.30862385300003 meters 0.016445270217012566 Centerline is valid? [True, True] Translation: X:265.48, Y:-62.76, Z:-6.78 [[ 9.57034287e-01 2.89340921e-01 1.91625950e-02 2.65480593e+02] [-2.89281833e-01 9.57226112e-01 -5.84739577e-03 -6.27617093e+01] [-2.00348272e-02 5.27676309e-05 9.99799281e-01 -6.77690786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.338623853 meters 0.016107269218571186 Centerline is valid? [True, True] Translation: X:265.51, Y:-62.76, Z:-6.78 [[ 9.56161543e-01 2.92208937e-01 1.92104627e-02 2.65509700e+02] [-2.92150171e-01 9.56354504e-01 -5.86005445e-03 -6.27639804e+01] [-2.00843729e-02 -9.18127331e-06 9.99798289e-01 -6.77729020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.36862385300003 meters 0.016253827918780522 Centerline is valid? [True, True] Translation: X:265.54, Y:-62.77, Z:-6.78 [[ 9.55803783e-01 2.93360237e-01 1.94653382e-02 2.65536493e+02] [-2.93300157e-01 9.56001972e-01 -5.93695076e-03 -6.27691318e+01] [-2.03505669e-02 -3.46267473e-05 9.99792905e-01 -6.77786753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.398623853 meters 0.016746255103605497 Centerline is valid? [True, True] Translation: X:265.56, Y:-62.77, Z:-6.78 [[ 9.55192079e-01 2.95346238e-01 1.94599996e-02 2.65564407e+02] [-2.95286642e-01 9.55390283e-01 -5.93343242e-03 -6.27721962e+01] [-2.03443115e-02 -7.87103013e-05 9.99793030e-01 -6.77896365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.42862385300003 meters 0.01723197228338567 Centerline is valid? [True, True] Translation: X:265.59, Y:-62.78, Z:-6.78 [[ 9.54931980e-01 2.96186242e-01 1.94582457e-02 2.65591962e+02] [-2.96126856e-01 9.55130201e-01 -5.93164865e-03 -6.27775787e+01] [-2.03420308e-02 -9.77881176e-05 9.99793075e-01 -6.78042327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.458623853 meters 0.018040330516281178 Centerline is valid? [True, True] Translation: X:265.62, Y:-62.78, Z:-6.78 [[ 9.54752577e-01 2.96784745e-01 1.91397981e-02 2.65619351e+02] [-2.96727432e-01 9.54944398e-01 -5.83337031e-03 -6.27824308e+01] [-2.00086983e-02 -1.09877794e-04 9.99799800e-01 -6.78251150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.48862385300004 meters 0.0187964465215378 Centerline is valid? [True, True] Translation: X:265.65, Y:-62.79, Z:-6.78 [[ 9.54469716e-01 2.97717890e-01 1.87515256e-02 2.65647816e+02] [-2.97663070e-01 9.54653886e-01 -5.71443336e-03 -6.27864932e+01] [-1.96025059e-02 -1.27383115e-04 9.99807844e-01 -6.78421786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.518623853 meters 0.01813408992360616 Centerline is valid? [True, True] Translation: X:265.67, Y:-62.79, Z:-6.78 [[ 9.54421452e-01 2.97883643e-01 1.85749163e-02 2.65674877e+02] [-2.97829937e-01 9.54602178e-01 -5.65785176e-03 -6.27941993e+01] [-1.94170371e-02 -1.32191061e-04 9.99811463e-01 -6.78367640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.54862385300004 meters 0.018912012877906045 Centerline is valid? [True, True] Translation: X:265.70, Y:-62.80, Z:-6.79 [[ 9.54376984e-01 2.98029654e-01 1.85174998e-02 2.65701891e+02] [-2.97976392e-01 9.54556602e-01 -5.63591325e-03 -6.27984971e+01] [-1.93556710e-02 -1.38991890e-04 9.99812652e-01 -6.78562961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.578623853 meters 0.01835565770936909 Centerline is valid? [True, True] Translation: X:265.73, Y:-62.81, Z:-6.79 [[ 9.54481819e-01 2.97695848e-01 1.84834866e-02 2.65728901e+02] [-2.97642738e-01 9.54660759e-01 -5.62455649e-03 -6.28057468e+01] [-1.93198664e-02 -1.32938658e-04 9.99813345e-01 -6.78537462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.60862385300004 meters 0.01783527460086015 Centerline is valid? [True, True] Translation: X:265.76, Y:-62.81, Z:-6.79 [[ 9.54788917e-01 2.96698229e-01 1.86624078e-02 2.65756751e+02] [-2.96643972e-01 9.54971281e-01 -5.67514053e-03 -6.28119065e+01] [-1.95058676e-02 -1.17529486e-04 9.99809736e-01 -6.78618210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.638623853 meters 0.017479869142231343 Centerline is valid? [True, True] Translation: X:265.78, Y:-62.82, Z:-6.79 [[ 9.55127573e-01 2.95615600e-01 1.85131393e-02 2.65783421e+02] [-2.95562077e-01 9.55306970e-01 -5.62594755e-03 -6.28200217e+01] [-1.93488489e-02 -9.82842733e-05 9.99812789e-01 -6.78707290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.66862385300004 meters 0.016944961706428674 Centerline is valid? [True, True] Translation: X:265.81, Y:-62.83, Z:-6.79 [[ 9.55593811e-01 2.94094358e-01 1.86809425e-02 2.65809523e+02] [-2.94039645e-01 9.55776388e-01 -5.67307888e-03 -6.28291164e+01] [-1.95232242e-02 -7.17786205e-05 9.99809401e-01 -6.78721647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.698623853 meters 0.016440839348802517 Centerline is valid? [True, True] Translation: X:265.83, Y:-62.84, Z:-6.79 [[ 9.56844462e-01 2.90023195e-01 1.83090635e-02 2.65834704e+02] [-2.89969973e-01 9.57019616e-01 -5.55596565e-03 -6.28400457e+01] [-1.91334918e-02 7.11631326e-06 9.99816938e-01 -6.78824249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.72862385300004 meters 0.016760812361752035 Centerline is valid? [True, True] Translation: X:265.86, Y:-62.85, Z:-6.79 [[ 9.57571421e-01 2.87627163e-01 1.80994001e-02 2.65861294e+02] [-2.87574784e-01 9.57742456e-01 -5.48921314e-03 -6.28508353e+01] [-1.89134107e-02 5.13825552e-05 9.99821124e-01 -6.79012326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.758623853 meters 0.02060614233411655 Centerline is valid? [True, True] Translation: X:265.89, Y:-62.87, Z:-6.79 [[ 9.59273971e-01 2.81888901e-01 1.82235010e-02 2.65885827e+02] [-2.81834777e-01 9.59447039e-01 -5.52615589e-03 -6.28659714e+01] [-1.90422461e-02 1.65081158e-04 9.99818666e-01 -6.78699512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.78862385300005 meters 0.020863791320382453 Centerline is valid? [True, True] Translation: X:265.91, Y:-62.88, Z:-6.79 [[ 9.60078232e-01 2.79127971e-01 1.83674982e-02 2.65912465e+02] [-2.79072522e-01 9.60253887e-01 -5.56775239e-03 -6.28786292e+01] [-1.91915770e-02 2.19613810e-04 9.99815801e-01 -6.79105408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.818623853 meters 0.02295528166603507 Centerline is valid? [True, True] Translation: X:265.94, Y:-62.89, Z:-6.79 [[ 9.60806265e-01 2.76611810e-01 1.83637665e-02 2.65937613e+02] [-2.76555941e-01 9.60981703e-01 -5.56574610e-03 -6.28908878e+01] [-1.91867947e-02 2.68995007e-04 9.99815880e-01 -6.79190719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.84862385300005 meters 0.02616261110388592 Centerline is valid? [True, True] Translation: X:265.96, Y:-62.90, Z:-6.79 [[ 9.61472981e-01 2.74273918e-01 1.85344062e-02 2.65962904e+02] [-2.74216591e-01 9.61651557e-01 -5.61643603e-03 -6.29045473e+01] [-1.93640824e-02 3.17609818e-04 9.99812448e-01 -6.79310324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.878623853 meters 0.028592874077486532 Centerline is valid? [True, True] Translation: X:265.99, Y:-62.92, Z:-6.79 [[ 9.62578325e-01 2.70346930e-01 1.88548705e-02 2.65989161e+02] [-2.70286890e-01 9.62762887e-01 -5.71144473e-03 -6.29182144e+01] [-1.96968411e-02 4.01488592e-04 9.99805918e-01 -6.79238836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.908623853 meters 0.028592874077486532 Centerline is valid? [True, True] Translation: X:266.02, Y:-62.93, Z:-6.79 [[ 9.62597011e-01 2.70280377e-01 1.88550142e-02 2.66015515e+02] [-2.70220334e-01 9.62781572e-01 -5.71097013e-03 -6.29260569e+01] [-1.96968234e-02 4.02354539e-04 9.99805918e-01 -6.79307999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.938623853 meters 0.03042288572171381 Centerline is valid? [True, True] Translation: X:266.04, Y:-62.94, Z:-6.79 [[ 9.63079253e-01 2.68570200e-01 1.86654981e-02 2.66042151e+02] [-2.68511067e-01 9.63260018e-01 -5.65203991e-03 -6.29375647e+01] [-1.94976975e-02 4.31469577e-04 9.99809809e-01 -6.79432253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.968623853 meters 0.0330899623131681 Centerline is valid? [True, True] Translation: X:266.07, Y:-62.95, Z:-6.80 [[ 9.63788078e-01 2.66048894e-01 1.81803982e-02 2.66068663e+02] [-2.65992366e-01 9.63959421e-01 -5.50412059e-03 -6.29518575e+01] [-1.89895313e-02 4.68958674e-04 9.99819573e-01 -6.79572986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.998623853 meters 0.031188418625774886 Centerline is valid? [True, True] Translation: X:266.10, Y:-62.96, Z:-6.80 [[ 9.64000349e-01 2.65274148e-01 1.82470319e-02 2.66096706e+02] [-2.65217071e-01 9.64172905e-01 -5.52399750e-03 -6.29589362e+01] [-1.90586674e-02 4.85711165e-04 9.99818249e-01 -6.79562238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.028623853 meters 0.031957420727948126 Centerline is valid? [True, True] Translation: X:266.12, Y:-62.97, Z:-6.80 [[ 9.64198364e-01 2.64571193e-01 1.79888288e-02 2.66122875e+02] [-2.64515615e-01 9.64366031e-01 -5.44490451e-03 -6.29704552e+01] [-1.87883803e-02 4.91641903e-04 9.99823362e-01 -6.79669172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.05862385300003 meters 0.03784407912496366 Centerline is valid? [True, True] Translation: X:266.15, Y:-62.98, Z:-6.79 [[ 9.64252513e-01 2.64424537e-01 1.72265894e-02 2.66148161e+02] [-2.64373561e-01 9.64406263e-01 -5.21342428e-03 -6.29835610e+01] [-1.79919880e-02 4.72802681e-04 9.99838019e-01 -6.79338318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.088623853 meters 0.034879877686283645 Centerline is valid? [True, True] Translation: X:266.18, Y:-62.99, Z:-6.80 [[ 9.64069185e-01 2.65090629e-01 1.72500755e-02 2.66175186e+02] [-2.65039642e-01 9.64223391e-01 -5.21928530e-03 -6.29925892e+01] [-1.80165099e-02 4.59798288e-04 9.99837584e-01 -6.80084702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.11862385300003 meters 0.03627564916275136 Centerline is valid? [True, True] Translation: X:266.20, Y:-62.99, Z:-6.79 [[ 9.63977372e-01 2.65452791e-01 1.68059877e-02 2.66204989e+02] [-2.65404465e-01 9.64123758e-01 -5.08415948e-03 -6.29945316e+01] [-1.75526563e-02 4.40630536e-04 9.99845843e-01 -6.79190796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.148623853 meters 0.03735958637648122 Centerline is valid? [True, True] Translation: X:266.23, Y:-63.00, Z:-6.79 [[ 9.63270279e-01 2.68008610e-01 1.67855232e-02 2.66231713e+02] [-2.67960804e-01 9.63416437e-01 -5.07706953e-03 -6.30038923e+01] [-1.75321473e-02 3.92727897e-04 9.99846223e-01 -6.79211233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.17862385300003 meters 0.02665777942868543 Centerline is valid? [True, True] Translation: X:266.26, Y:-63.01, Z:-6.80 [[ 9.62705177e-01 2.69961354e-01 1.78776366e-02 2.66260310e+02] [-2.69907481e-01 9.62871084e-01 -5.40627382e-03 -6.30102698e+01] [-1.86733443e-02 3.79339921e-04 9.99825566e-01 -6.80005637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.208623853 meters 0.023912351393542145 Centerline is valid? [True, True] Translation: X:266.29, Y:-63.02, Z:-6.80 [[ 9.61313548e-01 2.74799852e-01 1.90079923e-02 2.66289286e+02] [-2.74739913e-01 9.61501404e-01 -5.74721158e-03 -6.30157509e+01] [-1.98555442e-02 3.02618198e-04 9.99802813e-01 -6.79958489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.23862385300004 meters 0.020985940086677066 Centerline is valid? [True, True] Translation: X:266.32, Y:-63.02, Z:-6.80 [[ 9.60597143e-01 2.77293661e-01 1.90093223e-02 2.66318878e+02] [-2.77234204e-01 9.60785180e-01 -5.74746012e-03 -6.30195440e+01] [-1.98576094e-02 2.50959424e-04 9.99802787e-01 -6.79937156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.268623853 meters 0.019637394099912293 Centerline is valid? [True, True] Translation: X:266.35, Y:-63.02, Z:-6.80 [[ 9.59793477e-01 2.80079045e-01 1.87672759e-02 2.66345957e+02] [-2.80021660e-01 9.59976923e-01 -5.67250847e-03 -6.30247830e+01] [-1.96049026e-02 1.89192873e-04 9.99807788e-01 -6.80079342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.29862385300004 meters 0.025710048201559664 Centerline is valid? [True, True] Translation: X:266.38, Y:-63.03, Z:-6.79 [[ 9.58375132e-01 2.84932987e-01 1.81741159e-02 2.66376033e+02] [-2.84880080e-01 9.58547435e-01 -5.49131560e-03 -6.30256225e+01] [-1.89854091e-02 8.52967283e-05 9.99819757e-01 -6.79482404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.328623853 meters 0.020396085058496438 Centerline is valid? [True, True] Translation: X:266.40, Y:-63.03, Z:-6.80 [[ 9.57700694e-01 2.87206056e-01 1.79461077e-02 2.66403361e+02] [-2.87154883e-01 9.57868822e-01 -5.42158175e-03 -6.30312021e+01] [-1.87471282e-02 3.89401471e-05 9.99824256e-01 -6.80056728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.35862385300004 meters 0.016707053263724958 Centerline is valid? [True, True] Translation: X:266.43, Y:-63.04, Z:-6.81 [[ 9.56975585e-01 2.89616384e-01 1.78907922e-02 2.66431054e+02] [-2.89565953e-01 9.57142806e-01 -5.40448792e-03 -6.30356567e+01] [-1.86892713e-02 -8.60130787e-06 9.99825340e-01 -6.80730450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.388623853 meters 0.017634649505147634 Centerline is valid? [True, True] Translation: X:266.46, Y:-63.04, Z:-6.81 [[ 9.55855064e-01 2.93286405e-01 1.80050440e-02 2.66460018e+02] [-2.93236058e-01 9.56024622e-01 -5.43476288e-03 -6.30371176e+01] [-1.88072074e-02 -8.48824924e-05 9.99823125e-01 -6.80815812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.41862385300004 meters 0.018577923445730737 Centerline is valid? [True, True] Translation: X:266.49, Y:-63.04, Z:-6.81 [[ 9.55404509e-01 2.94741306e-01 1.81600488e-02 2.66488268e+02] [-2.94690360e-01 9.55577077e-01 -5.48109282e-03 -6.30421328e+01] [-1.89688308e-02 -1.14930517e-04 9.99820069e-01 -6.80858348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.448623853 meters 0.018477335340767932 Centerline is valid? [True, True] Translation: X:266.52, Y:-63.05, Z:-6.81 [[ 9.54870471e-01 2.96440203e-01 1.85900615e-02 2.66516014e+02] [-2.96387196e-01 9.55051403e-01 -5.60785072e-03 -6.30489776e+01] [-1.94168568e-02 -1.55085155e-04 9.99811463e-01 -6.80661862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.47862385300004 meters 0.020291158108233863 Centerline is valid? [True, True] Translation: X:266.54, Y:-63.05, Z:-6.81 [[ 9.54770677e-01 2.96766692e-01 1.85063269e-02 2.66543766e+02] [-2.96714303e-01 9.54950000e-01 -5.57848056e-03 -6.30528688e+01] [-1.93281241e-02 -1.64922237e-04 9.99813181e-01 -6.80966523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.508623853 meters 0.018639851139844357 Centerline is valid? [True, True] Translation: X:266.57, Y:-63.06, Z:-6.81 [[ 9.54912145e-01 2.96276134e-01 1.90590715e-02 2.66569494e+02] [-2.96220482e-01 9.55102312e-01 -5.74449888e-03 -6.30635256e+01] [-1.99053211e-02 -1.60195591e-04 9.99801857e-01 -6.80753794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.53862385300005 meters 0.018551283823322644 Centerline is valid? [True, True] Translation: X:266.60, Y:-63.07, Z:-6.81 [[ 9.55007179e-01 2.95957422e-01 1.92481940e-02 2.66595828e+02] [-2.95900688e-01 9.55201120e-01 -5.79687134e-03 -6.30709576e+01] [-2.01015236e-02 -1.59500116e-04 9.99797931e-01 -6.80725166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.568623853 meters 0.01966962965075998 Centerline is valid? [True, True] Translation: X:266.62, Y:-63.08, Z:-6.81 [[ 9.55136934e-01 2.95530757e-01 1.93651358e-02 2.66623276e+02] [-2.95473283e-01 9.55333213e-01 -5.83019594e-03 -6.30756418e+01] [-2.02231596e-02 -1.53244761e-04 9.99795479e-01 -6.80963051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.59862385300005 meters 0.0176536781462182 Centerline is valid? [True, True] Translation: X:266.65, Y:-63.09, Z:-6.81 [[ 9.55521302e-01 2.94285445e-01 1.93679902e-02 2.66650797e+02] [-2.94227713e-01 9.55717563e-01 -5.83031979e-03 -6.30861510e+01] [-2.02261066e-02 -1.27604691e-04 9.99795423e-01 -6.80814560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.628623853 meters 0.017729850015600113 Centerline is valid? [True, True] Translation: X:266.68, Y:-63.09, Z:-6.81 [[ 9.55695879e-01 2.93726725e-01 1.92353380e-02 2.66676460e+02] [-2.93669741e-01 9.55889427e-01 -5.78668958e-03 -6.30930743e+01] [-2.00865616e-02 -1.18521357e-04 9.99798238e-01 -6.80969253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.658623853 meters 0.017076942335121345 Centerline is valid? [True, True] Translation: X:266.70, Y:-63.10, Z:-6.81 [[ 9.56188934e-01 2.92109302e-01 1.93617478e-02 2.66703983e+02] [-2.92051264e-01 9.56384937e-01 -5.82331304e-03 -6.31024925e+01] [-2.02183278e-02 -8.64354162e-05 9.99795585e-01 -6.81037604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.688623853 meters 0.028246716401612526 Centerline is valid? [True, True] Translation: X:266.73, Y:-63.11, Z:-6.80 [[ 9.56522535e-01 2.91039345e-01 1.89931288e-02 2.66731075e+02] [-2.90983362e-01 9.56711082e-01 -5.70857593e-03 -6.31105575e+01] [-1.98323570e-02 -6.63029565e-05 9.99803317e-01 -6.80188483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.718623853 meters 0.01653535374510528 Centerline is valid? [True, True] Translation: X:266.76, Y:-63.12, Z:-6.81 [[ 9.56796877e-01 2.90079149e-01 1.98449803e-02 2.66757004e+02] [-2.90017859e-01 9.57002657e-01 -5.96290633e-03 -6.31194424e+01] [-2.07214137e-02 -5.01085409e-05 9.99785287e-01 -6.81131495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.748623853 meters 0.016314410401843723 Centerline is valid? [True, True] Translation: X:266.78, Y:-63.13, Z:-6.81 [[ 9.57142533e-01 2.88943707e-01 1.97409633e-02 2.66783202e+02] [-2.88882843e-01 9.57346089e-01 -5.93042576e-03 -6.31279229e+01] [-2.06124932e-02 -2.65628719e-05 9.99787540e-01 -6.81085996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.778623853 meters 0.016395805535608033 Centerline is valid? [True, True] Translation: X:266.81, Y:-63.14, Z:-6.81 [[ 9.58033005e-01 2.85945060e-01 2.02035437e-02 2.66810084e+02] [-2.85880676e-01 9.58246013e-01 -6.06775323e-03 -6.31373433e+01] [-2.10950092e-02 3.73051312e-05 9.99777475e-01 -6.81093691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.80862385300003 meters 0.016784841358618262 Centerline is valid? [True, True] Translation: X:266.84, Y:-63.15, Z:-6.81 [[ 9.58534836e-01 2.84249737e-01 2.03237536e-02 2.66836090e+02] [-2.84184239e-01 9.58750271e-01 -6.10218621e-03 -6.31473829e+01] [-2.12199491e-02 7.34676047e-05 9.99774829e-01 -6.81160470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.838623853 meters 0.01802000326957816 Centerline is valid? [True, True] Translation: X:266.86, Y:-63.16, Z:-6.81 [[ 9.59596560e-01 2.80661417e-01 2.00900542e-02 2.66862085e+02] [-2.80596658e-01 9.59806828e-01 -6.03066756e-03 -6.31607548e+01] [-2.09751469e-02 1.49805782e-04 9.99779986e-01 -6.81297144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.86862385300003 meters 0.019236162026375056 Centerline is valid? [True, True] Translation: X:266.89, Y:-63.17, Z:-6.81 [[ 9.60098080e-01 2.78961896e-01 1.97974076e-02 2.66887700e+02] [-2.78898666e-01 9.60302154e-01 -5.94196882e-03 -6.31715939e+01] [-2.06690761e-02 1.83402275e-04 9.99786355e-01 -6.81448689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.898623853 meters 0.01976982608181663 Centerline is valid? [True, True] Translation: X:266.91, Y:-63.18, Z:-6.82 [[ 9.60448576e-01 2.77749273e-01 1.98462509e-02 2.66914709e+02] [-2.77685517e-01 9.60653579e-01 -5.95449118e-03 -6.31806693e+01] [-2.07192275e-02 2.07966150e-04 9.99785312e-01 -6.81503142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.92862385300003 meters 0.02124647315328778 Centerline is valid? [True, True] Translation: X:266.94, Y:-63.19, Z:-6.82 [[ 9.60824623e-01 2.76441768e-01 1.98995501e-02 2.66940801e+02] [-2.76377408e-01 9.61030641e-01 -5.96949153e-03 -6.31901423e+01] [-2.07742942e-02 2.35848371e-04 9.99784163e-01 -6.81593357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.958623853 meters 0.030672515148100838 Centerline is valid? [True, True] Translation: X:266.97, Y:-63.20, Z:-6.81 [[ 9.60928209e-01 2.76145696e-01 1.89876470e-02 2.66969298e+02] [-2.76087067e-01 9.61115759e-01 -5.69470319e-03 -6.31960443e+01] [-1.98218945e-02 2.29957171e-04 9.99803500e-01 -6.80869719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.98862385300004 meters 0.020785086439205534 Centerline is valid? [True, True] Translation: X:267.00, Y:-63.20, Z:-6.82 [[ 9.60784125e-01 2.76613534e-01 1.94632579e-02 2.66996963e+02] [-2.76552048e-01 9.60981218e-01 -5.83633005e-03 -6.32029163e+01] [-2.03182331e-02 2.24849438e-04 9.99793538e-01 -6.81811111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.018623853 meters 0.020880916399043735 Centerline is valid? [True, True] Translation: X:267.02, Y:-63.21, Z:-6.82 [[ 9.60517870e-01 2.77572095e-01 1.89513314e-02 2.67023472e+02] [-2.77514005e-01 9.60704790e-01 -5.68193641e-03 -6.32096348e+01] [-1.97837819e-02 1.98341590e-04 9.99804262e-01 -6.82051060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.04862385300004 meters 0.020306078916234174 Centerline is valid? [True, True] Translation: X:267.05, Y:-63.22, Z:-6.82 [[ 9.60384650e-01 2.78029514e-01 1.89977047e-02 2.67051704e+02] [-2.77971254e-01 9.60572514e-01 -5.69453846e-03 -6.32163957e+01] [-1.98319227e-02 1.88131530e-04 9.99803310e-01 -6.82079925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.078623853 meters 0.01945404488444402 Centerline is valid? [True, True] Translation: X:267.08, Y:-63.22, Z:-6.82 [[ 9.60144698e-01 2.78843714e-01 1.91922656e-02 2.67080346e+02] [-2.78784437e-01 9.60336479e-01 -5.75188845e-03 -6.32210715e+01] [-2.00349108e-02 1.72140228e-04 9.99799266e-01 -6.82067384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.10862385300004 meters 0.019385726203883492 Centerline is valid? [True, True] Translation: X:267.11, Y:-63.23, Z:-6.82 [[ 9.60105831e-01 2.78966613e-01 1.93499723e-02 2.67106770e+02] [-2.78906395e-01 9.60300786e-01 -5.79856411e-03 -6.32275652e+01] [-2.01993994e-02 1.70404200e-04 9.99795957e-01 -6.82108654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.138623853 meters 0.019444572334729023 Centerline is valid? [True, True] Translation: X:267.13, Y:-63.23, Z:-6.82 [[ 9.60061028e-01 2.79081105e-01 1.99138043e-02 2.67134144e+02] [-2.79017417e-01 9.60267519e-01 -5.96430312e-03 -6.32346949e+01] [-2.07871037e-02 1.69796749e-04 9.99783910e-01 -6.82162550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.16862385300004 meters 0.019477640353325318 Centerline is valid? [True, True] Translation: X:267.16, Y:-63.24, Z:-6.82 [[ 9.60168961e-01 2.78683933e-01 2.02690047e-02 2.67161733e+02] [-2.78617891e-01 9.60382858e-01 -6.06942632e-03 -6.32415017e+01] [-2.11574562e-02 1.80367438e-04 9.99776140e-01 -6.82139631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.198623853 meters 0.019757093151029848 Centerline is valid? [True, True] Translation: X:267.19, Y:-63.25, Z:-6.82 [[ 9.60327128e-01 2.78138928e-01 2.02618701e-02 2.67189566e+02] [-2.78072846e-01 9.60540837e-01 -6.06564888e-03 -6.32500410e+01] [-2.11494467e-02 1.90731304e-04 9.99776307e-01 -6.82211982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.22862385300004 meters 0.02057182029151098 Centerline is valid? [True, True] Translation: X:267.22, Y:-63.26, Z:-6.82 [[ 9.60790384e-01 2.76558463e-01 1.99312407e-02 2.67216573e+02] [-2.76494200e-01 9.60997070e-01 -5.96567678e-03 -6.32595909e+01] [-2.08037223e-02 2.20892426e-04 9.99783555e-01 -6.82360127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.258623853 meters 0.021393608348714056 Centerline is valid? [True, True] Translation: X:267.24, Y:-63.27, Z:-6.82 [[ 9.61112988e-01 2.75418422e-01 2.01622833e-02 2.67242613e+02] [-2.75352432e-01 9.61324415e-01 -6.03381272e-03 -6.32690540e+01] [-2.10443184e-02 2.47442026e-04 9.99778513e-01 -6.82454997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.28862385300005 meters 0.022501393430851484 Centerline is valid? [True, True] Translation: X:267.27, Y:-63.28, Z:-6.83 [[ 9.61393876e-01 2.74438285e-01 2.01356253e-02 2.67268379e+02] [-2.74372281e-01 9.61604678e-01 -6.02452508e-03 -6.32789000e+01] [-2.10158718e-02 2.67284082e-04 9.99779106e-01 -6.82519254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.318623853 meters 0.02384018756015703 Centerline is valid? [True, True] Translation: X:267.29, Y:-63.29, Z:-6.82 [[ 9.61997065e-01 2.72251760e-01 2.09911079e-02 2.67294799e+02] [-2.72179536e-01 9.62225998e-01 -6.27917013e-03 -6.32894966e+01] [-2.19077049e-02 3.27193217e-04 9.99759944e-01 -6.82437117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.34862385300005 meters 0.023598068981451076 Centerline is valid? [True, True] Translation: X:267.32, Y:-63.30, Z:-6.82 [[ 9.62330228e-01 2.71061841e-01 2.11189382e-02 2.67322419e+02] [-2.70988496e-01 9.62561869e-01 -6.31527394e-03 -6.32977755e+01] [-2.20401144e-02 3.54389719e-04 9.99757024e-01 -6.82414090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.378623853 meters 0.02462914612448565 Centerline is valid? [True, True] Translation: X:267.35, Y:-63.31, Z:-6.82 [[ 9.62640198e-01 2.69948135e-01 2.12568364e-02 2.67348462e+02] [-2.69873581e-01 9.62874789e-01 -6.35540534e-03 -6.33076847e+01] [-2.21833017e-02 3.81310086e-04 9.99753848e-01 -6.82452341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.408623853 meters 0.027356000193827022 Centerline is valid? [True, True] Translation: X:267.37, Y:-63.32, Z:-6.83 [[ 9.62992146e-01 2.68695963e-01 2.11803153e-02 2.67374149e+02] [-2.68621673e-01 9.63224955e-01 -6.33112838e-03 -6.33201553e+01] [-2.21025569e-02 4.07335184e-04 9.99755626e-01 -6.82557886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.438623853 meters 0.02636630656730215 Centerline is valid? [True, True] Translation: X:267.40, Y:-63.33, Z:-6.83 [[ 9.63147174e-01 2.68143297e-01 2.11351236e-02 2.67402085e+02] [-2.68069222e-01 9.63378948e-01 -6.31619822e-03 -6.33272488e+01] [-2.20547793e-02 4.17752334e-04 9.99756676e-01 -6.82629317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.468623853 meters 0.026776818368596966 Centerline is valid? [True, True] Translation: X:267.43, Y:-63.34, Z:-6.83 [[ 9.63286290e-01 2.67629756e-01 2.13034381e-02 2.67429202e+02] [-2.67554396e-01 9.63521732e-01 -6.36537531e-03 -6.33369168e+01] [-2.22298895e-02 4.31850249e-04 9.99752792e-01 -6.82726285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.498623853 meters 0.028149426030218968 Centerline is valid? [True, True] Translation: X:267.45, Y:-63.35, Z:-6.83 [[ 9.63325509e-01 2.67493125e-01 2.12459925e-02 2.67453918e+02] [-2.67418159e-01 9.63559672e-01 -6.34725112e-03 -6.33466887e+01] [-2.21696276e-02 4.32904712e-04 9.99754130e-01 -6.82832189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.528623853 meters 0.02714912443617378 Centerline is valid? [True, True] Translation: X:267.48, Y:-63.35, Z:-6.83 [[ 9.63349960e-01 2.67402689e-01 2.12757412e-02 2.67480857e+02] [-2.67327542e-01 9.63584773e-01 -6.35383566e-03 -6.33533237e+01] [-2.22000130e-02 4.33375735e-04 9.99753455e-01 -6.82850597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.55862385300003 meters 0.027324871095074633 Centerline is valid? [True, True] Translation: X:267.51, Y:-63.36, Z:-6.83 [[ 9.63346474e-01 2.67415067e-01 2.12779847e-02 2.67506121e+02] [-2.67339941e-01 9.63581338e-01 -6.35298414e-03 -6.33613350e+01] [-2.22019526e-02 4.31669709e-04 9.99753413e-01 -6.82981800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.588623853 meters 0.02921161582899327 Centerline is valid? [True, True] Translation: X:267.53, Y:-63.37, Z:-6.83 [[ 9.63371142e-01 2.67362567e-01 2.08158778e-02 2.67530380e+02] [-2.67290714e-01 9.63595912e-01 -6.21238272e-03 -6.33735060e+01] [-2.17190533e-02 4.20939400e-04 9.99764025e-01 -6.83196105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.61862385300003 meters 0.029633724095308907 Centerline is valid? [True, True] Translation: X:267.56, Y:-63.38, Z:-6.83 [[ 9.63360049e-01 2.67451824e-01 2.01727139e-02 2.67555332e+02] [-2.67384400e-01 9.63571149e-01 -6.01863808e-03 -6.33826831e+01] [-2.10475408e-02 4.04246480e-04 9.99778394e-01 -6.83394008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.648623853 meters 0.027560291951030397 Centerline is valid? [True, True] Translation: X:267.58, Y:-63.39, Z:-6.83 [[ 9.63348063e-01 2.67498881e-01 2.01210635e-02 2.67582278e+02] [-2.67431843e-01 9.63558087e-01 -6.00179019e-03 -6.33885940e+01] [-2.09932856e-02 4.00799858e-04 9.99779536e-01 -6.83448906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.67862385300003 meters 0.027509025623741194 Centerline is valid? [True, True] Translation: X:267.61, Y:-63.40, Z:-6.84 [[ 9.63311438e-01 2.67632738e-01 2.00945658e-02 2.67609780e+02] [-2.67565940e-01 9.63520919e-01 -5.99224479e-03 -6.33984146e+01] [-2.09652554e-02 3.95776563e-04 9.99780127e-01 -6.83516716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.708623853 meters 0.027295987246672808 Centerline is valid? [True, True] Translation: X:267.64, Y:-63.41, Z:-6.84 [[ 9.63140889e-01 2.68224393e-01 2.03789948e-02 2.67635608e+02] [-2.68155844e-01 9.63356385e-01 -6.07605647e-03 -6.34096545e+01] [-2.12619813e-02 3.87351870e-04 9.99773863e-01 -6.83605261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.73862385300004 meters 0.026437038100574423 Centerline is valid? [True, True] Translation: X:267.66, Y:-63.42, Z:-6.84 [[ 9.62913905e-01 2.69038231e-01 2.03774784e-02 2.67662905e+02] [-2.68969903e-01 9.63129428e-01 -6.07427665e-03 -6.34176146e+01] [-2.12603618e-02 3.68077058e-04 9.99773905e-01 -6.83637911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.768623853 meters 0.024217771875526227 Centerline is valid? [True, True] Translation: X:267.69, Y:-63.42, Z:-6.84 [[ 9.62145010e-01 2.71730137e-01 2.09693229e-02 2.67690708e+02] [-2.71658444e-01 9.62373437e-01 -6.24960621e-03 -6.34235675e+01] [-2.18785257e-02 3.16533818e-04 9.99760586e-01 -6.83673060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.79862385300004 meters 0.022729786521286113 Centerline is valid? [True, True] Translation: X:267.72, Y:-63.43, Z:-6.84 [[ 9.61590080e-01 2.73674691e-01 2.11348337e-02 2.67718785e+02] [-2.73602354e-01 9.61822275e-01 -6.29786357e-03 -6.34297568e+01] [-2.20515197e-02 2.73422873e-04 9.99756798e-01 -6.83706604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.828623853 meters 0.021075570674639974 Centerline is valid? [True, True] Translation: X:267.75, Y:-63.44, Z:-6.84 [[ 9.60944396e-01 2.75917049e-01 2.13459782e-02 2.67745991e+02] [-2.75843835e-01 9.61181425e-01 -6.35973441e-03 -6.34353649e+01] [-2.22721169e-02 2.23194646e-04 9.99751921e-01 -6.83688454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.85862385300004 meters 0.021075570674639974 Centerline is valid? [True, True] Translation: X:267.77, Y:-63.44, Z:-6.84 [[ 9.60963241e-01 2.75851378e-01 2.13463326e-02 2.67772377e+02] [-2.75778175e-01 9.61200274e-01 -6.35854465e-03 -6.34430813e+01] [-2.22721141e-02 2.23475036e-04 9.99751921e-01 -6.83757602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.888623853 meters 0.018449886266329214 Centerline is valid? [True, True] Translation: X:267.80, Y:-63.45, Z:-6.84 [[ 9.59522318e-01 2.80820766e-01 2.13686340e-02 2.67800567e+02] [-2.80748676e-01 9.59760223e-01 -6.36356151e-03 -6.34450456e+01] [-2.22957852e-02 1.06763578e-04 9.99751412e-01 -6.83810720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.91862385300004 meters 0.017606321183849704 Centerline is valid? [True, True] Translation: X:267.83, Y:-63.45, Z:-6.84 [[ 9.58830256e-01 2.83175604e-01 2.13569009e-02 2.67829360e+02] [-2.83104207e-01 9.59068076e-01 -6.35871673e-03 -6.34493887e+01] [-2.22833553e-02 5.07015030e-05 9.99751694e-01 -6.83885603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.948623853 meters 0.017501529955845863 Centerline is valid? [True, True] Translation: X:267.86, Y:-63.45, Z:-6.84 [[ 9.57516815e-01 2.87616185e-01 2.09399009e-02 2.67859233e+02] [-2.87548631e-01 9.57745753e-01 -6.23356636e-03 -6.34507172e+01] [-2.18479757e-02 -5.24952293e-05 9.99761303e-01 -6.83976037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.97862385300004 meters 0.018124694431482513 Centerline is valid? [True, True] Translation: X:267.89, Y:-63.45, Z:-6.84 [[ 9.56850830e-01 2.89839983e-01 2.07189235e-02 2.67887341e+02] [-2.89774392e-01 9.57075114e-01 -6.16673065e-03 -6.34541611e+01] [-2.16169312e-02 -1.03172116e-04 9.99766322e-01 -6.84076313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.008623853 meters 0.01921087149882905 Centerline is valid? [True, True] Translation: X:267.92, Y:-63.46, Z:-6.84 [[ 9.56197793e-01 2.91980027e-01 2.08193459e-02 2.67916534e+02] [-2.91914327e-01 9.56424404e-01 -6.19559620e-03 -6.34584000e+01] [-2.17211209e-02 -1.53249933e-04 9.99764057e-01 -6.84116911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.03862385300005 meters 0.024139253406041446 Centerline is valid? [True, True] Translation: X:267.95, Y:-63.46, Z:-6.84 [[ 9.54842036e-01 2.96392186e-01 2.06968031e-02 2.67946026e+02] [-2.96328377e-01 9.55066284e-01 -6.15517866e-03 -6.34550990e+01] [-2.15911657e-02 -2.55826730e-04 9.99766851e-01 -6.84330245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.068623853 meters 0.022963936297877695 Centerline is valid? [True, True] Translation: X:267.97, Y:-63.46, Z:-6.84 [[ 9.54324228e-01 2.98067144e-01 2.05242549e-02 2.67973510e+02] [-2.98004825e-01 9.54544861e-01 -6.10182405e-03 -6.34642460e+01] [-2.14100753e-02 -2.93208474e-04 9.99770735e-01 -6.84275218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.09862385300005 meters 0.025418492547948705 Centerline is valid? [True, True] Translation: X:268.00, Y:-63.47, Z:-6.84 [[ 9.53806599e-01 2.99722718e-01 2.04759264e-02 2.68001311e+02] [-2.99661160e-01 9.54026300e-01 -6.08344055e-03 -6.34664343e+01] [-2.13579176e-02 -3.33414114e-04 9.99771838e-01 -6.84413064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.128623853 meters 0.02664164400655415 Centerline is valid? [True, True] Translation: X:268.03, Y:-63.47, Z:-6.84 [[ 9.53237952e-01 3.01532949e-01 2.03786017e-02 2.68029966e+02] [-3.01472441e-01 9.53455684e-01 -6.05201684e-03 -6.34697632e+01] [-2.12549761e-02 -3.74574647e-04 9.99774017e-01 -6.84497412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.158623853 meters 0.03312407816586361 Centerline is valid? [True, True] Translation: X:268.06, Y:-63.47, Z:-6.84 [[ 9.53314838e-01 3.01313158e-01 2.00299782e-02 2.68057985e+02] [-3.01254669e-01 9.53525169e-01 -5.94780841e-03 -6.34733055e+01] [-2.08912413e-02 -3.63990434e-04 9.99781688e-01 -6.83786951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.188623853 meters 0.027542618993863458 Centerline is valid? [True, True] Translation: X:268.08, Y:-63.48, Z:-6.85 [[ 9.53364001e-01 3.01130662e-01 2.04305405e-02 2.68083883e+02] [-3.01069868e-01 9.53582816e-01 -6.06204124e-03 -6.34788245e+01] [-2.13076788e-02 -3.71688236e-04 9.99772897e-01 -6.84666691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.218623853 meters 0.027129169912095078 Centerline is valid? [True, True] Translation: X:268.11, Y:-63.49, Z:-6.85 [[ 9.53599301e-01 3.00395249e-01 2.02747782e-02 2.68111436e+02] [-3.00335243e-01 9.53814746e-01 -6.01435598e-03 -6.34862751e+01] [-2.11450663e-02 -3.53944777e-04 9.99776355e-01 -6.84797193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.248623853 meters 0.02611773204011576 Centerline is valid? [True, True] Translation: X:268.14, Y:-63.49, Z:-6.85 [[ 9.53895374e-01 2.99463185e-01 2.01349474e-02 2.68139048e+02] [-2.99403869e-01 9.54107797e-01 -5.96945810e-03 -6.34948368e+01] [-2.09985432e-02 -3.34242680e-04 9.99779450e-01 -6.84877773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.278623853 meters 0.02291700044056202 Centerline is valid? [True, True] Translation: X:268.17, Y:-63.50, Z:-6.85 [[ 9.54640287e-01 2.97071544e-01 2.02588150e-02 2.68165931e+02] [-2.97011031e-01 9.54855180e-01 -6.00267681e-03 -6.35045840e+01] [-2.11274590e-02 -2.86694422e-04 9.99776749e-01 -6.84865491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.30862385300003 meters 0.02247531045219256 Centerline is valid? [True, True] Translation: X:268.19, Y:-63.51, Z:-6.85 [[ 9.55113740e-01 2.95567534e-01 1.99393232e-02 2.68193225e+02] [-2.95508672e-01 9.55321814e-01 -5.90390776e-03 -6.35116989e+01] [-2.07934739e-02 -2.53339505e-04 9.99783760e-01 -6.85009212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.338623853 meters 0.01994677041961214 Centerline is valid? [True, True] Translation: X:268.22, Y:-63.52, Z:-6.85 [[ 9.56315658e-01 2.91676593e-01 1.96246545e-02 2.68220356e+02] [-2.91618778e-01 9.56516982e-01 -5.80960322e-03 -6.35230368e+01] [-2.04658406e-02 -1.67103239e-04 9.99790539e-01 -6.85167161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.36862385300003 meters 0.02097795847386464 Centerline is valid? [True, True] Translation: X:268.25, Y:-63.53, Z:-6.85 [[ 9.56975845e-01 2.89523566e-01 1.93219214e-02 2.68246478e+02] [-2.89467120e-01 9.57170878e-01 -5.71805195e-03 -6.35317985e+01] [-2.01498913e-02 -1.21023345e-04 9.99796963e-01 -6.84960880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.398623853 meters 0.018494702786669464 Centerline is valid? [True, True] Translation: X:268.27, Y:-63.54, Z:-6.85 [[ 9.57747768e-01 2.86928843e-01 1.97750090e-02 2.68272467e+02] [-2.86869190e-01 9.57951896e-01 -5.85093577e-03 -6.35417559e+01] [-2.06223096e-02 -6.91201549e-05 9.99787335e-01 -6.85460337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.42862385300003 meters 0.017811641185458506 Centerline is valid? [True, True] Translation: X:268.30, Y:-63.56, Z:-6.85 [[ 9.59319018e-01 2.81580483e-01 2.04805633e-02 2.68297533e+02] [-2.81515322e-01 9.59537612e-01 -6.05752182e-03 -6.35574693e+01] [-2.13575507e-02 4.55035076e-05 9.99771900e-01 -6.85246937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.458623853 meters 0.018489445363887413 Centerline is valid? [True, True] Translation: X:268.32, Y:-63.57, Z:-6.85 [[ 9.60134507e-01 2.78756449e-01 2.08942733e-02 2.68323725e+02] [-2.78687984e-01 9.60361823e-01 -6.17879787e-03 -6.35686707e+01] [-2.17884422e-02 1.09494138e-04 9.99762598e-01 -6.85300224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.48862385300004 meters 0.022772529162363202 Centerline is valid? [True, True] Translation: X:268.35, Y:-63.58, Z:-6.85 [[ 9.61059911e-01 2.75576160e-01 2.05335647e-02 2.68351351e+02] [-2.75509341e-01 9.61279225e-01 -6.07076814e-03 -6.35787563e+01] [-2.14114482e-02 1.77183010e-04 9.99770733e-01 -6.84858627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.518623853 meters 0.02345205338682147 Centerline is valid? [True, True] Translation: X:268.38, Y:-63.60, Z:-6.86 [[ 9.62560194e-01 2.70330092e-01 1.99878366e-02 2.68376453e+02] [-2.70265668e-01 9.62767656e-01 -5.90835366e-03 -6.35950672e+01] [-2.08408484e-02 2.85120026e-04 9.99782765e-01 -6.85642815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.54862385300004 meters 0.024787867599305763 Centerline is valid? [True, True] Translation: X:268.40, Y:-63.61, Z:-6.86 [[ 9.63230127e-01 2.67957037e-01 1.96659168e-02 2.68403667e+02] [-2.67894191e-01 9.63430806e-01 -5.81250240e-03 -6.36054349e+01] [-2.05042510e-02 3.30392547e-04 9.99789711e-01 -6.85718185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.578623853 meters 0.02789639633620732 Centerline is valid? [True, True] Translation: X:268.43, Y:-63.62, Z:-6.86 [[ 9.64023338e-01 2.65136600e-01 1.90154680e-02 2.68428468e+02] [-2.65077310e-01 9.64210787e-01 -5.61943930e-03 -6.36183413e+01] [-1.98248384e-02 3.76701503e-04 9.99803398e-01 -6.85933783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.60862385300004 meters 0.028414538973817238 Centerline is valid? [True, True] Translation: X:268.46, Y:-63.63, Z:-6.86 [[ 9.64308183e-01 2.64116787e-01 1.87629958e-02 2.68456265e+02] [-2.64058900e-01 9.64490627e-01 -5.54325207e-03 -6.36272898e+01] [-1.95607995e-02 3.90867301e-04 9.99808593e-01 -6.86087627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.638623853 meters 0.02929926926792681 Centerline is valid? [True, True] Translation: X:268.48, Y:-63.64, Z:-6.86 [[ 9.64481695e-01 2.63486012e-01 1.87131462e-02 2.68482254e+02] [-2.63428327e-01 9.64663133e-01 -5.52780761e-03 -6.36362179e+01] [-1.95083822e-02 4.01896475e-04 9.99809613e-01 -6.86211557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.66862385300004 meters 0.030067840902145548 Centerline is valid? [True, True] Translation: X:268.51, Y:-63.65, Z:-6.86 [[ 9.64567113e-01 2.63204077e-01 1.82729182e-02 2.68509065e+02] [-2.63149055e-01 9.64740098e-01 -5.39609554e-03 -6.36453047e+01] [-1.90488913e-02 3.96395134e-04 9.99818475e-01 -6.86341703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.698623853 meters 0.02988511577945772 Centerline is valid? [True, True] Translation: X:268.54, Y:-63.65, Z:-6.86 [[ 9.64651509e-01 2.62902142e-01 1.81639906e-02 2.68537001e+02] [-2.62847757e-01 9.64822422e-01 -5.36199858e-03 -6.36529496e+01] [-1.89347063e-02 3.98095840e-04 9.99820643e-01 -6.86413154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.72862385300004 meters 0.029778842264516856 Centerline is valid? [True, True] Translation: X:268.56, Y:-63.66, Z:-6.87 [[ 9.64557737e-01 2.63245297e-01 1.81737589e-02 2.68564188e+02] [-2.63190930e-01 9.64728854e-01 -5.36404904e-03 -6.36606369e+01] [-1.89448102e-02 3.90766506e-04 9.99820455e-01 -6.86520608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.758623853 meters 0.028280735834813435 Centerline is valid? [True, True] Translation: X:268.59, Y:-63.67, Z:-6.86 [[ 9.64174555e-01 2.64575714e-01 1.91603483e-02 2.68592741e+02] [-2.64515574e-01 9.64364840e-01 -5.65391189e-03 -6.36671071e+01] [-1.99734540e-02 3.83147462e-04 9.99800437e-01 -6.86384231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.78862385300005 meters 0.027656473058172936 Centerline is valid? [True, True] Translation: X:268.62, Y:-63.67, Z:-6.86 [[ 9.63894947e-01 2.65569586e-01 1.94763200e-02 2.68620631e+02] [-2.65507663e-01 9.64091624e-01 -5.74636216e-03 -6.36743630e+01] [-2.03030160e-02 3.67777244e-04 9.99793805e-01 -6.86369462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.818623853 meters 0.02479333789974226 Centerline is valid? [True, True] Translation: X:268.65, Y:-63.68, Z:-6.86 [[ 9.63177431e-01 2.68146859e-01 1.96595785e-02 2.68649825e+02] [-2.68084344e-01 9.63377996e-01 -5.79839722e-03 -6.36782877e+01] [-2.04944273e-02 3.14460134e-04 9.99789918e-01 -6.86308763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.84862385300005 meters 0.02252668276895161 Centerline is valid? [True, True] Translation: X:268.68, Y:-63.68, Z:-6.86 [[ 9.62797443e-01 2.69489527e-01 1.99117914e-02 2.68678411e+02] [-2.69425705e-01 9.63003277e-01 -5.87178020e-03 -6.36824535e+01] [-2.07575036e-02 2.88586522e-04 9.99784498e-01 -6.86286648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.878623853 meters 0.022922699742667023 Centerline is valid? [True, True] Translation: X:268.70, Y:-63.69, Z:-6.86 [[ 9.62339688e-01 2.71119378e-01 1.99150050e-02 2.68704417e+02] [-2.71055905e-01 9.62545697e-01 -5.87172370e-03 -6.36912018e+01] [-2.07610404e-02 2.52513046e-04 9.99784434e-01 -6.86431873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.908623853 meters 0.020051812393691557 Centerline is valid? [True, True] Translation: X:268.73, Y:-63.69, Z:-6.86 [[ 9.61303614e-01 2.74744434e-01 2.02696426e-02 2.68734152e+02] [-2.74679512e-01 9.61517272e-01 -5.97500192e-03 -6.36937598e+01] [-2.11312100e-02 1.76135398e-04 9.99776696e-01 -6.86309282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.938623853 meters 0.018913226305866115 Centerline is valid? [True, True] Translation: X:268.76, Y:-63.70, Z:-6.86 [[ 9.60706933e-01 2.76803553e-01 2.05422054e-02 2.68762614e+02] [-2.76737376e-01 9.60926520e-01 -6.05380758e-03 -6.36979616e+01] [-2.14152653e-02 1.31138895e-04 9.99770658e-01 -6.86340064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.968623853 meters 0.017438110182046985 Centerline is valid? [True, True] Translation: X:268.79, Y:-63.70, Z:-6.86 [[ 9.59690951e-01 2.80261530e-01 2.11365327e-02 2.68792334e+02] [-2.80192389e-01 9.59923680e-01 -6.22520080e-03 -6.36984924e+01] [-2.20341426e-02 5.19732772e-05 9.99757217e-01 -6.86201886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.998623853 meters 0.01730223754237243 Centerline is valid? [True, True] Translation: X:268.82, Y:-63.70, Z:-6.86 [[ 9.59244864e-01 2.81781120e-01 2.11823181e-02 2.68820214e+02] [-2.81712132e-01 9.59478713e-01 -6.23494800e-03 -6.37036823e+01] [-2.20808739e-02 1.35258673e-05 9.99756188e-01 -6.86254155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.028623853 meters 0.017444222071223186 Centerline is valid? [True, True] Translation: X:268.85, Y:-63.71, Z:-6.86 [[ 9.58874355e-01 2.83067413e-01 2.08041005e-02 2.68847377e+02] [-2.83001260e-01 9.59100015e-01 -6.11944124e-03 -6.37087457e+01] [-2.16854275e-02 -1.98113749e-05 9.99764843e-01 -6.86349689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.05862385300003 meters 0.018068728229708023 Centerline is valid? [True, True] Translation: X:268.88, Y:-63.71, Z:-6.86 [[ 9.57985191e-01 2.86100987e-01 2.02632710e-02 2.68877151e+02] [-2.86038993e-01 9.58199466e-01 -5.95626905e-03 -6.37107611e+01] [-2.11203499e-02 -9.00680969e-05 9.99776936e-01 -6.86485522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.088623853 meters 0.018683904484549464 Centerline is valid? [True, True] Translation: X:268.91, Y:-63.72, Z:-6.87 [[ 9.57521625e-01 2.87652590e-01 2.02070668e-02 2.68905476e+02] [-2.87591362e-01 9.57734813e-01 -5.93608201e-03 -6.37157680e+01] [-2.10605407e-02 -1.27450966e-04 9.99778194e-01 -6.86559972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.11862385300003 meters 0.019201627924724154 Centerline is valid? [True, True] Translation: X:268.93, Y:-63.72, Z:-6.87 [[ 9.57069645e-01 2.89148141e-01 2.02743139e-02 2.68933548e+02] [-2.89086927e-01 9.57284349e-01 -5.95172299e-03 -6.37208664e+01] [-2.11292130e-02 -1.64825703e-04 9.99776740e-01 -6.86549120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.148623853 meters 0.0206758379639552 Centerline is valid? [True, True] Translation: X:268.96, Y:-63.72, Z:-6.87 [[ 9.56327129e-01 2.91578750e-01 2.05001397e-02 2.68962125e+02] [-2.91516771e-01 9.56546801e-01 -6.01577939e-03 -6.37217411e+01] [-2.13634165e-02 -2.23081491e-04 9.99771751e-01 -6.86594845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.17862385300003 meters 0.021149464173408652 Centerline is valid? [True, True] Translation: X:268.99, Y:-63.73, Z:-6.87 [[ 9.56165796e-01 2.92112326e-01 2.04293780e-02 2.68990247e+02] [-2.92050916e-01 9.56383989e-01 -5.99406804e-03 -6.37275817e+01] [-2.12892712e-02 -2.35095720e-04 9.99773330e-01 -6.86701950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.208623853 meters 0.021434999345151175 Centerline is valid? [True, True] Translation: X:269.02, Y:-63.73, Z:-6.87 [[ 9.56223836e-01 2.91947114e-01 2.00713459e-02 2.69016466e+02] [-2.91887880e-01 9.56434436e-01 -5.88522065e-03 -6.37329115e+01] [-2.09150995e-02 -2.30994340e-04 9.99781229e-01 -6.86884853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.23862385300004 meters 0.020815653923982446 Centerline is valid? [True, True] Translation: X:269.04, Y:-63.74, Z:-6.87 [[ 9.56485638e-01 2.91104778e-01 1.98300687e-02 2.69042856e+02] [-2.91046832e-01 9.56691153e-01 -5.81195907e-03 -6.37410188e+01] [-2.06631403e-02 -2.12423272e-04 9.99786472e-01 -6.86974943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.268623853 meters 0.02033790114154985 Centerline is valid? [True, True] Translation: X:269.07, Y:-63.75, Z:-6.87 [[ 9.56846657e-01 2.89926904e-01 1.96689002e-02 2.69069263e+02] [-2.89869746e-01 9.57048773e-01 -5.75988960e-03 -6.37486691e+01] [-2.04940438e-02 -1.90087988e-04 9.99789957e-01 -6.87101463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.29862385300004 meters 0.018657310154714533 Centerline is valid? [True, True] Translation: X:269.10, Y:-63.76, Z:-6.87 [[ 9.57946892e-01 2.86276683e-01 1.95809214e-02 2.69096490e+02] [-2.86219288e-01 9.58146987e-01 -5.73336448e-03 -6.37592883e+01] [-2.04027294e-02 -1.12178684e-04 9.99791836e-01 -6.87131047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.328623853 meters 0.01798618486726494 Centerline is valid? [True, True] Translation: X:269.12, Y:-63.77, Z:-6.87 [[ 9.58687104e-01 2.83781710e-01 1.96717380e-02 2.69123129e+02] [-2.83723330e-01 9.58888908e-01 -5.75630553e-03 -6.37690350e+01] [-2.04965456e-02 -6.28351340e-05 9.99789922e-01 -6.87184149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.35862385300004 meters 0.01779759565819632 Centerline is valid? [True, True] Translation: X:269.15, Y:-63.78, Z:-6.87 [[ 9.60147528e-01 2.78786837e-01 1.98651519e-02 2.69148147e+02] [-2.78726307e-01 9.60353007e-01 -5.80932798e-03 -6.37816276e+01] [-2.06971226e-02 4.08714675e-05 9.99785791e-01 -6.87164449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.388623853 meters 0.01829615425065478 Centerline is valid? [True, True] Translation: X:269.18, Y:-63.79, Z:-6.87 [[ 9.60930962e-01 2.76078553e-01 1.98070685e-02 2.69175118e+02] [-2.76017887e-01 9.61135071e-01 -5.78811035e-03 -6.37928020e+01] [-2.06352413e-02 9.48692425e-05 9.99787066e-01 -6.87248542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.41862385300004 meters 0.019424406870952562 Centerline is valid? [True, True] Translation: X:269.20, Y:-63.80, Z:-6.87 [[ 9.61721166e-01 2.73303532e-01 1.99393834e-02 2.69200854e+02] [-2.73241543e-01 9.61927833e-01 -5.82260414e-03 -6.38044426e+01] [-2.07715862e-02 1.51453735e-04 9.99784236e-01 -6.87291633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.448623853 meters 0.03361316962801958 Centerline is valid? [True, True] Translation: X:269.23, Y:-63.81, Z:-6.86 [[ 9.62530971e-01 2.70483781e-01 1.93042699e-02 2.69228431e+02] [-2.70425124e-01 9.62724510e-01 -5.63651077e-03 -6.38143001e+01] [-2.01092785e-02 2.04956615e-04 9.99797767e-01 -6.86477593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.47862385300004 meters 0.03468145735598202 Centerline is valid? [True, True] Translation: X:269.25, Y:-63.83, Z:-6.87 [[ 9.63836842e-01 2.65774088e-01 1.95621352e-02 2.69254122e+02] [-2.65712969e-01 9.64035291e-01 -5.70753417e-03 -6.38298073e+01] [-2.03755034e-02 3.03218680e-04 9.99792352e-01 -6.86551377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.508623853 meters 0.02578598844563237 Centerline is valid? [True, True] Translation: X:269.28, Y:-63.84, Z:-6.87 [[ 9.64437568e-01 2.63524136e-01 2.03766530e-02 2.69280281e+02] [-2.63457335e-01 9.64652734e-01 -5.94440265e-03 -6.38425433e+01] [-2.12228876e-02 3.64626535e-04 9.99774703e-01 -6.87449967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.53862385300005 meters 0.02954186756512448 Centerline is valid? [True, True] Translation: X:269.31, Y:-63.86, Z:-6.87 [[ 9.65486741e-01 2.59647257e-01 2.04610823e-02 2.69306201e+02] [-2.59579053e-01 9.65703422e-01 -5.96793133e-03 -6.38569830e+01] [-2.13088942e-02 4.50690196e-04 9.99772838e-01 -6.87494122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.568623853 meters 0.03035068104452248 Centerline is valid? [True, True] Translation: X:269.33, Y:-63.87, Z:-6.88 [[ 9.65898052e-01 2.58121049e-01 2.03587118e-02 2.69333478e+02] [-2.58053203e-01 9.66112464e-01 -5.93734899e-03 -6.38659235e+01] [-2.12013600e-02 4.81243025e-04 9.99775110e-01 -6.87573502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.59862385300005 meters 0.032129963081983466 Centerline is valid? [True, True] Translation: X:269.36, Y:-63.88, Z:-6.88 [[ 9.66172739e-01 2.57107343e-01 2.01507586e-02 2.69359729e+02] [-2.57040674e-01 9.66382723e-01 -5.87585811e-03 -6.38766464e+01] [-2.09840712e-02 4.97529360e-04 9.99779686e-01 -6.87693018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.628623853 meters 0.033856432597194015 Centerline is valid? [True, True] Translation: X:269.39, Y:-63.89, Z:-6.88 [[ 9.66555481e-01 2.55668418e-01 2.01038092e-02 2.69385627e+02] [-2.55601787e-01 9.66764389e-01 -5.86026708e-03 -6.38884030e+01] [-2.09339320e-02 5.25703701e-04 9.99780723e-01 -6.87777661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.658623853 meters 0.038823563802948075 Centerline is valid? [True, True] Translation: X:269.41, Y:-63.90, Z:-6.87 [[ 9.66692960e-01 2.55201681e-01 1.94119494e-02 2.69412654e+02] [-2.55139502e-01 9.66887706e-01 -5.65672373e-03 -6.38969491e+01] [-2.02127806e-02 5.15559912e-04 9.99795568e-01 -6.87129114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.688623853 meters 0.03445312404863883 Centerline is valid? [True, True] Translation: X:269.44, Y:-63.91, Z:-6.88 [[ 9.66694053e-01 2.55148963e-01 2.00403296e-02 2.69439649e+02] [-2.55082709e-01 9.66901610e-01 -5.83849997e-03 -6.39064899e+01] [-2.08667141e-02 5.32101635e-04 9.99782125e-01 -6.87930364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.718623853 meters 0.03445312404863883 Centerline is valid? [True, True] Translation: X:269.47, Y:-63.91, Z:-6.88 [[ 9.66711444e-01 2.55083045e-01 2.00405694e-02 2.69466086e+02] [-2.55016794e-01 9.66919002e-01 -5.83767681e-03 -6.39140526e+01] [-2.08666997e-02 5.32667226e-04 9.99782125e-01 -6.87999532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.748623853 meters 0.03470210887987315 Centerline is valid? [True, True] Translation: X:269.49, Y:-63.92, Z:-6.88 [[ 9.66716781e-01 2.55075120e-01 1.98833639e-02 2.69492415e+02] [-2.55009932e-01 9.66921096e-01 -5.79042647e-03 -6.39231139e+01] [-2.07026377e-02 5.27247166e-04 9.99785538e-01 -6.88103527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.778623853 meters 0.03503440554822897 Centerline is valid? [True, True] Translation: X:269.52, Y:-63.93, Z:-6.88 [[ 9.66718223e-01 2.55112697e-01 1.93232639e-02 2.69516907e+02] [-2.55051165e-01 9.66911191e-01 -5.62599756e-03 -6.39340869e+01] [-2.01191435e-02 5.10333407e-04 9.99797459e-01 -6.88322392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.80862385300003 meters 0.034642481198203304 Centerline is valid? [True, True] Translation: X:269.54, Y:-63.94, Z:-6.88 [[ 9.66684791e-01 2.55250164e-01 1.91799276e-02 2.69544164e+02] [-2.55189605e-01 9.66874915e-01 -5.58244503e-03 -6.39434834e+01] [-1.99695109e-02 5.01946551e-04 9.99800463e-01 -6.88412082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.838623853 meters 0.03438024293109763 Centerline is valid? [True, True] Translation: X:269.57, Y:-63.95, Z:-6.89 [[ 9.66433768e-01 2.56213558e-01 1.89838230e-02 2.69570071e+02] [-2.56154434e-01 9.66620083e-01 -5.52451444e-03 -6.39541610e+01] [-1.97656001e-02 4.76286867e-04 9.99804528e-01 -6.88521957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.86862385300003 meters 0.041086763466913825 Centerline is valid? [True, True] Translation: X:269.60, Y:-63.96, Z:-6.88 [[ 9.66236312e-01 2.57026095e-01 1.80270658e-02 2.69598085e+02] [-2.56972943e-01 9.66404365e-01 -5.24499016e-03 -6.39602120e+01] [-1.87695344e-02 4.35431804e-04 9.99823742e-01 -6.87790454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.898623853 meters 0.03241194480780546 Centerline is valid? [True, True] Translation: X:269.62, Y:-63.97, Z:-6.89 [[ 9.65913922e-01 2.58203650e-01 1.84707776e-02 2.69624897e+02] [-2.58148082e-01 9.66090419e-01 -5.37317051e-03 -6.39698853e+01] [-1.92318135e-02 4.21824399e-04 9.99814963e-01 -6.88751738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.92862385300003 meters 0.03646076426355815 Centerline is valid? [True, True] Translation: X:269.66, Y:-63.97, Z:-6.88 [[ 9.65191149e-01 2.60977991e-01 1.72201451e-02 2.69655044e+02] [-2.60930147e-01 9.65344691e-01 -5.00864265e-03 -6.39706217e+01] [-1.79305211e-02 3.41042561e-04 9.99839177e-01 -6.87923176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.958623853 meters 0.02813401123910884 Centerline is valid? [True, True] Translation: X:269.68, Y:-63.98, Z:-6.89 [[ 9.64663442e-01 2.62908148e-01 1.74284164e-02 2.69680346e+02] [-2.62859472e-01 9.64820818e-01 -5.06829185e-03 -6.39839117e+01] [-1.81477942e-02 3.07971532e-04 9.99835268e-01 -6.89066428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.98862385300004 meters 0.0244053740589978 Centerline is valid? [True, True] Translation: X:269.71, Y:-63.99, Z:-6.89 [[ 9.63530915e-01 2.67043349e-01 1.72054071e-02 2.69709191e+02] [-2.66996584e-01 9.63684491e-01 -5.00252792e-03 -6.39886736e+01] [-1.79164758e-02 2.26305380e-04 9.99839461e-01 -6.89178999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.018623853 meters 0.02091641776070242 Centerline is valid? [True, True] Translation: X:269.74, Y:-63.99, Z:-6.89 [[ 9.62839714e-01 2.69505881e-01 1.75004456e-02 2.69739031e+02] [-2.69457922e-01 9.62998726e-01 -5.08740085e-03 -6.39909799e+01] [-1.82239913e-02 1.82717879e-04 9.99833913e-01 -6.88959434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.04862385300004 meters 0.018655437542001906 Centerline is valid? [True, True] Translation: X:269.77, Y:-63.99, Z:-6.89 [[ 9.61306516e-01 2.74898144e-01 1.79106707e-02 2.69767388e+02] [-2.74848851e-01 9.61473351e-01 -5.20627225e-03 -6.39919450e+01] [-1.86518271e-02 8.20961783e-05 9.99826036e-01 -6.88911021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.078623853 meters 0.01989088302754628 Centerline is valid? [True, True] Translation: X:269.80, Y:-64.00, Z:-6.89 [[ 9.60505989e-01 2.77673963e-01 1.80392807e-02 2.69795929e+02] [-2.77624486e-01 9.60675371e-01 -5.24172096e-03 -6.39952979e+01] [-1.87853822e-02 2.65583345e-05 9.99823539e-01 -6.88671860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.10862385300004 meters 0.018062448927539998 Centerline is valid? [True, True] Translation: X:269.82, Y:-64.00, Z:-6.89 [[ 9.59718719e-01 2.80341778e-01 1.86672951e-02 2.69823385e+02] [-2.80289309e-01 9.59900248e-01 -5.42370016e-03 -6.39997189e+01] [-1.94392309e-02 -2.70166619e-05 9.99811040e-01 -6.88986354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.138623853 meters 0.01861645700736967 Centerline is valid? [True, True] Translation: X:269.85, Y:-64.00, Z:-6.89 [[ 9.58878977e-01 2.83195834e-01 1.87410385e-02 2.69851814e+02] [-2.83143586e-01 9.59062100e-01 -5.44041798e-03 -6.40037389e+01] [-1.95145235e-02 -8.97024191e-05 9.99809570e-01 -6.88970821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.16862385300004 meters 0.021484056435425405 Centerline is valid? [True, True] Translation: X:269.88, Y:-64.00, Z:-6.89 [[ 9.57328125e-01 2.88399043e-01 1.86776226e-02 2.69880626e+02] [-2.88348154e-01 9.57510289e-01 -5.42110092e-03 -6.40031401e+01] [-1.94474561e-02 -1.95885621e-04 9.99810861e-01 -6.89137048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.198623853 meters 0.024057954801018133 Centerline is valid? [True, True] Translation: X:269.91, Y:-64.01, Z:-6.89 [[ 9.55972732e-01 2.92879132e-01 1.83834013e-02 2.69910337e+02] [-2.92830686e-01 9.56149431e-01 -5.33437637e-03 -6.40052051e+01] [-1.91396062e-02 -2.83705650e-04 9.99816781e-01 -6.89176524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.22862385300004 meters 0.025912136764687 Centerline is valid? [True, True] Translation: X:269.94, Y:-64.01, Z:-6.89 [[ 9.55366533e-01 2.94836707e-01 1.86038660e-02 2.69937855e+02] [-2.94787474e-01 9.55547596e-01 -5.39782234e-03 -6.40083073e+01] [-1.93683556e-02 -3.27287840e-04 9.99812362e-01 -6.89237129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.258623853 meters 0.028743203555884674 Centerline is valid? [True, True] Translation: X:269.97, Y:-64.01, Z:-6.89 [[ 9.54706500e-01 2.96943502e-01 1.89751271e-02 2.69966326e+02] [-2.96892731e-01 9.54894975e-01 -5.50394591e-03 -6.40097828e+01] [-1.97536145e-02 -3.78924382e-04 9.99804807e-01 -6.89257096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.28862385300005 meters 0.029785076261626162 Centerline is valid? [True, True] Translation: X:269.99, Y:-64.01, Z:-6.89 [[ 9.54138576e-01 2.98748806e-01 1.92022933e-02 2.69994590e+02] [-2.98697201e-01 9.54331689e-01 -5.56858645e-03 -6.40139858e+01] [-1.99889655e-02 -4.22468117e-04 9.99800111e-01 -6.89199018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.318623853 meters 0.03598257083117252 Centerline is valid? [True, True] Translation: X:270.03, Y:-64.01, Z:-6.89 [[ 9.53040827e-01 3.02221567e-01 1.93728147e-02 2.70026080e+02] [-3.02169786e-01 9.53237575e-01 -5.61666035e-03 -6.40092781e+01] [-2.01643707e-02 -5.00972626e-04 9.99796553e-01 -6.89317764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.34862385300005 meters 0.03374437788390285 Centerline is valid? [True, True] Translation: X:270.05, Y:-64.02, Z:-6.89 [[ 9.52291162e-01 3.04586287e-01 1.92025022e-02 2.70054223e+02] [-3.04535906e-01 9.52484590e-01 -5.56662606e-03 -6.40175286e+01] [-1.99856054e-02 -5.46802588e-04 9.99800118e-01 -6.89319317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.378623853 meters 0.03709785987380194 Centerline is valid? [True, True] Translation: X:270.08, Y:-64.02, Z:-6.90 [[ 9.52124003e-01 3.05121629e-01 1.89914176e-02 2.70083144e+02] [-3.05072470e-01 9.52313229e-01 -5.50468091e-03 -6.40188708e+01] [-1.97653754e-02 -5.52619853e-04 9.99804493e-01 -6.89511666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.408623853 meters 0.03756085540363315 Centerline is valid? [True, True] Translation: X:270.11, Y:-64.02, Z:-6.90 [[ 9.52063665e-01 3.05338511e-01 1.85248722e-02 2.70110499e+02] [-3.05291817e-01 9.52243717e-01 -5.36749505e-03 -6.40234693e+01] [-1.92790961e-02 -5.45294884e-04 9.99813992e-01 -6.89716596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.438623853 meters 0.03668172976255808 Centerline is valid? [True, True] Translation: X:270.14, Y:-64.03, Z:-6.90 [[ 9.52216156e-01 3.04888539e-01 1.80933857e-02 2.70138256e+02] [-3.04843920e-01 9.52387896e-01 -5.24214800e-03 -6.40298821e+01] [-1.88301923e-02 -5.24000594e-04 9.99822559e-01 -6.89869496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.468623853 meters 0.033344381123201004 Centerline is valid? [True, True] Translation: X:270.17, Y:-64.04, Z:-6.90 [[ 9.52899925e-01 3.02741359e-01 1.81494561e-02 2.70166007e+02] [-3.02696155e-01 9.53072627e-01 -5.25413226e-03 -6.40375130e+01] [-1.88883929e-02 -4.87108339e-04 9.99821480e-01 -6.89846648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.498623853 meters 0.029363096845082683 Centerline is valid? [True, True] Translation: X:270.19, Y:-64.05, Z:-6.90 [[ 9.54277111e-01 2.98372128e-01 1.81457567e-02 2.70194429e+02] [-2.98326173e-01 9.54449534e-01 -5.25188705e-03 -6.40477923e+01] [-1.88862258e-02 -4.01598566e-04 9.99821559e-01 -6.89952844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.528623853 meters 0.027049193887617423 Centerline is valid? [True, True] Translation: X:270.22, Y:-64.06, Z:-6.90 [[ 9.55289757e-01 2.95146968e-01 1.75996226e-02 2.70220422e+02] [-2.95103188e-01 9.55451809e-01 -5.09394086e-03 -6.40579390e+01] [-1.83190525e-02 -3.27515209e-04 9.99832138e-01 -6.90137643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.55862385300003 meters 0.025102595520070263 Centerline is valid? [True, True] Translation: X:270.25, Y:-64.07, Z:-6.90 [[ 9.56260015e-01 2.91983794e-01 1.76705340e-02 2.70247098e+02] [-2.91939143e-01 9.56423228e-01 -5.11322569e-03 -6.40676695e+01] [-1.83934882e-02 -2.69147285e-04 9.99830789e-01 -6.90291976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.588623853 meters 0.020325773406968766 Centerline is valid? [True, True] Translation: X:270.27, Y:-64.08, Z:-6.90 [[ 9.58341647e-01 2.85077970e-01 1.76589633e-02 2.70273073e+02] [-2.85032206e-01 9.58504321e-01 -5.10972626e-03 -6.40835573e+01] [-1.83828631e-02 -1.36509798e-04 9.99831012e-01 -6.90282439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.61862385300003 meters 0.018830787422752134 Centerline is valid? [True, True] Translation: X:270.30, Y:-64.10, Z:-6.90 [[ 9.59420204e-01 2.81402913e-01 1.80353100e-02 2.70299751e+02] [-2.81354584e-01 9.59589702e-01 -5.21560708e-03 -6.40951040e+01] [-1.87741848e-02 -7.03583415e-05 9.99823747e-01 -6.90238695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.648623853 meters 0.018241912333893738 Centerline is valid? [True, True] Translation: X:270.33, Y:-64.11, Z:-6.90 [[ 9.60406439e-01 2.77996956e-01 1.83620424e-02 2.70326717e+02] [-2.77946303e-01 9.60581955e-01 -5.30663414e-03 -6.41062809e+01] [-1.91134747e-02 -7.13620570e-06 9.99817321e-01 -6.90221728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.67862385300003 meters 0.019364095339526124 Centerline is valid? [True, True] Translation: X:270.35, Y:-64.12, Z:-6.90 [[ 9.62127860e-01 2.71959047e-01 1.86616440e-02 2.70351906e+02] [-2.71905667e-01 9.62308820e-01 -5.38923102e-03 -6.41198802e+01] [-1.94239147e-02 1.10922544e-04 9.99811332e-01 -6.90260013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.708623853 meters 0.020705312582629292 Centerline is valid? [True, True] Translation: X:270.38, Y:-64.13, Z:-6.90 [[ 9.62895948e-01 2.69240587e-01 1.84634737e-02 2.70378092e+02] [-2.69187873e-01 9.63072936e-01 -5.33003551e-03 -6.41305696e+01] [-1.92167337e-02 1.62126384e-04 9.99815328e-01 -6.90361248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.73862385300004 meters 0.022096179271924775 Centerline is valid? [True, True] Translation: X:270.41, Y:-64.14, Z:-6.90 [[ 9.63625683e-01 2.66600259e-01 1.87041607e-02 2.70405144e+02] [-2.66545676e-01 9.63807167e-01 -5.39890229e-03 -6.41412233e+01] [-1.94665528e-02 2.17007760e-04 9.99810485e-01 -6.90436385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.768623853 meters 0.02582599062173609 Centerline is valid? [True, True] Translation: X:270.43, Y:-64.16, Z:-6.91 [[ 9.64883614e-01 2.62015784e-01 1.86370533e-02 2.70430936e+02] [-2.61960813e-01 9.65063540e-01 -5.37552479e-03 -6.41553245e+01] [-1.93944130e-02 3.04578140e-04 9.99811864e-01 -6.90546656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.79862385300004 meters 0.026636487574524914 Centerline is valid? [True, True] Translation: X:270.46, Y:-64.16, Z:-6.91 [[ 9.65394382e-01 2.60133227e-01 1.85577694e-02 2.70458315e+02] [-2.60078393e-01 9.65572674e-01 -5.35172630e-03 -6.41644941e+01] [-1.93110368e-02 3.40051670e-04 9.99813467e-01 -6.90583595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.828623853 meters 0.02930183352334319 Centerline is valid? [True, True] Translation: X:270.49, Y:-64.18, Z:-6.91 [[ 9.66251654e-01 2.56935346e-01 1.84924288e-02 2.70485556e+02] [-2.56880332e-01 9.66428511e-01 -5.33178799e-03 -6.41765242e+01] [-1.92415352e-02 4.01507705e-04 9.99814784e-01 -6.90639521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.85862385300004 meters 0.030425709195483534 Centerline is valid? [True, True] Translation: X:270.51, Y:-64.19, Z:-6.91 [[ 9.66647112e-01 2.55437688e-01 1.85727886e-02 2.70512913e+02] [-2.55381925e-01 9.66825424e-01 -5.35462217e-03 -6.41865266e+01] [-1.93244165e-02 4.32875549e-04 9.99813172e-01 -6.90672231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.888623853 meters 0.03300150134254897 Centerline is valid? [True, True] Translation: X:270.54, Y:-64.20, Z:-6.91 [[ 9.66943901e-01 2.54310995e-01 1.85852305e-02 2.70537994e+02] [-2.54254967e-01 9.67122387e-01 -5.35732177e-03 -6.41991196e+01] [-1.93366183e-02 4.54842442e-04 9.99812927e-01 -6.90805834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.91862385300004 meters 0.032934152636354685 Centerline is valid? [True, True] Translation: X:270.56, Y:-64.21, Z:-6.91 [[ 9.67240702e-01 2.53196671e-01 1.83540382e-02 2.70564969e+02] [-2.53141850e-01 9.67414712e-01 -5.28952064e-03 -6.42078589e+01] [-1.90952556e-02 4.70064474e-04 9.99817558e-01 -6.90846381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.948623853 meters 0.032225119134126255 Centerline is valid? [True, True] Translation: X:270.59, Y:-64.22, Z:-6.91 [[ 9.67451349e-01 2.52369816e-01 1.86376843e-02 2.70592211e+02] [-2.52313158e-01 9.67630732e-01 -5.37000105e-03 -6.42161195e+01] [-1.93896223e-02 4.92681774e-04 9.99811882e-01 -6.90809160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.97862385300004 meters 0.03258600360772902 Centerline is valid? [True, True] Translation: X:270.62, Y:-64.23, Z:-6.91 [[ 9.67399239e-01 2.52548209e-01 1.89239330e-02 2.70618611e+02] [-2.52489850e-01 9.67584186e-01 -5.45154144e-03 -6.42250187e+01] [-1.96872753e-02 4.95716034e-04 9.99806064e-01 -6.90845384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.008623853 meters 0.035518083263307604 Centerline is valid? [True, True] Translation: X:270.64, Y:-64.24, Z:-6.91 [[ 9.67235378e-01 2.53156410e-01 1.91717160e-02 2.70643480e+02] [-2.53096657e-01 9.67425239e-01 -5.52166166e-03 -6.42378900e+01] [-1.99450460e-02 4.88449266e-04 9.99800958e-01 -6.90958702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.03862385300005 meters 0.03399041015394882 Centerline is valid? [True, True] Translation: X:270.67, Y:-64.25, Z:-6.91 [[ 9.66828773e-01 2.54698513e-01 1.92559180e-02 2.70670654e+02] [-2.54638566e-01 9.67020402e-01 -5.54460084e-03 -6.42454667e+01] [-2.00330672e-02 4.57380282e-04 9.99799213e-01 -6.91028193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.068623853 meters 0.02912380251312695 Centerline is valid? [True, True] Translation: X:270.70, Y:-64.25, Z:-6.91 [[ 9.66639452e-01 2.55414654e-01 1.92749702e-02 2.70700543e+02] [-2.55354748e-01 9.66831505e-01 -5.54919851e-03 -6.42475075e+01] [-2.00529950e-02 4.42119055e-04 9.99798821e-01 -6.90945837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.09862385300005 meters 0.02896675886821726 Centerline is valid? [True, True] Translation: X:270.73, Y:-64.26, Z:-6.91 [[ 9.66117544e-01 2.57375297e-01 1.93609704e-02 2.70726542e+02] [-2.57315265e-01 9.66311438e-01 -5.57314492e-03 -6.42586262e+01] [-2.01431169e-02 4.02439864e-04 9.99797026e-01 -6.91098240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.128623853 meters 0.027223952109347735 Centerline is valid? [True, True] Translation: X:270.76, Y:-64.27, Z:-6.91 [[ 9.65870239e-01 2.58284423e-01 1.95918011e-02 2.70755095e+02] [-2.58223175e-01 9.66068842e-01 -5.63776570e-03 -6.42652542e+01] [-2.03831756e-02 3.86293022e-04 9.99792167e-01 -6.91089261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.158623853 meters 0.026955603515652033 Centerline is valid? [True, True] Translation: X:270.78, Y:-64.27, Z:-6.91 [[ 9.65533784e-01 2.59518632e-01 1.98643209e-02 2.70781453e+02] [-2.59455972e-01 9.65738033e-01 -5.71407580e-03 -6.42739270e+01] [-2.06666393e-02 3.63216548e-04 9.99786356e-01 -6.91162652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.188623853 meters 0.024988943048900147 Centerline is valid? [True, True] Translation: X:270.81, Y:-64.28, Z:-6.92 [[ 9.64818649e-01 2.62279297e-01 1.82905508e-02 2.70809716e+02] [-2.62226692e-01 9.64991965e-01 -5.26015877e-03 -6.42813391e+01] [-1.90298653e-02 2.78828650e-04 9.99818877e-01 -6.91503490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.218623853 meters 0.023505146100169495 Centerline is valid? [True, True] Translation: X:270.84, Y:-64.29, Z:-6.92 [[ 9.64401505e-01 2.63840980e-01 1.78234383e-02 2.70838094e+02] [-2.63791304e-01 9.64566161e-01 -5.12526263e-03 -6.42876803e+01] [-1.85441398e-02 2.41142961e-04 9.99828014e-01 -6.91673477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.248623853 meters 0.022151790181505284 Centerline is valid? [True, True] Translation: X:270.87, Y:-64.29, Z:-6.92 [[ 9.63846656e-01 2.65878722e-01 1.75536134e-02 2.70866538e+02] [-2.65830893e-01 9.64006466e-01 -5.04679608e-03 -6.42942550e+01] [-1.82636325e-02 1.98044814e-04 9.99833186e-01 -6.91783750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.278623853 meters 0.0198093405422198 Centerline is valid? [True, True] Translation: X:270.89, Y:-64.30, Z:-6.92 [[ 9.62576112e-01 2.70465463e-01 1.71948328e-02 2.70894360e+02] [-2.70420315e-01 9.62729672e-01 -4.94287777e-03 -6.42983587e+01] [-1.78908535e-02 1.08063959e-04 9.99839940e-01 -6.91917927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.30862385300003 meters 0.019002944458435107 Centerline is valid? [True, True] Translation: X:270.92, Y:-64.30, Z:-6.92 [[ 9.61885803e-01 2.72912275e-01 1.71636670e-02 2.70923441e+02] [-2.72867694e-01 9.62038922e-01 -4.93305979e-03 -6.43032657e+01] [-1.78584082e-02 6.16299612e-05 9.99840524e-01 -6.92008406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.338623853 meters 0.018597819346213084 Centerline is valid? [True, True] Translation: X:270.95, Y:-64.30, Z:-6.92 [[ 9.60445693e-01 2.77944558e-01 1.70556085e-02 2.70952125e+02] [-2.77901344e-01 9.60597117e-01 -4.90116682e-03 -6.43038276e+01] [-1.77458210e-02 -3.24719749e-05 9.99842530e-01 -6.92015664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.36862385300003 meters 0.019455243276832675 Centerline is valid? [True, True] Translation: X:270.98, Y:-64.31, Z:-6.92 [[ 9.59678201e-01 2.80584353e-01 1.70344026e-02 2.70980346e+02] [-2.80541743e-01 9.59829367e-01 -4.89047897e-03 -6.43074409e+01] [-1.77223118e-02 -8.55749451e-05 9.99842944e-01 -6.92209872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.398623853 meters 0.020438240364292145 Centerline is valid? [True, True] Translation: X:271.01, Y:-64.31, Z:-6.92 [[ 9.59020916e-01 2.82825412e-01 1.69902891e-02 2.71009257e+02] [-2.82783379e-01 9.59171398e-01 -4.87751435e-03 -6.43122665e+01] [-1.76760844e-02 -1.26933099e-04 9.99843758e-01 -6.92263753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.42862385300003 meters 0.021010283059421393 Centerline is valid? [True, True] Translation: X:271.04, Y:-64.32, Z:-6.92 [[ 9.58480715e-01 2.84648710e-01 1.70244282e-02 2.71037058e+02] [-2.84606848e-01 9.58631882e-01 -4.88435927e-03 -6.43185404e+01] [-1.77104862e-02 -1.63704666e-04 9.99843144e-01 -6.92246261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.458623853 meters 0.02298095520829749 Centerline is valid? [True, True] Translation: X:271.06, Y:-64.32, Z:-6.92 [[ 9.57613021e-01 2.87564692e-01 1.68478702e-02 2.71064612e+02] [-2.87524214e-01 9.57761192e-01 -4.82971991e-03 -6.43226634e+01] [-1.75250931e-02 -2.19167957e-04 9.99846400e-01 -6.92370710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.48862385300004 meters 0.02414425902329209 Centerline is valid? [True, True] Translation: X:271.09, Y:-64.33, Z:-6.93 [[ 9.57342221e-01 2.88463582e-01 1.68710858e-02 2.71091763e+02] [-2.88423153e-01 9.57490838e-01 -4.83523869e-03 -6.43286406e+01] [-1.75487004e-02 -2.37033612e-04 9.99845982e-01 -6.92507611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.518623853 meters 0.02501929073587126 Centerline is valid? [True, True] Translation: X:271.12, Y:-64.34, Z:-6.93 [[ 9.57066746e-01 2.89363646e-01 1.70857992e-02 2.71119450e+02] [-2.89322330e-01 9.57219209e-01 -4.89642921e-03 -6.43350418e+01] [-1.77717038e-02 -2.57093664e-04 9.99842038e-01 -6.92546233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.54862385300004 meters 0.02609434254202564 Centerline is valid? [True, True] Translation: X:271.15, Y:-64.34, Z:-6.93 [[ 9.57051332e-01 2.89396087e-01 1.73969259e-02 2.71146233e+02] [-2.89353326e-01 9.57209399e-01 -4.98183867e-03 -6.43402921e+01] [-1.80942256e-02 -2.65983040e-04 9.99836251e-01 -6.92613661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.578623853 meters 0.031489817088212836 Centerline is valid? [True, True] Translation: X:271.17, Y:-64.35, Z:-6.92 [[ 9.57205457e-01 2.88873432e-01 1.76026588e-02 2.71173164e+02] [-2.88829580e-01 9.57367261e-01 -5.03997097e-03 -6.43500678e+01] [-1.83081230e-02 -2.59880841e-04 9.99832358e-01 -6.91704334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.60862385300004 meters 0.025220774999173218 Centerline is valid? [True, True] Translation: X:271.20, Y:-64.36, Z:-6.93 [[ 9.57330483e-01 2.88414388e-01 1.83162935e-02 2.71199615e+02] [-2.88366916e-01 9.57505650e-01 -5.23945110e-03 -6.43584094e+01] [-1.90490876e-02 -2.65926804e-04 9.99818514e-01 -6.92626539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.638623853 meters 0.023364920778608956 Centerline is valid? [True, True] Translation: X:271.23, Y:-64.37, Z:-6.93 [[ 9.57525663e-01 2.87744202e-01 1.86514900e-02 2.71225977e+02] [-2.87694861e-01 9.57707266e-01 -5.33475273e-03 -6.43694714e+01] [-1.93977116e-02 -2.57775159e-04 9.99811813e-01 -6.92525233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.66862385300004 meters 0.023364920778608956 Centerline is valid? [True, True] Translation: X:271.25, Y:-64.38, Z:-6.93 [[ 9.57580830e-01 2.87560504e-01 1.86523473e-02 2.71252446e+02] [-2.87511186e-01 9.57762439e-01 -5.33175302e-03 -6.43768408e+01] [-1.93977193e-02 -2.57174022e-04 9.99811813e-01 -6.92594355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.698623853 meters 0.0238742399160011 Centerline is valid? [True, True] Translation: X:271.28, Y:-64.38, Z:-6.93 [[ 9.57891967e-01 2.86478822e-01 1.93096814e-02 2.71279627e+02] [-2.86425844e-01 9.58086543e-01 -5.51477150e-03 -6.43836193e+01] [-2.00802112e-02 -2.48236484e-04 9.99798341e-01 -6.92662485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.72862385300004 meters 0.022659353755012504 Centerline is valid? [True, True] Translation: X:271.31, Y:-64.39, Z:-6.93 [[ 9.58122115e-01 2.85697634e-01 1.94647121e-02 2.71306921e+02] [-2.85643656e-01 9.58319783e-01 -5.55830784e-03 -6.43937638e+01] [-2.02414141e-02 -2.34433855e-04 9.99795094e-01 -6.92592337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.758623853 meters 0.021663200569143382 Centerline is valid? [True, True] Translation: X:271.33, Y:-64.40, Z:-6.93 [[ 9.58573422e-01 2.84197441e-01 1.92044143e-02 2.71333923e+02] [-2.84144663e-01 9.58765755e-01 -5.48066365e-03 -6.44035068e+01] [-1.99701254e-02 -2.03213318e-04 9.99800557e-01 -6.92642450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.78862385300005 meters 0.020874152480219774 Centerline is valid? [True, True] Translation: X:271.36, Y:-64.41, Z:-6.93 [[ 9.58855557e-01 2.83243093e-01 1.92190447e-02 2.71361399e+02] [-2.83190110e-01 9.59048130e-01 -5.48144936e-03 -6.44134458e+01] [-1.99845715e-02 -1.86725204e-04 9.99800271e-01 -6.92696235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.818623853 meters 0.02056158956439492 Centerline is valid? [True, True] Translation: X:271.39, Y:-64.42, Z:-6.93 [[ 9.59030189e-01 2.82656552e-01 1.91407975e-02 2.71388196e+02] [-2.82603964e-01 9.59221164e-01 -5.45504856e-03 -6.44218677e+01] [-1.99021633e-02 -1.77708997e-04 9.99801917e-01 -6.92785924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.84862385300005 meters 0.020856650051499205 Centerline is valid? [True, True] Translation: X:271.41, Y:-64.43, Z:-6.93 [[ 9.59202715e-01 2.82087424e-01 1.88900953e-02 2.71414036e+02] [-2.82036110e-01 9.59388690e-01 -5.38279582e-03 -6.44285066e+01] [-1.96413628e-02 -1.64496628e-04 9.99807076e-01 -6.92925046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.878623853 meters 0.020059001959582854 Centerline is valid? [True, True] Translation: X:271.44, Y:-64.44, Z:-6.93 [[ 9.59610148e-01 2.80683796e-01 1.91041893e-02 2.71441585e+02] [-2.80631085e-01 9.59800285e-01 -5.44123074e-03 -6.44369091e+01] [-1.98634717e-02 -1.39769146e-04 9.99802692e-01 -6.92920285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.908623853 meters 0.01935184733716521 Centerline is valid? [True, True] Translation: X:271.47, Y:-64.45, Z:-6.93 [[ 9.59826862e-01 2.79914105e-01 1.95061266e-02 2.71468036e+02] [-2.79859061e-01 9.60025040e-01 -5.55240143e-03 -6.44457642e+01] [-2.02805654e-02 -1.29622225e-04 9.99794320e-01 -6.92845579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.938623853 meters 0.018802796705740484 Centerline is valid? [True, True] Translation: X:271.49, Y:-64.45, Z:-6.93 [[ 9.60196083e-01 2.78623057e-01 1.98160295e-02 2.71494661e+02] [-2.78566074e-01 9.60400531e-01 -5.63578325e-03 -6.44547735e+01] [-2.06015844e-02 -1.08616543e-04 9.99787759e-01 -6.92886745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.968623853 meters 0.018792937648267338 Centerline is valid? [True, True] Translation: X:271.52, Y:-64.46, Z:-6.93 [[ 9.60317449e-01 2.78226405e-01 1.95054761e-02 2.71520232e+02] [-2.78171136e-01 9.60515517e-01 -5.54633769e-03 -6.44619645e+01] [-2.02784501e-02 -9.96155821e-05 9.99794366e-01 -6.92970255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.998623853 meters 0.018708921565822777 Centerline is valid? [True, True] Translation: X:271.55, Y:-64.47, Z:-6.93 [[ 9.60498150e-01 2.77603552e-01 1.94825920e-02 2.71546670e+02] [-2.77548308e-01 9.60695717e-01 -5.53861917e-03 -6.44695000e+01] [-2.02543831e-02 -8.75269800e-05 9.99794855e-01 -6.93081720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.028623853 meters 0.018391729152645916 Centerline is valid? [True, True] Translation: X:271.57, Y:-64.48, Z:-6.93 [[ 9.60866566e-01 2.76323409e-01 1.95145219e-02 2.71573931e+02] [-2.76267801e-01 9.61064706e-01 -5.54369956e-03 -6.44776385e+01] [-2.02865722e-02 -6.44784963e-05 9.99794204e-01 -6.93173393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.05862385300003 meters 0.018423084552314273 Centerline is valid? [True, True] Translation: X:271.60, Y:-64.48, Z:-6.93 [[ 9.61004051e-01 2.75891090e-01 1.88499424e-02 2.71601271e+02] [-2.75839195e-01 9.61188901e-01 -5.35123715e-03 -6.44848837e+01] [-1.95947141e-02 -5.69923495e-05 9.99808004e-01 -6.93309249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.088623853 meters 0.018379468851814514 Centerline is valid? [True, True] Translation: X:271.63, Y:-64.49, Z:-6.93 [[ 9.61186339e-01 2.75289777e-01 1.83401303e-02 2.71628118e+02] [-2.75240609e-01 9.61361293e-01 -5.20294282e-03 -6.44924674e+01] [-1.90638083e-02 -4.69510708e-05 9.99818268e-01 -6.93499658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.11862385300003 meters 0.018225523530204193 Centerline is valid? [True, True] Translation: X:271.65, Y:-64.50, Z:-6.94 [[ 9.61650686e-01 2.73687605e-01 1.79736607e-02 2.71654012e+02] [-2.73640182e-01 9.61818639e-01 -5.09472644e-03 -6.45013141e+01] [-1.86817654e-02 -1.89686244e-05 9.99825480e-01 -6.93646229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.148623853 meters 0.01816948823572797 Centerline is valid? [True, True] Translation: X:271.68, Y:-64.51, Z:-6.94 [[ 9.62017528e-01 2.72401172e-01 1.78851117e-02 2.71680428e+02] [-2.72354009e-01 9.62183767e-01 -5.06876885e-03 -6.45103957e+01] [-1.85895027e-02 5.16262683e-06 9.99827200e-01 -6.93748996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.17862385300003 meters 0.018755062385163647 Centerline is valid? [True, True] Translation: X:271.71, Y:-64.52, Z:-6.94 [[ 9.62870815e-01 2.69392255e-01 1.75387365e-02 2.71705455e+02] [-2.69346481e-01 9.63030534e-01 -4.96626579e-03 -6.45234041e+01] [-1.82282123e-02 5.78754444e-05 9.99833851e-01 -6.93951924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.208623853 meters 0.019252468352552333 Centerline is valid? [True, True] Translation: X:271.73, Y:-64.53, Z:-6.94 [[ 9.63317386e-01 2.67802219e-01 1.73662291e-02 2.71732729e+02] [-2.67757102e-01 9.63473904e-01 -4.91626955e-03 -6.45339995e+01] [-1.80484965e-02 8.59967453e-05 9.99837109e-01 -6.94013166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.23862385300004 meters 0.019938195870828786 Centerline is valid? [True, True] Translation: X:271.76, Y:-64.54, Z:-6.94 [[ 9.63746093e-01 2.66255386e-01 1.73648269e-02 2.71759480e+02] [-2.66210042e-01 9.63902514e-01 -4.91501336e-03 -6.45449380e+01] [-1.80466491e-02 1.14133620e-04 9.99837139e-01 -6.94039448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.268623853 meters 0.02120051029806379 Centerline is valid? [True, True] Translation: X:271.78, Y:-64.56, Z:-6.94 [[ 9.64405442e-01 2.63791320e-01 1.83380425e-02 2.71784650e+02] [-2.63740322e-01 9.64579759e-01 -5.18957467e-03 -6.45578523e+01] [-1.90574694e-02 1.68372830e-04 9.99818376e-01 -6.93948276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.29862385300004 meters 0.021689971801462503 Centerline is valid? [True, True] Translation: X:271.81, Y:-64.57, Z:-6.94 [[ 9.64592919e-01 2.63079961e-01 1.86931854e-02 2.71811402e+02] [-2.63026859e-01 9.64774015e-01 -5.28882858e-03 -6.45676263e+01] [-1.94260843e-02 1.84756756e-04 9.99811279e-01 -6.93944936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.328623853 meters 0.02205565847819826 Centerline is valid? [True, True] Translation: X:271.84, Y:-64.58, Z:-6.94 [[ 9.64729127e-01 2.62573806e-01 1.87805435e-02 2.71837743e+02] [-2.62520127e-01 9.64911892e-01 -5.31269387e-03 -6.45771805e+01] [-1.95165440e-02 1.95039845e-04 9.99809515e-01 -6.94006616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.35862385300004 meters 0.02219773751185962 Centerline is valid? [True, True] Translation: X:271.86, Y:-64.59, Z:-6.94 [[ 9.64770625e-01 2.62424429e-01 1.87366088e-02 2.71863905e+02] [-2.62370993e-01 9.64952528e-01 -5.29920112e-03 -6.45874415e+01] [-1.94705778e-02 1.96570928e-04 9.99810411e-01 -6.94063553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.388623853 meters 0.022140041504009212 Centerline is valid? [True, True] Translation: X:271.89, Y:-64.60, Z:-6.94 [[ 9.64760034e-01 2.62453712e-01 1.88712847e-02 2.71890138e+02] [-2.62399538e-01 9.64944564e-01 -5.33591808e-03 -6.45958931e+01] [-1.96101751e-02 1.96064138e-04 9.99807683e-01 -6.94127366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.41862385300004 meters 0.02160685976218229 Centerline is valid? [True, True] Translation: X:271.92, Y:-64.60, Z:-6.94 [[ 9.64528812e-01 2.63326857e-01 1.85239688e-02 2.71916543e+02] [-2.63274843e-01 9.64706658e-01 -5.23652023e-03 -6.46049734e+01] [-1.92491124e-02 1.73879673e-04 9.99814704e-01 -6.94269263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.448623853 meters 0.021290705886561866 Centerline is valid? [True, True] Translation: X:271.94, Y:-64.61, Z:-6.94 [[ 9.64393481e-01 2.63836689e-01 1.83143643e-02 2.71942869e+02] [-2.63785971e-01 9.64567352e-01 -5.17546662e-03 -6.46131209e+01] [-1.90309158e-02 1.60113896e-04 9.99818883e-01 -6.94404166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.47862385300004 meters 0.020741751215454633 Centerline is valid? [True, True] Translation: X:271.97, Y:-64.62, Z:-6.94 [[ 9.64232148e-01 2.64440786e-01 1.80951670e-02 2.71970865e+02] [-2.64391402e-01 9.64401913e-01 -5.11240364e-03 -6.46209020e+01] [-1.88029417e-02 1.45337362e-04 9.99823198e-01 -6.94495831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.508623853 meters 0.019386536675698538 Centerline is valid? [True, True] Translation: X:272.00, Y:-64.63, Z:-6.94 [[ 9.63935922e-01 2.65527931e-01 1.79570728e-02 2.71999343e+02] [-2.65479503e-01 9.64103160e-01 -5.07255984e-03 -6.46262080e+01] [-1.86593770e-02 1.22387878e-04 9.99825891e-01 -6.94411313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.53862385300005 meters 0.018733172295204166 Centerline is valid? [True, True] Translation: X:272.03, Y:-64.63, Z:-6.95 [[ 9.62999557e-01 2.68938982e-01 1.74263497e-02 2.72026366e+02] [-2.68893946e-01 9.63157215e-01 -4.92184547e-03 -6.46319520e+01] [-1.81079906e-02 5.38950714e-05 9.99836035e-01 -6.94771618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.568623853 meters 0.018386010096198262 Centerline is valid? [True, True] Translation: X:272.05, Y:-64.64, Z:-6.95 [[ 9.62387998e-01 2.71143678e-01 1.70425399e-02 2.72053188e+02] [-2.71100967e-01 9.62538885e-01 -4.81246758e-03 -6.46358300e+01] [-1.77089776e-02 1.12119843e-05 9.99843184e-01 -6.94948061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.59862385300005 meters 0.019300480073868247 Centerline is valid? [True, True] Translation: X:272.08, Y:-64.63, Z:-6.95 [[ 9.60929676e-01 2.76254456e-01 1.72520507e-02 2.72083888e+02] [-2.76211526e-01 9.61084527e-01 -4.87076847e-03 -6.46347578e+01] [-1.79262505e-02 -8.47493017e-05 9.99839308e-01 -6.94881289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.628623853 meters 0.021007737747298444 Centerline is valid? [True, True] Translation: X:272.11, Y:-64.64, Z:-6.95 [[ 9.60133455e-01 2.78995971e-01 1.74641497e-02 2.72111773e+02] [-2.78952498e-01 9.60292262e-01 -4.92699087e-03 -6.46368004e+01] [-1.81452985e-02 -1.41099440e-04 9.99835351e-01 -6.94932686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.658623853 meters 0.020988838886558295 Centerline is valid? [True, True] Translation: X:272.14, Y:-64.64, Z:-6.95 [[ 9.59449494e-01 2.81326515e-01 1.76652548e-02 2.72140359e+02] [-2.81282435e-01 9.59612087e-01 -4.98348916e-03 -6.46434803e+01] [-1.83537797e-02 -1.87519723e-04 9.99831538e-01 -6.94624037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.688623853 meters 0.02760587628738084 Centerline is valid? [True, True] Translation: X:272.17, Y:-64.64, Z:-6.95 [[ 9.58097516e-01 2.85837673e-01 1.86004073e-02 2.72171049e+02] [-2.85789734e-01 9.58278007e-01 -5.24297704e-03 -6.46367806e+01] [-1.93230016e-02 -2.92522165e-04 9.99813251e-01 -6.94752331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.718623853 meters 0.026714998322714772 Centerline is valid? [True, True] Translation: X:272.20, Y:-64.64, Z:-6.95 [[ 9.57709624e-01 2.87121870e-01 1.87964902e-02 2.72198648e+02] [-2.87073175e-01 9.57894007e-01 -5.29759389e-03 -6.46446350e+01] [-1.95261004e-02 -3.22411459e-04 9.99809296e-01 -6.94672741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.748623853 meters 0.030814300749061087 Centerline is valid? [True, True] Translation: X:272.23, Y:-64.64, Z:-6.95 [[ 9.57291628e-01 2.88532721e-01 1.84826485e-02 2.72227908e+02] [-2.88485974e-01 9.57469972e-01 -5.20537266e-03 -6.46443960e+01] [-1.91985012e-02 -3.48925166e-04 9.99815631e-01 -6.94958279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.778623853 meters 0.028985246178467105 Centerline is valid? [True, True] Translation: X:272.25, Y:-64.65, Z:-6.95 [[ 9.57212972e-01 2.88794809e-01 1.84630462e-02 2.72254755e+02] [-2.88748219e-01 9.57390951e-01 -5.19934179e-03 -6.46538501e+01] [-1.91778963e-02 -3.54294315e-04 9.99816024e-01 -6.94933951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.80862385300003 meters 0.029253120273720866 Centerline is valid? [True, True] Translation: X:272.28, Y:-64.66, Z:-6.95 [[ 9.57250331e-01 2.88690576e-01 1.81536324e-02 2.72281082e+02] [-2.88645582e-01 9.57422388e-01 -5.10867943e-03 -6.46601348e+01] [-1.88555217e-02 -3.49680726e-04 9.99822158e-01 -6.95038699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.838623853 meters 0.025555136717300864 Centerline is valid? [True, True] Translation: X:272.31, Y:-64.67, Z:-6.95 [[ 9.57703303e-01 2.87161646e-01 1.85086915e-02 2.72307947e+02] [-2.87114611e-01 9.57882082e-01 -5.20747832e-03 -6.46730166e+01] [-1.92245320e-02 -3.26896568e-04 9.99815138e-01 -6.94936263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.86862385300003 meters 0.029343335619892958 Centerline is valid? [True, True] Translation: X:272.34, Y:-64.67, Z:-6.95 [[ 9.58013745e-01 2.86107169e-01 1.87710584e-02 2.72336520e+02] [-2.86058663e-01 9.58197573e-01 -5.27749058e-03 -6.46733625e+01] [-1.94963105e-02 -3.13715368e-04 9.99809880e-01 -6.95219262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.898623853 meters 0.025547107251937443 Centerline is valid? [True, True] Translation: X:272.36, Y:-64.69, Z:-6.95 [[ 9.59099054e-01 2.82437996e-01 1.89151434e-02 2.72362779e+02] [-2.82388055e-01 9.59285526e-01 -5.31665848e-03 -6.46860177e+01] [-1.96466496e-02 -2.42208425e-04 9.99806957e-01 -6.95296747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.92862385300003 meters 0.024718277973523137 Centerline is valid? [True, True] Translation: X:272.39, Y:-64.70, Z:-6.95 [[ 9.59897842e-01 2.79734034e-01 1.85742785e-02 2.72389371e+02] [-2.79685373e-01 9.60077516e-01 -5.22067039e-03 -6.46978600e+01] [-1.92931464e-02 -1.83643772e-04 9.99813853e-01 -6.95085452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.958623853 meters 0.01927047846660139 Centerline is valid? [True, True] Translation: X:272.41, Y:-64.71, Z:-6.95 [[ 9.60748635e-01 2.76780649e-01 1.88290676e-02 2.72414278e+02] [-2.76730133e-01 9.60933117e-01 -5.28937323e-03 -6.47148417e+01] [-1.95574708e-02 -1.28812291e-04 9.99808726e-01 -6.95268967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.98862385300004 meters 0.017927982160572946 Centerline is valid? [True, True] Translation: X:272.44, Y:-64.73, Z:-6.95 [[ 9.62344449e-01 2.71147708e-01 1.92894304e-02 2.72438464e+02] [-2.71093637e-01 9.62537750e-01 -5.41475672e-03 -6.47311737e+01] [-2.00350039e-02 -1.83807962e-05 9.99799279e-01 -6.95481355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.018623853 meters 0.017996106879533683 Centerline is valid? [True, True] Translation: X:272.46, Y:-64.74, Z:-6.96 [[ 9.63079054e-01 2.68508214e-01 1.95467087e-02 2.72463976e+02] [-2.68452177e-01 9.63277394e-01 -5.48552267e-03 -6.47439191e+01] [-2.03018105e-02 3.56354813e-05 9.99793896e-01 -6.95517437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.04862385300004 meters 0.01963788187591943 Centerline is valid? [True, True] Translation: X:272.49, Y:-64.76, Z:-6.96 [[ 9.64133221e-01 2.64691589e-01 1.96340388e-02 2.72488816e+02] [-2.64634342e-01 9.64333111e-01 -5.50591901e-03 -6.47602250e+01] [-2.03911242e-02 1.12598495e-04 9.99792073e-01 -6.95576894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.078623853 meters 0.019705789741868703 Centerline is valid? [True, True] Translation: X:272.52, Y:-64.77, Z:-6.96 [[ 9.64504764e-01 2.63364434e-01 1.92284922e-02 2.72516569e+02] [-2.63309285e-01 9.64696406e-01 -5.39110725e-03 -6.47689051e+01] [-1.99694833e-02 1.36708076e-04 9.99800581e-01 -6.95554094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.10862385300004 meters 0.01943184717130732 Centerline is valid? [True, True] Translation: X:272.54, Y:-64.78, Z:-6.96 [[ 9.64748118e-01 2.62480170e-01 1.91109717e-02 2.72544413e+02] [-2.62425538e-01 9.64937375e-01 -5.35725272e-03 -6.47772245e+01] [-1.98470634e-02 1.53192449e-04 9.99803016e-01 -6.95557616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.138623853 meters 0.020793379376336973 Centerline is valid? [True, True] Translation: X:272.57, Y:-64.79, Z:-6.96 [[ 9.64812111e-01 2.62260917e-01 1.88892158e-02 2.72569924e+02] [-2.62207521e-01 9.64996988e-01 -5.29417447e-03 -6.47887762e+01] [-1.96164914e-02 1.54989193e-04 9.99807566e-01 -6.95855512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.16862385300004 meters 0.019264417082736338 Centerline is valid? [True, True] Translation: X:272.60, Y:-64.79, Z:-6.96 [[ 9.64606199e-01 2.63052247e-01 1.83955655e-02 2.72598602e+02] [-2.63001773e-01 9.64781580e-01 -5.15456881e-03 -6.47943465e+01] [-1.91036236e-02 1.34062688e-04 9.99817500e-01 -6.95800818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.198623853 meters 0.01893036339834311 Centerline is valid? [True, True] Translation: X:272.63, Y:-64.80, Z:-6.96 [[ 9.64320654e-01 2.64093106e-01 1.84528509e-02 2.72626014e+02] [-2.64042525e-01 9.64497184e-01 -5.16972944e-03 -6.48011013e+01] [-1.91630126e-02 1.12939529e-04 9.99816366e-01 -6.95921883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.22862385300004 meters 0.018353277109646453 Centerline is valid? [True, True] Translation: X:272.65, Y:-64.81, Z:-6.96 [[ 9.63929898e-01 2.65527707e-01 1.82808288e-02 2.72654573e+02] [-2.65478346e-01 9.64103226e-01 -5.12029178e-03 -6.48062296e+01] [-1.89841854e-02 8.24381305e-05 9.99819781e-01 -6.96035681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.258623853 meters 0.01771257550198654 Centerline is valid? [True, True] Translation: X:272.68, Y:-64.81, Z:-6.96 [[ 9.62806366e-01 2.69606898e-01 1.77770246e-02 2.72684430e+02] [-2.69560931e-01 9.62970467e-01 -4.97831491e-03 -6.48076515e+01] [-1.84609377e-02 1.16198677e-06 9.99829582e-01 -6.96176895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.28862385300005 meters 0.01773159226057334 Centerline is valid? [True, True] Translation: X:272.71, Y:-64.81, Z:-6.96 [[ 9.62195738e-01 2.71757359e-01 1.80914475e-02 2.72712485e+02] [-2.71710147e-01 9.62365802e-01 -5.06558539e-03 -6.48111881e+01] [-1.87872004e-02 -4.15451686e-05 9.99823504e-01 -6.96181529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.318623853 meters 0.01833172796092454 Centerline is valid? [True, True] Translation: X:272.74, Y:-64.81, Z:-6.96 [[ 9.61505277e-01 2.74188581e-01 1.81169552e-02 2.72741404e+02] [-2.74141696e-01 9.61675940e-01 -5.07120343e-03 -6.48146382e+01] [-1.88131060e-02 -9.06239523e-05 9.99823014e-01 -6.96179445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.34862385300005 meters 0.020605214201685828 Centerline is valid? [True, True] Translation: X:272.77, Y:-64.81, Z:-6.96 [[ 9.60084349e-01 2.79109807e-01 1.83237110e-02 2.72771703e+02] [-2.79062743e-01 9.60259173e-01 -5.12889581e-03 -6.48136813e+01] [-1.90270367e-02 -1.89292465e-04 9.99818952e-01 -6.96210649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.378623853 meters 0.021877735952930435 Centerline is valid? [True, True] Translation: X:272.80, Y:-64.82, Z:-6.96 [[ 9.59486241e-01 2.81131499e-01 1.87412498e-02 2.72800891e+02] [-2.81082719e-01 9.59669226e-01 -5.24224913e-03 -6.48173009e+01] [-1.94591621e-02 -2.37975552e-04 9.99810624e-01 -6.96235163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.408623853 meters 0.025454216335452612 Centerline is valid? [True, True] Translation: X:272.83, Y:-64.82, Z:-6.96 [[ 9.58230701e-01 2.85373609e-01 1.88633683e-02 2.72830677e+02] [-2.85325094e-01 9.58416295e-01 -5.27221049e-03 -6.48154808e+01] [-1.95835093e-02 -3.30198384e-04 9.99808170e-01 -6.96293944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.438623853 meters 0.02668705698382002 Centerline is valid? [True, True] Translation: X:272.86, Y:-64.82, Z:-6.96 [[ 9.57830220e-01 2.86706613e-01 1.89891688e-02 2.72859522e+02] [-2.86657718e-01 9.58018365e-01 -5.30699413e-03 -6.48196650e+01] [-1.97135228e-02 -3.60192448e-04 9.99805605e-01 -6.96371059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.468623853 meters 0.027814595636362426 Centerline is valid? [True, True] Translation: X:272.89, Y:-64.82, Z:-6.96 [[ 9.57501951e-01 2.87783601e-01 1.92513324e-02 2.72887876e+02] [-2.87733634e-01 9.57695383e-01 -5.37675070e-03 -6.48244793e+01] [-1.99842528e-02 -3.91006562e-04 9.99800218e-01 -6.96402718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.498623853 meters 0.02961451092760628 Centerline is valid? [True, True] Translation: X:272.92, Y:-64.83, Z:-6.96 [[ 9.57113684e-01 2.89060936e-01 1.94208727e-02 2.72916477e+02] [-2.89010431e-01 9.57310605e-01 -5.42002540e-03 -6.48264228e+01] [-2.01585250e-02 -4.25254307e-04 9.99796706e-01 -6.96470978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.528623853 meters 0.02961451092760628 Centerline is valid? [True, True] Translation: X:272.94, Y:-64.83, Z:-6.97 [[ 9.57167705e-01 2.88881997e-01 1.94210215e-02 2.72942994e+02] [-2.88831466e-01 9.57364619e-01 -5.41949257e-03 -6.48336232e+01] [-2.01585927e-02 -4.22038835e-04 9.99796706e-01 -6.96540102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.55862385300003 meters 0.02886132746713725 Centerline is valid? [True, True] Translation: X:272.97, Y:-64.84, Z:-6.97 [[ 9.57197322e-01 2.88771133e-01 1.96091630e-02 2.72969719e+02] [-2.88719675e-01 9.57398063e-01 -5.46801551e-03 -6.48404444e+01] [-2.03527797e-02 -4.27581351e-04 9.99792769e-01 -6.96578356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.588623853 meters 0.028682186299343177 Centerline is valid? [True, True] Translation: X:273.00, Y:-64.85, Z:-6.97 [[ 9.57377422e-01 2.88149992e-01 1.99512916e-02 2.72997221e+02] [-2.88096687e-01 9.57585192e-01 -5.55861458e-03 -6.48452732e+01] [-2.07067762e-02 -4.26208915e-04 9.99785501e-01 -6.96565429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.61862385300003 meters 0.029439277726727275 Centerline is valid? [True, True] Translation: X:273.02, Y:-64.85, Z:-6.97 [[ 9.57588924e-01 2.87460525e-01 1.97458631e-02 2.73024629e+02] [-2.87408192e-01 9.57792399e-01 -5.50012995e-03 -6.48498584e+01] [-2.04935078e-02 -4.08259271e-04 9.99789903e-01 -6.96711910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.648623853 meters 0.027533790532598017 Centerline is valid? [True, True] Translation: X:273.05, Y:-64.86, Z:-6.97 [[ 9.57844540e-01 2.86635404e-01 1.93386418e-02 2.73052332e+02] [-2.86585052e-01 9.58039664e-01 -5.38606337e-03 -6.48584845e+01] [-2.00710223e-02 -3.83154266e-04 9.99798483e-01 -6.96781989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.67862385300003 meters 0.028135193541507366 Centerline is valid? [True, True] Translation: X:273.08, Y:-64.86, Z:-6.97 [[ 9.58024608e-01 2.86038470e-01 1.92573249e-02 2.73079775e+02] [-2.85988499e-01 9.58218062e-01 -5.35942420e-03 -6.48630787e+01] [-1.99857180e-02 -3.72913170e-04 9.99800196e-01 -6.96986020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.708623853 meters 0.027539884505251404 Centerline is valid? [True, True] Translation: X:273.11, Y:-64.87, Z:-6.97 [[ 9.58382704e-01 2.84880102e-01 1.85989185e-02 2.73106596e+02] [-2.84833295e-01 9.58563098e-01 -5.17505209e-03 -6.48686903e+01] [-1.93025063e-02 -3.37910811e-04 9.99813632e-01 -6.97228925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.73862385300004 meters 0.0273143686826737 Centerline is valid? [True, True] Translation: X:273.13, Y:-64.87, Z:-6.97 [[ 9.58670982e-01 2.83937952e-01 1.81435334e-02 2.73133431e+02] [-2.83893260e-01 9.58842605e-01 -5.04725398e-03 -6.48748337e+01] [-1.88298998e-02 -3.12170918e-04 9.99822653e-01 -6.97422067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.768623853 meters 0.024185013521912446 Centerline is valid? [True, True] Translation: X:273.16, Y:-64.89, Z:-6.98 [[ 9.59233399e-01 2.82064778e-01 1.76280277e-02 2.73160444e+02] [-2.82022279e-01 9.59395325e-01 -4.90359831e-03 -6.48852728e+01] [-1.82953798e-02 -2.67801269e-04 9.99832590e-01 -6.97579647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.79862385300004 meters 0.022986789882930535 Centerline is valid? [True, True] Translation: X:273.19, Y:-64.89, Z:-6.98 [[ 9.59628752e-01 2.80743062e-01 1.72044136e-02 2.73187814e+02] [-2.80702420e-01 9.59782932e-01 -4.78280659e-03 -6.48942400e+01] [-1.78552422e-02 -2.39601809e-04 9.99840554e-01 -6.97700781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.828623853 meters 0.023270840999727687 Centerline is valid? [True, True] Translation: X:273.22, Y:-64.90, Z:-6.98 [[ 9.60537019e-01 2.77650738e-01 1.66944223e-02 2.73215572e+02] [-2.77612054e-01 9.60682068e-01 -4.63811469e-03 -6.48998613e+01] [-1.73258081e-02 -1.79491999e-04 9.99849881e-01 -6.98181913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.85862385300004 meters 0.020087843739511765 Centerline is valid? [True, True] Translation: X:273.24, Y:-64.91, Z:-6.98 [[ 9.61103469e-01 2.75694217e-01 1.65172673e-02 2.73241973e+02] [-2.75656111e-01 9.61245378e-01 -4.58596082e-03 -6.49123604e+01] [-1.71414698e-02 -1.45502823e-04 9.99853064e-01 -6.98047814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.888623853 meters 0.01933089226397002 Centerline is valid? [True, True] Translation: X:273.27, Y:-64.92, Z:-6.98 [[ 9.61689847e-01 2.73644429e-01 1.64731568e-02 2.73267948e+02] [-2.73606292e-01 9.61830918e-01 -4.56979941e-03 -6.49210105e+01] [-1.70948917e-02 -1.12429672e-04 9.99853865e-01 -6.98193068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.91862385300004 meters 0.017813178763340563 Centerline is valid? [True, True] Translation: X:273.29, Y:-64.93, Z:-6.98 [[ 9.62876064e-01 2.69402095e-01 1.70937636e-02 2.73293922e+02] [-2.69360367e-01 9.63027782e-01 -4.74163660e-03 -6.49339544e+01] [-1.77391761e-02 -3.87740324e-05 9.99842648e-01 -6.98063311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.948623853 meters 0.017609803630730038 Centerline is valid? [True, True] Translation: X:273.32, Y:-64.94, Z:-6.98 [[ 9.63391452e-01 2.67530817e-01 1.74405594e-02 2.73320229e+02] [-2.67487145e-01 9.63549304e-01 -4.83374676e-03 -6.49430344e+01] [-1.80980151e-02 -8.33513134e-06 9.99836217e-01 -6.98088111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.97862385300004 meters 0.017904795387175956 Centerline is valid? [True, True] Translation: X:273.35, Y:-64.95, Z:-6.98 [[ 9.64102912e-01 2.64944282e-01 1.76097488e-02 2.73345187e+02] [-2.64899345e-01 9.64263722e-01 -4.87963766e-03 -6.49537614e+01] [-1.82732741e-02 3.96619350e-05 9.99833029e-01 -6.98174141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.008623853 meters 0.024269693504038927 Centerline is valid? [True, True] Translation: X:273.37, Y:-64.96, Z:-6.98 [[ 9.64303311e-01 2.64250655e-01 1.70504031e-02 2.73373104e+02] [-2.64208435e-01 9.64454037e-01 -4.72380202e-03 -6.49606429e+01] [-1.76925979e-02 5.03176041e-05 9.99843472e-01 -6.97682582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.03862385300005 meters 0.01817754577989563 Centerline is valid? [True, True] Translation: X:273.40, Y:-64.97, Z:-6.98 [[ 9.64535428e-01 2.63388604e-01 1.72583436e-02 2.73398868e+02] [-2.63345261e-01 9.64689815e-01 -4.77855310e-03 -6.49702922e+01] [-1.79075647e-02 6.41807745e-05 9.99839645e-01 -6.98363634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.068623853 meters 0.018200432120209855 Centerline is valid? [True, True] Translation: X:273.43, Y:-64.98, Z:-6.98 [[ 9.64622560e-01 2.63060946e-01 1.73854819e-02 2.73425701e+02] [-2.63016972e-01 9.64779215e-01 -4.81021624e-03 -6.49773416e+01] [-1.80385316e-02 6.73663162e-05 9.99837290e-01 -6.98424971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.09862385300005 meters 0.017977442401117295 Centerline is valid? [True, True] Translation: X:273.45, Y:-64.98, Z:-6.98 [[ 9.64645379e-01 2.62959678e-01 1.76493755e-02 2.73452900e+02] [-2.62914408e-01 9.64806822e-01 -4.87962641e-03 -6.49834161e+01] [-1.83113829e-02 6.68339496e-05 9.99832330e-01 -6.98401131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.128623853 meters 0.017917002102413166 Centerline is valid? [True, True] Translation: X:273.48, Y:-64.99, Z:-6.98 [[ 9.64668309e-01 2.62870168e-01 1.77292999e-02 2.73480063e+02] [-2.62824554e-01 9.64831213e-01 -4.89727151e-03 -6.49903971e+01] [-1.83931285e-02 6.45472774e-05 9.99830830e-01 -6.98388529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.158623853 meters 0.017956124153513595 Centerline is valid? [True, True] Translation: X:273.51, Y:-65.00, Z:-6.98 [[ 9.64813297e-01 2.62343626e-01 1.76386817e-02 2.73506060e+02] [-2.62298416e-01 9.64974516e-01 -4.87076236e-03 -6.49994034e+01] [-1.82986918e-02 7.27780240e-05 9.99832562e-01 -6.98483422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.188623853 meters 0.01826741070055846 Centerline is valid? [True, True] Translation: X:273.53, Y:-65.01, Z:-6.99 [[ 9.64955697e-01 2.61831152e-01 1.74628599e-02 2.73532537e+02] [-2.61786775e-01 9.65113694e-01 -4.82108093e-03 -6.50082587e+01] [-1.81159544e-02 8.05837232e-05 9.99835889e-01 -6.98621974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.218623853 meters 0.01831833890358351 Centerline is valid? [True, True] Translation: X:273.56, Y:-65.02, Z:-6.99 [[ 9.65114340e-01 2.61248008e-01 1.74295427e-02 2.73559534e+02] [-2.61203710e-01 9.65271708e-01 -4.81163301e-03 -6.50164037e+01] [-1.80812740e-02 9.11148058e-05 9.99836516e-01 -6.98643997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.248623853 meters 0.018676902581089668 Centerline is valid? [True, True] Translation: X:273.59, Y:-65.03, Z:-6.99 [[ 9.65409111e-01 2.60181409e-01 1.70552988e-02 2.73585809e+02] [-2.60138900e-01 9.65559746e-01 -4.70414999e-03 -6.50259595e+01] [-1.76918423e-02 1.04682586e-04 9.99843482e-01 -6.98793161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.278623853 meters 0.018814377814993188 Centerline is valid? [True, True] Translation: X:273.61, Y:-65.03, Z:-6.99 [[ 9.65511426e-01 2.59804393e-01 1.70106867e-02 2.73613209e+02] [-2.59762069e-01 9.65661258e-01 -4.69064645e-03 -6.50345138e+01] [-1.76452117e-02 1.10141572e-04 9.99844305e-01 -6.98931082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.30862385300003 meters 0.018571108422385015 Centerline is valid? [True, True] Translation: X:273.64, Y:-65.04, Z:-6.99 [[ 9.65412445e-01 2.60148506e-01 1.73656777e-02 2.73639611e+02] [-2.60104468e-01 9.65568612e-01 -4.78769535e-03 -6.50425500e+01] [-1.80132651e-02 1.05210320e-04 9.99837742e-01 -6.98887320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.338623853 meters 0.018329022646147042 Centerline is valid? [True, True] Translation: X:273.67, Y:-65.05, Z:-6.99 [[ 9.65316733e-01 2.60489475e-01 1.75737953e-02 2.73667906e+02] [-2.60444454e-01 9.65476682e-01 -4.84383414e-03 -6.50498570e+01] [-1.82288574e-02 9.88366274e-05 9.99833836e-01 -6.98867679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.36862385300003 meters 0.018293551444983062 Centerline is valid? [True, True] Translation: X:273.69, Y:-65.06, Z:-6.99 [[ 9.65267263e-01 2.60666821e-01 1.76612577e-02 2.73693836e+02] [-2.60621393e-01 9.65428816e-01 -4.86728694e-03 -6.50568103e+01] [-1.83194273e-02 9.53311591e-05 9.99832181e-01 -6.98997643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.398623853 meters 0.018038022408039353 Centerline is valid? [True, True] Translation: X:273.72, Y:-65.06, Z:-6.99 [[ 9.64998919e-01 2.61683840e-01 1.72815922e-02 2.73721182e+02] [-2.61640535e-01 9.65153647e-01 -4.76106546e-03 -6.50645645e+01] [-1.79252856e-02 7.28579940e-05 9.99839326e-01 -6.99147473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.42862385300003 meters 0.017904028571835706 Centerline is valid? [True, True] Translation: X:273.75, Y:-65.07, Z:-6.99 [[ 9.64867555e-01 2.62178320e-01 1.71210294e-02 2.73748338e+02] [-2.62135916e-01 9.65019443e-01 -4.71555910e-03 -6.50716151e+01] [-1.77584436e-02 6.18532425e-05 9.99842304e-01 -6.99265790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.458623853 meters 0.017643264935117833 Centerline is valid? [True, True] Translation: X:273.78, Y:-65.08, Z:-6.99 [[ 9.64709189e-01 2.62759991e-01 1.71280128e-02 2.73775710e+02] [-2.62717668e-01 9.64861226e-01 -4.71618786e-03 -6.50784122e+01] [-1.77653809e-02 4.99181859e-05 9.99842182e-01 -6.99290143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.48862385300004 meters 0.01736022994710408 Centerline is valid? [True, True] Translation: X:273.80, Y:-65.08, Z:-6.99 [[ 9.64377574e-01 2.63959111e-01 1.73632625e-02 2.73802834e+02] [-2.63915820e-01 9.64533870e-01 -4.78049200e-03 -6.50843028e+01] [-1.80093092e-02 2.77596108e-05 9.99837819e-01 -6.99331691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.518623853 meters 0.017304467338994337 Centerline is valid? [True, True] Translation: X:273.83, Y:-65.09, Z:-6.99 [[ 9.64181032e-01 2.64675185e-01 1.73777060e-02 2.73829046e+02] [-2.64632016e-01 9.64337621e-01 -4.78015755e-03 -6.50903788e+01] [-1.80231647e-02 1.02398711e-05 9.99837570e-01 -6.99392616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.54862385300004 meters 0.01716616984593322 Centerline is valid? [True, True] Translation: X:273.86, Y:-65.10, Z:-6.99 [[ 9.63846254e-01 2.65866773e-01 1.77555254e-02 2.73856776e+02] [-2.65821924e-01 9.64009782e-01 -4.88321324e-03 -6.50961861e+01] [-1.84147843e-02 -1.31411287e-05 9.99830433e-01 -6.99441082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.578623853 meters 0.017298090814433988 Centerline is valid? [True, True] Translation: X:273.88, Y:-65.10, Z:-7.00 [[ 9.63694834e-01 2.66416788e-01 1.77302654e-02 2.73883418e+02] [-2.66372225e-01 9.63857922e-01 -4.87270522e-03 -6.51032092e+01] [-1.83876273e-02 -2.70494109e-05 9.99830933e-01 -6.99503937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.60862385300004 meters 0.017423593401656102 Centerline is valid? [True, True] Translation: X:273.91, Y:-65.11, Z:-7.00 [[ 9.63511167e-01 2.67084117e-01 1.76721661e-02 2.73909129e+02] [-2.67040036e-01 9.63673219e-01 -4.85249314e-03 -6.51095616e+01] [-1.83262170e-02 -4.37445322e-05 9.99832060e-01 -6.99586750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.638623853 meters 0.017731803839822386 Centerline is valid? [True, True] Translation: X:273.94, Y:-65.12, Z:-7.00 [[ 9.63328051e-01 2.67769694e-01 1.72758819e-02 2.73937298e+02] [-2.67727699e-01 9.63482946e-01 -4.74250530e-03 -6.51160244e+01] [-1.79149167e-02 -5.66437094e-05 9.99839513e-01 -6.99726628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.66862385300004 meters 0.023081000522244783 Centerline is valid? [True, True] Translation: X:273.96, Y:-65.12, Z:-6.99 [[ 9.63227387e-01 2.68187369e-01 1.63870456e-02 2.73964493e+02] [-2.68149705e-01 9.63366769e-01 -4.49496211e-03 -6.51209878e+01] [-1.69922273e-02 -6.45108414e-05 9.99855620e-01 -6.99326876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.698623853 meters 0.01795679286886625 Centerline is valid? [True, True] Translation: X:273.99, Y:-65.13, Z:-7.00 [[ 9.63331783e-01 2.67819232e-01 1.62706749e-02 2.73990912e+02] [-2.67782048e-01 9.63469177e-01 -4.46312410e-03 -6.51300473e+01] [-1.68716042e-02 -5.75253468e-05 9.99857663e-01 -7.00160927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.72862385300004 meters 0.017871103362517765 Centerline is valid? [True, True] Translation: X:274.02, Y:-65.14, Z:-7.00 [[ 9.63498403e-01 2.67237227e-01 1.59715754e-02 2.74017055e+02] [-2.67201368e-01 9.63630771e-01 -4.37804011e-03 -6.51388340e+01] [-1.65606768e-02 -4.93921315e-05 9.99862861e-01 -7.00276095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.758623853 meters 0.017548337318502197 Centerline is valid? [True, True] Translation: X:274.04, Y:-65.15, Z:-7.00 [[ 9.63680835e-01 2.66573120e-01 1.60630008e-02 2.74043726e+02] [-2.66536811e-01 9.63814697e-01 -4.39981186e-03 -6.51469667e+01] [-1.66546278e-02 -4.13666399e-05 9.99861301e-01 -7.00292711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.78862385300005 meters 0.017331826042812675 Centerline is valid? [True, True] Translation: X:274.07, Y:-65.16, Z:-7.00 [[ 9.63870602e-01 2.65862562e-01 1.64487277e-02 2.74071679e+02] [-2.65824465e-01 9.64010942e-01 -4.50077478e-03 -6.51556983e+01] [-1.70533410e-02 -3.43097340e-05 9.99854581e-01 -7.00233138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.818623853 meters 0.017222196663158364 Centerline is valid? [True, True] Translation: X:274.10, Y:-65.16, Z:-7.00 [[ 9.64225929e-01 2.64568653e-01 1.64859117e-02 2.74097084e+02] [-2.64530204e-01 9.64366853e-01 -4.51038077e-03 -6.51647997e+01] [-1.70917722e-02 -1.19954971e-05 9.99853925e-01 -7.00333184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.84862385300005 meters 0.017306771878730712 Centerline is valid? [True, True] Translation: X:274.12, Y:-65.17, Z:-7.00 [[ 9.64380695e-01 2.63989803e-01 1.67110431e-02 2.74122518e+02] [-2.63950237e-01 9.64525471e-01 -4.57040196e-03 -6.51730762e+01] [-1.73247663e-02 -3.27637230e-06 9.99849915e-01 -7.00433610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.878623853 meters 0.017298346164202755 Centerline is valid? [True, True] Translation: X:274.15, Y:-65.18, Z:-7.00 [[ 9.64700656e-01 2.62788679e-01 1.71684006e-02 2.74148744e+02] [-2.62746760e-01 9.64853414e-01 -4.69366564e-03 -6.51830375e+01] [-1.77984321e-02 1.70406937e-05 9.99841595e-01 -7.00459034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.908623853 meters 0.017298496616082445 Centerline is valid? [True, True] Translation: X:274.17, Y:-65.19, Z:-7.00 [[ 9.64861297e-01 2.62167463e-01 1.76323269e-02 2.74174588e+02] [-2.62123156e-01 9.65022394e-01 -4.81980685e-03 -6.51908316e+01] [-1.82791868e-02 2.86039257e-05 9.99832921e-01 -7.00488197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.938623853 meters 0.017139632126379575 Centerline is valid? [True, True] Translation: X:274.20, Y:-65.20, Z:-7.00 [[ 9.65013867e-01 2.61576907e-01 1.80487819e-02 2.74201671e+02] [-2.61530432e-01 9.65182636e-01 -4.93081678e-03 -6.51986682e+01] [-1.87101587e-02 3.80008469e-05 9.99824949e-01 -7.00355178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.968623853 meters 0.01713482537155874 Centerline is valid? [True, True] Translation: X:274.23, Y:-65.21, Z:-7.00 [[ 9.65164885e-01 2.60986743e-01 1.85111850e-02 2.74228845e+02] [-2.60937775e-01 9.65342384e-01 -5.05571124e-03 -6.52071184e+01] [-1.91891050e-02 4.93275428e-05 9.99815871e-01 -7.00389716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.998623853 meters 0.01756253338886569 Centerline is valid? [True, True] Translation: X:274.26, Y:-65.22, Z:-7.01 [[ 9.65600564e-01 2.59384601e-01 1.83079185e-02 2.74255417e+02] [-2.59336443e-01 9.65774105e-01 -4.99867230e-03 -6.52185200e+01] [-1.89778922e-02 7.88103337e-05 9.99819900e-01 -7.00520902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.028623853 meters 0.018047484387531166 Centerline is valid? [True, True] Translation: X:274.28, Y:-65.23, Z:-7.01 [[ 9.65897852e-01 2.58281282e-01 1.82241329e-02 2.74281816e+02] [-2.58233384e-01 9.66069754e-01 -4.97495176e-03 -6.52285010e+01] [-1.88907205e-02 9.92157150e-05 9.99821549e-01 -7.00634328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.05862385300003 meters 0.018631579338868484 Centerline is valid? [True, True] Translation: X:274.31, Y:-65.24, Z:-7.01 [[ 9.66314746e-01 2.56728709e-01 1.80605225e-02 2.74308682e+02] [-2.56681418e-01 9.66483499e-01 -4.92908599e-03 -6.52393784e+01] [-1.87206349e-02 1.27247946e-04 9.99824745e-01 -7.00719688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.088623853 meters 0.022141218551269142 Centerline is valid? [True, True] Translation: X:274.33, Y:-65.26, Z:-7.01 [[ 9.67288339e-01 2.53004719e-01 1.84900537e-02 2.74332268e+02] [-2.52954488e-01 9.67465023e-01 -5.04543085e-03 -6.52582101e+01] [-1.91649981e-02 2.03244354e-04 9.99816314e-01 -7.00908412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.11862385300003 meters 0.0214326776238032 Centerline is valid? [True, True] Translation: X:274.36, Y:-65.27, Z:-7.01 [[ 9.67772986e-01 2.51119743e-01 1.88234462e-02 2.74360232e+02] [-2.51067351e-01 9.67955999e-01 -5.13515382e-03 -6.52669317e+01] [-1.95098062e-02 2.43710365e-04 9.99809636e-01 -7.00720123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.148623853 meters 0.024876589238207486 Centerline is valid? [True, True] Translation: X:274.38, Y:-65.28, Z:-7.01 [[ 9.68476888e-01 2.48319113e-01 1.97518353e-02 2.74384100e+02] [-2.48260864e-01 9.68678233e-01 -5.38738735e-03 -6.52841976e+01] [-2.04709641e-02 3.13952457e-04 9.99790399e-01 -7.00672052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.17862385300003 meters 0.025785527504216126 Centerline is valid? [True, True] Translation: X:274.41, Y:-65.30, Z:-7.01 [[ 9.68734015e-01 2.47305896e-01 1.98545399e-02 2.74410710e+02] [-2.47246855e-01 9.68937398e-01 -5.41403546e-03 -6.52959129e+01] [-2.05767291e-02 3.35787770e-04 9.99788220e-01 -7.00728093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.208623853 meters 0.0292828901371021 Centerline is valid? [True, True] Translation: X:274.44, Y:-65.31, Z:-7.01 [[ 9.69016373e-01 2.46196344e-01 1.98652953e-02 2.74435539e+02] [-2.46137025e-01 9.69219909e-01 -5.41605546e-03 -6.53109497e+01] [-2.05872527e-02 3.58661744e-04 9.99787996e-01 -7.00974680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.23862385300004 meters 0.030656817369431662 Centerline is valid? [True, True] Translation: X:274.46, Y:-65.33, Z:-7.01 [[ 9.69265768e-01 2.45254186e-01 1.93456870e-02 2.74460067e+02] [-2.45197764e-01 9.69458740e-01 -5.27323906e-03 -6.53256782e+01] [-2.00481293e-02 3.67650908e-04 9.99798948e-01 -7.01137448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.268623853 meters 0.02629970772718976 Centerline is valid? [True, True] Translation: X:274.49, Y:-65.33, Z:-7.01 [[ 9.69200889e-01 2.45515011e-01 1.92877337e-02 2.74489126e+02] [-2.45459001e-01 9.69392722e-01 -5.25633359e-03 -6.53294077e+01] [-1.99878975e-02 3.60095330e-04 9.99800157e-01 -7.01050186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.29862385300004 meters 0.027588543032982363 Centerline is valid? [True, True] Translation: X:274.52, Y:-65.34, Z:-7.01 [[ 9.69134216e-01 2.45799047e-01 1.90183958e-02 2.74515198e+02] [-2.45744664e-01 9.69320745e-01 -5.18199153e-03 -6.53413127e+01] [-1.97086541e-02 3.48376015e-04 9.99805705e-01 -7.01253675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.328623853 meters 0.02537898280393766 Centerline is valid? [True, True] Translation: X:274.54, Y:-65.35, Z:-7.01 [[ 9.68859320e-01 2.46915341e-01 1.85589164e-02 2.74542290e+02] [-2.46863776e-01 9.69037003e-01 -5.05589178e-03 -6.53510712e+01] [-1.92326540e-02 3.16923680e-04 9.99814985e-01 -7.01340983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.35862385300004 meters 0.026116771526422392 Centerline is valid? [True, True] Translation: X:274.57, Y:-65.36, Z:-7.02 [[ 9.68655467e-01 2.47745490e-01 1.81316737e-02 2.74567829e+02] [-2.47696433e-01 9.68825106e-01 -4.93869885e-03 -6.53616339e+01] [-1.87899611e-02 2.92746737e-04 9.99823410e-01 -7.01541920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.388623853 meters 0.022926885050149576 Centerline is valid? [True, True] Translation: X:274.60, Y:-65.37, Z:-7.02 [[ 9.68079480e-01 2.49986131e-01 1.81398710e-02 2.74595681e+02] [-2.49937445e-01 9.68249386e-01 -4.93972772e-03 -6.53688930e+01] [-1.87987824e-02 2.48216048e-04 9.99823256e-01 -7.01618163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.41862385300004 meters 0.023281018518594328 Centerline is valid? [True, True] Translation: X:274.62, Y:-65.38, Z:-7.02 [[ 9.67824141e-01 2.50965169e-01 1.82459843e-02 2.74621863e+02] [-2.50916100e-01 9.67996091e-01 -4.96783352e-03 -6.53792011e+01] [-1.89087946e-02 2.29777993e-04 9.99821186e-01 -7.01792095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.448623853 meters 0.022141704788855705 Centerline is valid? [True, True] Translation: X:274.65, Y:-65.39, Z:-7.02 [[ 9.67468653e-01 2.52338271e-01 1.81604548e-02 2.74648465e+02] [-2.52289928e-01 9.67639063e-01 -4.94320537e-03 -6.53871767e+01] [-1.88201254e-02 2.00696409e-04 9.99822866e-01 -7.01892903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.47862385300004 meters 0.022141704788855705 Centerline is valid? [True, True] Translation: X:274.68, Y:-65.39, Z:-7.02 [[ 9.67485094e-01 2.52275210e-01 1.81607063e-02 2.74675029e+02] [-2.52226873e-01 9.67655506e-01 -4.94228131e-03 -6.53942591e+01] [-1.88201225e-02 2.00965344e-04 9.99822866e-01 -7.01962052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.508623853 meters 0.019475186618907212 Centerline is valid? [True, True] Translation: X:274.70, Y:-65.40, Z:-7.02 [[ 9.66609553e-01 2.55583450e-01 1.85222055e-02 2.74703176e+02] [-2.55533805e-01 9.66786988e-01 -5.03919496e-03 -6.54009930e+01] [-1.91949621e-02 1.37884333e-04 9.99815750e-01 -7.01914763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.53862385300005 meters 0.017739140769093387 Centerline is valid? [True, True] Translation: X:274.73, Y:-65.41, Z:-7.02 [[ 9.66013256e-01 2.57791222e-01 1.90282775e-02 2.74731823e+02] [-2.57739272e-01 9.66200640e-01 -5.17597445e-03 -6.54057453e+01] [-1.97194547e-02 9.57255330e-05 9.99805548e-01 -7.01796838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.568623853 meters 0.01649921170166792 Centerline is valid? [True, True] Translation: X:274.76, Y:-65.41, Z:-7.02 [[ 9.64476303e-01 2.63435429e-01 1.96783101e-02 2.74760555e+02] [-2.63381061e-01 9.64677031e-01 -5.35184664e-03 -6.54070746e+01] [-2.03930798e-02 -2.11649308e-05 9.99792039e-01 -7.01744443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.59862385300005 meters 0.0175398024148761 Centerline is valid? [True, True] Translation: X:274.79, Y:-65.41, Z:-7.02 [[ 9.63680655e-01 2.66352019e-01 1.93958127e-02 2.74788724e+02] [-2.66299815e-01 9.63875819e-01 -5.27385738e-03 -6.54106125e+01] [-2.00998574e-02 -8.27870004e-05 9.99797974e-01 -7.01950598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.628623853 meters 0.018798338548873823 Centerline is valid? [True, True] Translation: X:274.82, Y:-65.42, Z:-7.02 [[ 9.62922852e-01 2.69092044e-01 1.92107401e-02 2.74817252e+02] [-2.69041401e-01 9.63114454e-01 -5.22232580e-03 -6.54157541e+01] [-1.99074278e-02 -1.39787570e-04 9.99801818e-01 -7.02008247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.658623853 meters 0.02256814690926889 Centerline is valid? [True, True] Translation: X:274.85, Y:-65.42, Z:-7.02 [[ 9.61599778e-01 2.73818513e-01 1.86892847e-02 2.74845430e+02] [-2.73771487e-01 9.61781352e-01 -5.07983205e-03 -6.54165975e+01] [-1.93659575e-02 -2.31827894e-04 9.99812435e-01 -7.02170866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.688623853 meters 0.02398538098731535 Centerline is valid? [True, True] Translation: X:274.87, Y:-65.42, Z:-7.02 [[ 9.61173548e-01 2.75315555e-01 1.86213813e-02 2.74873828e+02] [-2.75269167e-01 9.61353877e-01 -5.06058577e-03 -6.54221185e+01] [-1.92949951e-02 -2.61790929e-04 9.99813800e-01 -7.02298559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.718623853 meters 0.025247337830357038 Centerline is valid? [True, True] Translation: X:274.90, Y:-65.43, Z:-7.02 [[ 9.60899937e-01 2.76288853e-01 1.83243480e-02 2.74901963e+02] [-2.76244166e-01 9.61074603e-01 -4.97687103e-03 -6.54283605e+01] [-1.89861195e-02 -2.79719168e-04 9.99819708e-01 -7.02480943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.748623853 meters 0.025423812676034944 Centerline is valid? [True, True] Translation: X:274.93, Y:-65.44, Z:-7.03 [[ 9.60822192e-01 2.76583324e-01 1.79549379e-02 2.74929448e+02] [-2.76540540e-01 9.60989898e-01 -4.87289629e-03 -6.54383189e+01] [-1.86022758e-02 -2.83281334e-04 9.99826923e-01 -7.02635066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.778623853 meters 0.02304996603758928 Centerline is valid? [True, True] Translation: X:274.96, Y:-65.45, Z:-7.03 [[ 9.61022489e-01 2.75882764e-01 1.80132306e-02 2.74956253e+02] [-2.75839594e-01 9.61191254e-01 -4.88787673e-03 -6.54505087e+01] [-1.86626407e-02 -2.71402755e-04 9.99825801e-01 -7.02612260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.80862385300003 meters 0.022049535380235137 Centerline is valid? [True, True] Translation: X:274.98, Y:-65.46, Z:-7.03 [[ 9.61643497e-01 2.73706841e-01 1.80651443e-02 2.74981853e+02] [-2.73663054e-01 9.61813138e-01 -4.90111859e-03 -6.54627889e+01] [-1.87167629e-02 -2.30633753e-04 9.99824799e-01 -7.02752765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.838623853 meters 0.020734936022230067 Centerline is valid? [True, True] Translation: X:275.01, Y:-65.47, Z:-7.03 [[ 9.62048752e-01 2.72273818e-01 1.81429602e-02 2.75008927e+02] [-2.72229422e-01 9.62219791e-01 -4.92091846e-03 -6.54749574e+01] [-1.87973526e-02 -2.04884113e-04 9.99823293e-01 -7.02758795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.86862385300003 meters 0.01960166885940597 Centerline is valid? [True, True] Translation: X:275.04, Y:-65.49, Z:-7.03 [[ 9.62430185e-01 2.70902911e-01 1.84323745e-02 2.75035454e+02] [-2.70856848e-01 9.62606659e-01 -4.99877963e-03 -6.54861799e+01] [-1.90973104e-02 -1.81558471e-04 9.99817613e-01 -7.02741779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.898623853 meters 0.019132283800759476 Centerline is valid? [True, True] Translation: X:275.06, Y:-65.50, Z:-7.03 [[ 9.62779991e-01 2.69625918e-01 1.88826092e-02 2.75061389e+02] [-2.69577349e-01 9.62965128e-01 -5.12004577e-03 -6.54956535e+01] [-1.95637913e-02 -1.60846117e-04 9.99808598e-01 -7.02801125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.92862385300003 meters 0.017562329087508453 Centerline is valid? [True, True] Translation: X:275.09, Y:-65.51, Z:-7.03 [[ 9.63496645e-01 2.67009712e-01 1.94943191e-02 2.75087226e+02] [-2.66957445e-01 9.63693832e-01 -5.28409084e-03 -6.55096469e+01] [-2.01974586e-02 -1.12949821e-04 9.99796004e-01 -7.02740153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.958623853 meters 0.017231018224883855 Centerline is valid? [True, True] Translation: X:275.11, Y:-65.52, Z:-7.03 [[ 9.63849019e-01 2.65727138e-01 1.95999030e-02 2.75113339e+02] [-2.65674058e-01 9.64048277e-01 -5.31176623e-03 -6.55202602e+01] [-2.03067331e-02 -8.74450811e-05 9.99793793e-01 -7.02772127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.98862385300004 meters 0.016934668368065366 Centerline is valid? [True, True] Translation: X:275.14, Y:-65.53, Z:-7.03 [[ 9.64127468e-01 2.64694040e-01 1.98818941e-02 2.75140478e+02] [-2.64639228e-01 9.64332443e-01 -5.38685916e-03 -6.55309842e+01] [-2.05986251e-02 -6.79102317e-05 9.99787824e-01 -7.02832755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.018623853 meters 0.016598633692547483 Centerline is valid? [True, True] Translation: X:275.17, Y:-65.54, Z:-7.03 [[ 9.64650954e-01 2.62777063e-01 1.99186549e-02 2.75165452e+02] [-2.62721659e-01 9.64856577e-01 -5.39586890e-03 -6.55441307e+01] [-2.06365557e-02 -2.79319819e-05 9.99787043e-01 -7.02885201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.04862385300004 meters 0.01658214944073661 Centerline is valid? [True, True] Translation: X:275.19, Y:-65.55, Z:-7.03 [[ 9.64924348e-01 2.61777977e-01 1.98316467e-02 2.75191403e+02] [-2.61722871e-01 9.65128121e-01 -5.37105737e-03 -6.55542206e+01] [-2.05461044e-02 -7.73147825e-06 9.99788906e-01 -7.03002835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.078623853 meters 0.01661765448318926 Centerline is valid? [True, True] Translation: X:275.22, Y:-65.57, Z:-7.03 [[ 9.65425338e-01 2.59923968e-01 1.98355115e-02 2.75217273e+02] [-2.59868475e-01 9.65629085e-01 -5.37083600e-03 -6.55682247e+01] [-2.05497559e-02 3.05170232e-05 9.99788831e-01 -7.03083593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.10862385300004 meters 0.016727160414929824 Centerline is valid? [True, True] Translation: X:275.24, Y:-65.58, Z:-7.03 [[ 9.65594220e-01 2.59268875e-01 2.01854651e-02 2.75243996e+02] [-2.59211285e-01 9.65805181e-01 -5.46457393e-03 -6.55785752e+01] [-2.09120207e-02 4.42606551e-05 9.99781319e-01 -7.03101209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.138623853 meters 0.016903111271105154 Centerline is valid? [True, True] Translation: X:275.27, Y:-65.59, Z:-7.03 [[ 9.65739659e-01 2.58719865e-01 2.02717210e-02 2.75269987e+02] [-2.58661680e-01 9.65952394e-01 -5.48696902e-03 -6.55885030e+01] [-2.10011053e-02 5.54661711e-05 9.99779451e-01 -7.03156812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.16862385300004 meters 0.01678566429508413 Centerline is valid? [True, True] Translation: X:275.30, Y:-65.60, Z:-7.03 [[ 9.65926427e-01 2.58002620e-01 2.05130440e-02 2.75297798e+02] [-2.57942910e-01 9.66144214e-01 -5.55087979e-03 -6.56011424e+01] [-2.12507003e-02 7.05472353e-05 9.99774176e-01 -7.03133233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.198623853 meters 0.01676119105353229 Centerline is valid? [True, True] Translation: X:275.33, Y:-65.61, Z:-7.03 [[ 9.65901183e-01 2.58089119e-01 2.06133608e-02 2.75326137e+02] [-2.58028854e-01 9.66121112e-01 -5.57749282e-03 -6.56106433e+01] [-2.13544933e-02 6.84650560e-05 9.99771964e-01 -7.03178312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.22862385300004 meters 0.016712105214767552 Centerline is valid? [True, True] Translation: X:275.35, Y:-65.62, Z:-7.03 [[ 9.65842896e-01 2.58306140e-01 2.06261410e-02 2.75354944e+02] [-2.58245861e-01 9.66063111e-01 -5.58042118e-03 -6.56196238e+01] [-2.13676110e-02 6.31946107e-05 9.99771685e-01 -7.03227527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.258623853 meters 0.016600975341872243 Centerline is valid? [True, True] Translation: X:275.38, Y:-65.63, Z:-7.03 [[ 9.65552865e-01 2.59433443e-01 2.00487770e-02 2.75382446e+02] [-2.59376744e-01 9.65760989e-01 -5.42376960e-03 -6.56285301e+01] [-2.07694339e-02 3.67497940e-05 9.99784291e-01 -7.03470448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.28862385300005 meters 0.016487563417605353 Centerline is valid? [True, True] Translation: X:275.41, Y:-65.64, Z:-7.04 [[ 9.65375862e-01 2.60091371e-01 2.00480520e-02 2.75410870e+02] [-2.60034835e-01 9.65584009e-01 -5.42275227e-03 -6.56361787e+01] [-2.07684895e-02 2.18022490e-05 9.99784311e-01 -7.03525558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.318623853 meters 0.016402415661622826 Centerline is valid? [True, True] Translation: X:275.44, Y:-65.64, Z:-7.04 [[ 9.65159708e-01 2.60914769e-01 1.97540066e-02 2.75439010e+02] [-2.60860062e-01 9.65361841e-01 -5.34273274e-03 -6.56434950e+01] [-2.04637620e-02 3.55899414e-06 9.99790595e-01 -7.03633481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.34862385300005 meters 0.016661690570713927 Centerline is valid? [True, True] Translation: X:275.47, Y:-65.65, Z:-7.04 [[ 9.64644078e-01 2.62844316e-01 1.93563665e-02 2.75467066e+02] [-2.62792186e-01 9.64838258e-01 -5.23476199e-03 -6.56504675e+01] [-2.00516903e-02 -3.70197076e-05 9.99798944e-01 -7.03845008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.378623853 meters 0.024235766177811577 Centerline is valid? [True, True] Translation: X:275.50, Y:-65.66, Z:-7.03 [[ 9.64183117e-01 2.64564042e-01 1.88887514e-02 2.75495353e+02] [-2.64514749e-01 9.64368116e-01 -5.10737540e-03 -6.56559719e+01] [-1.95669375e-02 -7.19081988e-05 9.99808547e-01 -7.03258951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.408623853 meters 0.017241122586304933 Centerline is valid? [True, True] Translation: X:275.52, Y:-65.66, Z:-7.04 [[ 9.63963244e-01 2.65329180e-01 1.93723986e-02 2.75522152e+02] [-2.65277502e-01 9.64157880e-01 -5.23724552e-03 -6.56630427e+01] [-2.00676449e-02 -9.05493352e-05 9.99798620e-01 -7.03956699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.438623853 meters 0.018514957865903788 Centerline is valid? [True, True] Translation: X:275.55, Y:-65.67, Z:-7.04 [[ 9.63184464e-01 2.68110431e-01 1.98112531e-02 2.75549465e+02] [-2.68057005e-01 9.63388174e-01 -5.35431359e-03 -6.56669013e+01] [-2.05214743e-02 -1.53353510e-04 9.99789401e-01 -7.03916310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.468623853 meters 0.018560882262280604 Centerline is valid? [True, True] Translation: X:275.58, Y:-65.67, Z:-7.04 [[ 9.62793317e-01 2.69500985e-01 1.99561762e-02 2.75578026e+02] [-2.69447093e-01 9.63000096e-01 -5.39249328e-03 -6.56749029e+01] [-2.06710819e-02 -1.85277189e-04 9.99786313e-01 -7.03890198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.498623853 meters 0.02046018437963927 Centerline is valid? [True, True] Translation: X:275.61, Y:-65.68, Z:-7.04 [[ 9.62423506e-01 2.70818990e-01 1.99516965e-02 2.75607117e+02] [-2.70765416e-01 9.62630266e-01 -5.39080605e-03 -6.56781542e+01] [-2.06660396e-02 -2.13990942e-04 9.99786412e-01 -7.04001167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.528623853 meters 0.022735559615395494 Centerline is valid? [True, True] Translation: X:275.63, Y:-65.68, Z:-7.04 [[ 9.61690388e-01 2.73358919e-01 2.06518591e-02 2.75634804e+02] [-2.73302119e-01 9.61912066e-01 -5.57924590e-03 -6.56806839e+01] [-2.13904091e-02 -2.78689703e-04 9.99771160e-01 -7.03935025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.55862385300003 meters 0.022736654248706082 Centerline is valid? [True, True] Translation: X:275.66, Y:-65.69, Z:-7.04 [[ 9.61341278e-01 2.74545647e-01 2.11573769e-02 2.75662477e+02] [-2.74486356e-01 9.61574016e-01 -5.71417532e-03 -6.56879373e+01] [-2.19131858e-02 -3.14138671e-04 9.99759828e-01 -7.03923898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.588623853 meters 0.026363395788149932 Centerline is valid? [True, True] Translation: X:275.69, Y:-65.69, Z:-7.04 [[ 9.60591890e-01 2.77132459e-01 2.14667484e-02 2.75691328e+02] [-2.77072088e-01 9.60831648e-01 -5.79671012e-03 -6.56874630e+01] [-2.22323878e-02 -3.79564080e-04 9.99752758e-01 -7.03922701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.61862385300003 meters 0.027664995416065714 Centerline is valid? [True, True] Translation: X:275.72, Y:-65.69, Z:-7.04 [[ 9.60253747e-01 2.78305690e-01 2.14169051e-02 2.75719942e+02] [-2.78245929e-01 9.60492466e-01 -5.78152699e-03 -6.56916299e+01] [-2.21798079e-02 -4.07433698e-04 9.99753915e-01 -7.04010300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.648623853 meters 0.026513999812465855 Centerline is valid? [True, True] Translation: X:275.75, Y:-65.70, Z:-7.04 [[ 9.59910380e-01 2.79501514e-01 2.12359754e-02 2.75747999e+02] [-2.79443073e-01 9.60145154e-01 -5.73168736e-03 -6.56996638e+01] [-2.19916342e-02 -4.32340032e-04 9.99758061e-01 -7.04079656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.67862385300003 meters 0.029268422427723574 Centerline is valid? [True, True] Translation: X:275.78, Y:-65.70, Z:-7.04 [[ 9.59430057e-01 2.81196283e-01 2.05576227e-02 2.75776729e+02] [-2.81141926e-01 9.59650166e-01 -5.54762926e-03 -6.56997212e+01] [-2.12880988e-02 -4.57047383e-04 9.99773278e-01 -7.04295101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.708623853 meters 0.028564201937454167 Centerline is valid? [True, True] Translation: X:275.81, Y:-65.71, Z:-7.04 [[ 9.59329378e-01 2.81533651e-01 2.06384841e-02 2.75805052e+02] [-2.81478972e-01 9.59551241e-01 -5.56807955e-03 -6.57058499e+01] [-2.13712848e-02 -4.67676998e-04 9.99771499e-01 -7.04401807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.73862385300004 meters 0.028755671466789774 Centerline is valid? [True, True] Translation: X:275.83, Y:-65.71, Z:-7.04 [[ 9.59261016e-01 2.81789620e-01 2.03202742e-02 2.75833147e+02] [-2.81736694e-01 9.59476103e-01 -5.48121487e-03 -6.57105588e+01] [-2.10413669e-02 -4.67051121e-04 9.99778497e-01 -7.04495795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.768623853 meters 0.029789720370898845 Centerline is valid? [True, True] Translation: X:275.86, Y:-65.71, Z:-7.05 [[ 9.59194913e-01 2.82036197e-01 2.00175362e-02 2.75861768e+02] [-2.81984910e-01 9.59403651e-01 -5.39860081e-03 -6.57116135e+01] [-2.07274982e-02 -4.66332709e-04 9.99785054e-01 -7.04659341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.79862385300004 meters 0.030395270788324383 Centerline is valid? [True, True] Translation: X:275.89, Y:-65.72, Z:-7.05 [[ 9.59269706e-01 2.81798530e-01 1.97792697e-02 2.75888828e+02] [-2.81748424e-01 9.59473491e-01 -5.33340384e-03 -6.57152838e+01] [-2.04806303e-02 -4.56605334e-04 9.99790146e-01 -7.04751427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.828623853 meters 0.029438252518630886 Centerline is valid? [True, True] Translation: X:275.92, Y:-65.72, Z:-7.05 [[ 9.59469569e-01 2.81141052e-01 1.94385108e-02 2.75917294e+02] [-2.81092582e-01 9.59666357e-01 -5.23863886e-03 -6.57191106e+01] [-2.01272813e-02 -4.37706619e-04 9.99797330e-01 -7.04877701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.85862385300004 meters 0.02857848307808999 Centerline is valid? [True, True] Translation: X:275.95, Y:-65.72, Z:-7.05 [[ 9.59700728e-01 2.80329886e-01 1.97399852e-02 2.75945192e+02] [-2.80279749e-01 9.59903626e-01 -5.31888362e-03 -6.57249058e+01] [-2.04395254e-02 -4.28181618e-04 9.99790999e-01 -7.04889449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.888623853 meters 0.028472245553111005 Centerline is valid? [True, True] Translation: X:275.97, Y:-65.73, Z:-7.05 [[ 9.59894665e-01 2.79653582e-01 1.99024021e-02 2.75972412e+02] [-2.79602491e-01 9.60100880e-01 -5.36169627e-03 -6.57293713e+01] [-2.06077313e-02 -4.18097564e-04 9.99787551e-01 -7.04910868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.91862385300004 meters 0.026850278610853137 Centerline is valid? [True, True] Translation: X:276.00, Y:-65.73, Z:-7.05 [[ 9.60456451e-01 2.77648727e-01 2.08468279e-02 2.76000064e+02] [-2.77592229e-01 9.60682585e-01 -5.61475645e-03 -6.57327090e+01] [-2.15861145e-02 -3.94188365e-04 9.99766915e-01 -7.04760247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.948623853 meters 0.024728877936812603 Centerline is valid? [True, True] Translation: X:276.03, Y:-65.74, Z:-7.05 [[ 9.60857561e-01 2.76239127e-01 2.10877055e-02 2.76027406e+02] [-2.76181006e-01 9.61088866e-01 -5.67828313e-03 -6.57404367e+01] [-2.18357229e-02 -3.68002429e-04 9.99761504e-01 -7.04788496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.97862385300004 meters 0.03295756468841303 Centerline is valid? [True, True] Translation: X:276.06, Y:-65.74, Z:-7.04 [[ 9.61163550e-01 2.75229004e-01 2.03377700e-02 2.76055486e+02] [-2.75174734e-01 9.61378637e-01 -5.47552709e-03 -6.57441078e+01] [-2.10593214e-02 -3.33563393e-04 9.99778172e-01 -7.04158146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.008623853 meters 0.02184052880853958 Centerline is valid? [True, True] Translation: X:276.08, Y:-65.75, Z:-7.05 [[ 9.62173899e-01 2.71675137e-01 2.03472106e-02 2.76083309e+02] [-2.71620065e-01 9.62388982e-01 -5.47601908e-03 -6.57513113e+01] [-2.10696295e-02 -2.57828038e-04 9.99777977e-01 -7.05114793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.03862385300005 meters 0.02096765401662154 Centerline is valid? [True, True] Translation: X:276.11, Y:-65.76, Z:-7.05 [[ 9.62750219e-01 2.69643953e-01 2.01036079e-02 2.76110286e+02] [-2.69589768e-01 9.62960069e-01 -5.40953337e-03 -6.57576821e+01] [-2.08176196e-02 -2.11697563e-04 9.99783267e-01 -7.05284580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.068623853 meters 0.01803422953097672 Centerline is valid? [True, True] Translation: X:276.14, Y:-65.77, Z:-7.05 [[ 9.64017709e-01 2.65045212e-01 2.05156448e-02 2.76136768e+02] [-2.64987768e-01 9.64235979e-01 -5.51911389e-03 -6.57673794e+01] [-2.12447375e-02 -1.15871384e-04 9.99774298e-01 -7.05322386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.09862385300005 meters 0.017087313943313965 Centerline is valid? [True, True] Translation: X:276.16, Y:-65.78, Z:-7.05 [[ 9.64771423e-01 2.62293343e-01 2.04524518e-02 2.76163759e+02] [-2.62235660e-01 9.64988186e-01 -5.50086747e-03 -6.57771727e+01] [-2.11792153e-02 -5.62824529e-05 9.99775694e-01 -7.05356837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.128623853 meters 0.0166952102750997 Centerline is valid? [True, True] Translation: X:276.19, Y:-65.79, Z:-7.05 [[ 9.65537735e-01 2.59453996e-01 2.05062617e-02 2.76190754e+02] [-2.59395389e-01 9.65755468e-01 -5.51435714e-03 -6.57872969e+01] [-2.12347563e-02 5.09018250e-06 9.99774517e-01 -7.05434006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.158623853 meters 0.01856861398090238 Centerline is valid? [True, True] Translation: X:276.22, Y:-65.80, Z:-7.05 [[ 9.67164286e-01 2.53309476e-01 2.06773838e-02 2.76216154e+02] [-2.53248502e-01 9.67385285e-01 -5.55937681e-03 -6.58006303e+01] [-2.14112396e-02 1.40314244e-04 9.99770743e-01 -7.05460239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.188623853 meters 0.02029693499731196 Centerline is valid? [True, True] Translation: X:276.24, Y:-65.81, Z:-7.05 [[ 9.68038442e-01 2.49939967e-01 2.07746939e-02 2.76243378e+02] [-2.49877670e-01 9.68261311e-01 -5.58419914e-03 -6.58109595e+01] [-2.15110469e-02 2.14587312e-04 9.99768588e-01 -7.05478518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.218623853 meters 0.023702798381199566 Centerline is valid? [True, True] Translation: X:276.27, Y:-65.82, Z:-7.06 [[ 9.68878702e-01 2.46684428e-01 2.05147166e-02 2.76268444e+02] [-2.46622971e-01 9.69095823e-01 -5.51335987e-03 -6.58234231e+01] [-2.12407862e-02 2.82376611e-04 9.99774349e-01 -7.05643327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.248623853 meters 0.027313883908306448 Centerline is valid? [True, True] Translation: X:276.29, Y:-65.84, Z:-7.06 [[ 9.69691405e-01 2.43501018e-01 2.01453280e-02 2.76294106e+02] [-2.43441092e-01 9.69900580e-01 -5.41287113e-03 -6.58359625e+01] [-2.08570049e-02 3.44613964e-04 9.99782410e-01 -7.05789773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.278623853 meters 0.03177644148633251 Centerline is valid? [True, True] Translation: X:276.32, Y:-65.84, Z:-7.05 [[ 9.71009829e-01 2.38290323e-01 1.89111975e-02 2.76323379e+02] [-2.38236552e-01 9.71193873e-01 -5.07998573e-03 -6.58444807e+01] [-1.95769505e-02 4.27377608e-04 9.99808262e-01 -7.05221777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.30862385300003 meters 0.03315416350971281 Centerline is valid? [True, True] Translation: X:276.35, Y:-65.86, Z:-7.06 [[ 9.71716134e-01 2.35333155e-01 1.96484469e-02 2.76349857e+02] [-2.35274511e-01 9.71914631e-01 -5.27769687e-03 -6.58584752e+01] [-2.03386301e-02 5.05644469e-04 9.99793021e-01 -7.05902265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.338623853 meters 0.03315416350971281 Centerline is valid? [True, True] Translation: X:276.38, Y:-65.87, Z:-7.06 [[ 9.71721550e-01 2.35310795e-01 1.96484121e-02 2.76378037e+02] [-2.35252143e-01 9.71920045e-01 -5.27782647e-03 -6.58659984e+01] [-2.03386151e-02 5.06246656e-04 9.99793021e-01 -7.05975637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.36862385300003 meters 0.036218105566306 Centerline is valid? [True, True] Translation: X:276.40, Y:-65.88, Z:-7.06 [[ 9.72190719e-01 2.33345721e-01 1.98740887e-02 2.76404974e+02] [-2.33285320e-01 9.72393680e-01 -5.33769626e-03 -6.58779789e+01] [-2.05709668e-02 5.52925638e-04 9.99788242e-01 -7.06018085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.398623853 meters 0.03995322881010716 Centerline is valid? [True, True] Translation: X:276.43, Y:-65.89, Z:-7.06 [[ 9.72910787e-01 2.30316181e-01 1.99764090e-02 2.76431716e+02] [-2.30254503e-01 9.73115651e-01 -5.36589043e-03 -6.58911531e+01] [-2.06752077e-02 6.20874553e-04 9.99786052e-01 -7.05974822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.42862385300003 meters 0.040106497653608526 Centerline is valid? [True, True] Translation: X:276.46, Y:-65.90, Z:-7.06 [[ 9.73141580e-01 2.29325119e-01 2.01359065e-02 2.76460933e+02] [-2.29262230e-01 9.73349665e-01 -5.40919325e-03 -6.58997553e+01] [-2.08397417e-02 6.47508039e-04 9.99782619e-01 -7.06082653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.458623853 meters 0.039121776701620446 Centerline is valid? [True, True] Translation: X:276.49, Y:-65.91, Z:-7.06 [[ 9.73456195e-01 2.27979113e-01 2.02128918e-02 2.76490939e+02] [-2.27915455e-01 9.73665786e-01 -5.42977121e-03 -6.59084494e+01] [-2.09184756e-02 6.78814002e-04 9.99780954e-01 -7.06087751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.48862385300004 meters 0.036319376309591485 Centerline is valid? [True, True] Translation: X:276.52, Y:-65.91, Z:-7.06 [[ 9.73462312e-01 2.27954127e-01 2.02000852e-02 2.76523547e+02] [-2.27890549e-01 9.73671636e-01 -5.42607836e-03 -6.59147015e+01] [-2.09051470e-02 6.78674287e-04 9.99781233e-01 -7.06081570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.518623853 meters 0.04037692209451519 Centerline is valid? [True, True] Translation: X:276.55, Y:-65.93, Z:-7.06 [[ 9.73417234e-01 2.28153120e-01 2.01256821e-02 2.76552306e+02] [-2.28089962e-01 9.73625029e-01 -5.41039580e-03 -6.59298830e+01] [-2.08292665e-02 6.76106450e-04 9.99782819e-01 -7.06251466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.54862385300004 meters 0.0409197746814205 Centerline is valid? [True, True] Translation: X:276.58, Y:-65.94, Z:-7.06 [[ 9.73412800e-01 2.28158638e-01 2.02769817e-02 2.76582364e+02] [-2.28094429e-01 9.73623729e-01 -5.45581219e-03 -6.59399176e+01] [-2.09869412e-02 6.85690873e-04 9.99779515e-01 -7.06273911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.578623853 meters 0.04056655433288043 Centerline is valid? [True, True] Translation: X:276.61, Y:-65.95, Z:-7.06 [[ 9.73375467e-01 2.28332707e-01 2.01090851e-02 2.76612579e+02] [-2.28269597e-01 9.73582928e-01 -5.41050468e-03 -6.59512174e+01] [-2.08132571e-02 6.76159771e-04 9.99783152e-01 -7.06462763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.60862385300004 meters 0.03866228360548313 Centerline is valid? [True, True] Translation: X:276.64, Y:-65.96, Z:-7.07 [[ 9.73347991e-01 2.28491462e-01 1.96300772e-02 2.76644481e+02] [-2.28431291e-01 9.73545693e-01 -5.28478211e-03 -6.59597269e+01] [-2.03183047e-02 6.59808167e-04 9.99793344e-01 -7.06534084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.638623853 meters 0.0376430479240267 Centerline is valid? [True, True] Translation: X:276.68, Y:-65.97, Z:-7.07 [[ 9.73282649e-01 2.28805144e-01 1.92117512e-02 2.76676410e+02] [-2.28747495e-01 9.73472030e-01 -5.17597078e-03 -6.59695569e+01] [-1.98863912e-02 6.43042587e-04 9.99802039e-01 -7.06696779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.66862385300004 meters 0.04004854275502464 Centerline is valid? [True, True] Translation: X:276.71, Y:-65.98, Z:-7.06 [[ 9.72908426e-01 2.30518464e-01 1.76190832e-02 2.76705833e+02] [-2.30470187e-01 9.73067789e-01 -4.75081887e-03 -6.59802666e+01] [-1.82397138e-02 5.61438310e-04 9.99833485e-01 -7.06195044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.698623853 meters 0.036693761327141784 Centerline is valid? [True, True] Translation: X:276.74, Y:-65.99, Z:-7.07 [[ 9.72725732e-01 2.31242147e-01 1.82131995e-02 2.76735460e+02] [-2.31190656e-01 9.72896062e-01 -4.91260036e-03 -6.59902917e+01] [-1.88555503e-02 5.67891242e-04 9.99822057e-01 -7.06958231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.72862385300004 meters 0.03493548955242813 Centerline is valid? [True, True] Translation: X:276.77, Y:-66.00, Z:-7.07 [[ 9.72262286e-01 2.33193116e-01 1.80836372e-02 2.76766727e+02] [-2.33142638e-01 9.72430301e-01 -4.88054070e-03 -6.59977782e+01] [-1.87231853e-02 5.29098781e-04 9.99824566e-01 -7.07068468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.758623853 meters 0.030729783331849583 Centerline is valid? [True, True] Translation: X:276.80, Y:-66.00, Z:-7.07 [[ 9.71002567e-01 2.38378368e-01 1.81595417e-02 2.76796627e+02] [-2.38328288e-01 9.71172263e-01 -4.90540684e-03 -6.60028617e+01] [-1.88053861e-02 4.35230148e-04 9.99823068e-01 -7.07047591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.78862385300005 meters 0.02806261742905522 Centerline is valid? [True, True] Translation: X:276.83, Y:-66.01, Z:-7.07 [[ 9.70235335e-01 2.41423301e-01 1.89257568e-02 2.76826730e+02] [-2.41369483e-01 9.70419825e-01 -5.11238325e-03 -6.60087056e+01] [-1.96001780e-02 3.92114744e-04 9.99807821e-01 -7.07026049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.818623853 meters 0.02261584261999802 Centerline is valid? [True, True] Translation: X:276.86, Y:-66.01, Z:-7.07 [[ 9.68573167e-01 2.47912091e-01 2.01398912e-02 2.76856524e+02] [-2.47852544e-01 9.68782493e-01 -5.44045963e-03 -6.60107742e+01] [-2.08599297e-02 2.77759945e-04 9.99782369e-01 -7.06791973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.84862385300005 meters 0.020304528301154003 Centerline is valid? [True, True] Translation: X:276.89, Y:-66.02, Z:-7.07 [[ 9.67784811e-01 2.50926123e-01 2.07036587e-02 2.76886266e+02] [-2.50863895e-01 9.68006216e-01 -5.59221309e-03 -6.60152046e+01] [-2.14445027e-02 2.18258420e-04 9.99770016e-01 -7.06766013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.878623853 meters 0.018716801432271675 Centerline is valid? [True, True] Translation: X:276.91, Y:-66.02, Z:-7.07 [[ 9.67161488e-01 2.53289159e-01 2.10536820e-02 2.76914672e+02] [-2.53225379e-01 9.67390600e-01 -5.68630051e-03 -6.60199194e+01] [-2.18074123e-02 1.68244258e-04 9.99762176e-01 -7.06777144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.908623853 meters 0.01711241397691559 Centerline is valid? [True, True] Translation: X:276.94, Y:-66.02, Z:-7.07 [[ 9.66296170e-01 2.56590507e-01 2.08092416e-02 2.76943256e+02] [-2.56528986e-01 9.66520203e-01 -5.61924043e-03 -6.60246750e+01] [-2.15543962e-02 9.16768543e-05 9.99767673e-01 -7.06910559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.938623853 meters 0.016903179421340883 Centerline is valid? [True, True] Translation: X:276.97, Y:-66.03, Z:-7.07 [[ 9.66039102e-01 2.57566849e-01 2.06826223e-02 2.76970381e+02] [-2.57506320e-01 9.66260479e-01 -5.58403049e-03 -6.60316550e+01] [-2.14230617e-02 6.84858416e-05 9.99770498e-01 -7.07025565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.968623853 meters 0.016703351062612407 Centerline is valid? [True, True] Translation: X:277.00, Y:-66.04, Z:-7.07 [[ 9.65821017e-01 2.58389292e-01 2.06091612e-02 2.76996673e+02] [-2.58329408e-01 9.66040875e-01 -5.56287709e-03 -6.60391210e+01] [-2.13466800e-02 4.87911997e-05 9.99772132e-01 -7.07155030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.998623853 meters 0.016753708562069508 Centerline is valid? [True, True] Translation: X:277.02, Y:-66.05, Z:-7.07 [[ 9.65704034e-01 2.58856775e-01 2.02209924e-02 2.77024344e+02] [-2.58799255e-01 9.65915715e-01 -5.45678646e-03 -6.60472063e+01] [-2.09443005e-02 3.64629188e-05 9.99780643e-01 -7.07317507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.028623853 meters 0.016786233299820166 Centerline is valid? [True, True] Translation: X:277.05, Y:-66.06, Z:-7.08 [[ 9.65366434e-01 2.60186089e-01 1.92574020e-02 2.77050686e+02] [-2.60134203e-01 9.65558491e-01 -5.19590213e-03 -6.60552781e+01] [-1.99460494e-02 6.44060265e-06 9.99801058e-01 -7.07617661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.05862385300003 meters 0.01692099769078649 Centerline is valid? [True, True] Translation: X:277.08, Y:-66.06, Z:-7.08 [[ 9.65128924e-01 2.61083564e-01 1.90139980e-02 2.77078346e+02] [-2.61033177e-01 9.65316203e-01 -5.12911177e-03 -6.60620701e+01] [-1.96936471e-02 -1.30301750e-05 9.99806061e-01 -7.07710722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.088623853 meters 0.01720617289081744 Centerline is valid? [True, True] Translation: X:277.11, Y:-66.07, Z:-7.08 [[ 9.64525597e-01 2.63283291e-01 1.92945726e-02 2.77106457e+02] [-2.63231878e-01 9.64718563e-01 -5.20322593e-03 -6.60668726e+01] [-1.99837548e-02 -6.03019830e-05 9.99800303e-01 -7.07752420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.11862385300003 meters 0.017389507425640896 Centerline is valid? [True, True] Translation: X:277.13, Y:-66.07, Z:-7.08 [[ 9.64233314e-01 2.64332786e-01 1.95523371e-02 2.77134975e+02] [-2.64280225e-01 9.64431527e-01 -5.27176962e-03 -6.60734283e+01] [-2.02503919e-02 -8.40801399e-05 9.99794936e-01 -7.07716951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.148623853 meters 0.017718576800575914 Centerline is valid? [True, True] Translation: X:277.16, Y:-66.08, Z:-7.08 [[ 9.63911939e-01 2.65476815e-01 1.98955779e-02 2.77163178e+02] [-2.65422656e-01 9.64117238e-01 -5.36329608e-03 -6.60796076e+01] [-2.06055003e-02 -1.10992000e-04 9.99787678e-01 -7.07695430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.17862385300003 meters 0.019296293120744285 Centerline is valid? [True, True] Translation: X:277.19, Y:-66.08, Z:-7.08 [[ 9.63250068e-01 2.67815582e-01 2.05941778e-02 2.77191352e+02] [-2.67758109e-01 9.63470179e-01 -5.55061780e-03 -6.60823157e+01] [-2.13284181e-02 -1.67625130e-04 9.99772509e-01 -7.07662104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.208623853 meters 0.019107280671860058 Centerline is valid? [True, True] Translation: X:277.22, Y:-66.09, Z:-7.08 [[ 9.62947475e-01 2.68905406e-01 2.05436942e-02 2.77219098e+02] [-2.68848496e-01 9.63166572e-01 -5.53539778e-03 -6.60895504e+01] [-2.12754979e-02 -1.92843967e-04 9.99773632e-01 -7.07628470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.23862385300004 meters 0.02022861280496954 Centerline is valid? [True, True] Translation: X:277.25, Y:-66.09, Z:-7.08 [[ 9.62662112e-01 2.69922766e-01 2.05756642e-02 2.77246395e+02] [-2.69865935e-01 9.62881952e-01 -5.54291237e-03 -6.60932527e+01] [-2.13080940e-02 -2.16719131e-04 9.99772933e-01 -7.07795597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.268623853 meters 0.021403424718964448 Centerline is valid? [True, True] Translation: X:277.28, Y:-66.10, Z:-7.08 [[ 9.62160198e-01 2.71739170e-01 2.01389149e-02 2.77275479e+02] [-2.71685143e-01 9.62370905e-01 -5.42433909e-03 -6.60974386e+01] [-2.08551111e-02 -2.52360786e-04 9.99782477e-01 -7.07903545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.29862385300004 meters 0.023795000262852913 Centerline is valid? [True, True] Translation: X:277.30, Y:-66.10, Z:-7.08 [[ 9.61948175e-01 2.72512770e-01 1.98115782e-02 2.77303602e+02] [-2.72460668e-01 9.62152129e-01 -5.33523951e-03 -6.60994206e+01] [-2.05156730e-02 -2.65651929e-04 9.99789496e-01 -7.08154295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.328623853 meters 0.022383752225343105 Centerline is valid? [True, True] Translation: X:277.33, Y:-66.11, Z:-7.08 [[ 9.61750010e-01 2.73226126e-01 1.96061816e-02 2.77331900e+02] [-2.73175273e-01 9.61949794e-01 -5.27864655e-03 -6.61061028e+01] [-2.03024265e-02 -2.79185652e-04 9.99793846e-01 -7.08155149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.35862385300004 meters 0.02511778048704302 Centerline is valid? [True, True] Translation: X:277.36, Y:-66.11, Z:-7.08 [[ 9.61708507e-01 2.73354173e-01 1.98555704e-02 2.77359544e+02] [-2.73302063e-01 9.61913413e-01 -5.34492781e-03 -6.61072048e+01] [-2.05603978e-02 -2.86305810e-04 9.99788572e-01 -7.08338575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.388623853 meters 0.022185969710470717 Centerline is valid? [True, True] Translation: X:277.39, Y:-66.12, Z:-7.08 [[ 9.61765755e-01 2.73128369e-01 2.01872773e-02 2.77386691e+02] [-2.73074494e-01 9.61977552e-01 -5.43224275e-03 -6.61181196e+01] [-2.09034072e-02 -2.88085495e-04 9.99781458e-01 -7.08154022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.41862385300004 meters 0.021862165096316274 Centerline is valid? [True, True] Translation: X:277.41, Y:-66.12, Z:-7.08 [[ 9.62102140e-01 2.71893851e-01 2.08135987e-02 2.77414390e+02] [-2.71836316e-01 9.62327211e-01 -5.59970726e-03 -6.61230869e+01] [-2.15520184e-02 -2.70401673e-04 9.99767692e-01 -7.08193471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.448623853 meters 0.0214626900994425 Centerline is valid? [True, True] Translation: X:277.44, Y:-66.13, Z:-7.08 [[ 9.62310857e-01 2.71148364e-01 2.08896724e-02 2.77441355e+02] [-2.71090259e-01 9.62537531e-01 -5.61891051e-03 -6.61299083e+01] [-2.16306521e-02 -2.55848117e-04 9.99765997e-01 -7.08282862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.47862385300004 meters 0.020771508993255843 Centerline is valid? [True, True] Translation: X:277.47, Y:-66.14, Z:-7.08 [[ 9.62595616e-01 2.70142820e-01 2.07975475e-02 2.77469310e+02] [-2.70085034e-01 9.62820234e-01 -5.59217540e-03 -6.61375579e+01] [-2.15349856e-02 -2.34102788e-04 9.99768068e-01 -7.08347088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.508623853 meters 0.01896894263739787 Centerline is valid? [True, True] Translation: X:277.50, Y:-66.15, Z:-7.08 [[ 9.63328952e-01 2.67512061e-01 2.08477027e-02 2.77496614e+02] [-2.67453402e-01 9.63554496e-01 -5.60462462e-03 -6.61467996e+01] [-2.15872024e-02 -1.76691845e-04 9.99766954e-01 -7.08395714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.53862385300005 meters 0.018302770671113803 Centerline is valid? [True, True] Translation: X:277.52, Y:-66.15, Z:-7.09 [[ 9.63684077e-01 2.66234071e-01 2.07947131e-02 2.77524861e+02] [-2.66175436e-01 9.63908397e-01 -5.58928132e-03 -6.61546989e+01] [-2.15322556e-02 -1.48740408e-04 9.99768143e-01 -7.08515242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.568623853 meters 0.01773740409560021 Centerline is valid? [True, True] Translation: X:277.55, Y:-66.16, Z:-7.09 [[ 9.64095733e-01 2.64739088e-01 2.07998103e-02 2.77552423e+02] [-2.64680092e-01 9.64320072e-01 -5.58990078e-03 -6.61627348e+01] [-2.15375398e-02 -1.16096220e-04 9.99768034e-01 -7.08586997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.59862385300005 meters 0.017157712126170087 Centerline is valid? [True, True] Translation: X:277.58, Y:-66.17, Z:-7.09 [[ 9.64517977e-01 2.63205486e-01 2.06868029e-02 2.77578751e+02] [-2.63146798e-01 9.64739792e-01 -5.55852016e-03 -6.61705148e+01] [-2.14204149e-02 -8.23733220e-05 9.99770553e-01 -7.08691403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.628623853 meters 0.01681040963904434 Centerline is valid? [True, True] Translation: X:277.61, Y:-66.18, Z:-7.09 [[ 9.65429736e-01 2.59902346e-01 1.99046648e-02 2.77605128e+02] [-2.59847334e-01 9.65634905e-01 -5.34718833e-03 -6.61801413e+01] [-2.06103859e-02 -9.83946587e-06 9.99787583e-01 -7.08927936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.658623853 meters 0.016904155061617708 Centerline is valid? [True, True] Translation: X:277.63, Y:-66.19, Z:-7.09 [[ 9.65940427e-01 2.58018660e-01 1.96331884e-02 2.77632423e+02] [-2.57964781e-01 9.66139933e-01 -5.27273393e-03 -6.61896081e+01] [-2.03288710e-02 2.84757331e-05 9.99793347e-01 -7.08998150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.688623853 meters 0.017846315482662734 Centerline is valid? [True, True] Translation: X:277.66, Y:-66.20, Z:-7.09 [[ 9.67030196e-01 2.53920802e-01 1.94120019e-02 2.77659399e+02] [-2.53867323e-01 9.67225007e-01 -5.21234314e-03 -6.62014844e+01] [-2.00992960e-02 1.12420268e-04 9.99797982e-01 -7.09161807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.718623853 meters 0.01880061422728717 Centerline is valid? [True, True] Translation: X:277.69, Y:-66.21, Z:-7.09 [[ 9.67548655e-01 2.51936818e-01 1.94277980e-02 2.77686759e+02] [-2.51882872e-01 9.67743673e-01 -5.21557386e-03 -6.62108180e+01] [-2.01151237e-02 1.52791904e-04 9.99797659e-01 -7.09222514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.748623853 meters 0.020216930967895102 Centerline is valid? [True, True] Translation: X:277.71, Y:-66.22, Z:-7.09 [[ 9.68003886e-01 2.50145524e-01 1.98920705e-02 2.77712515e+02] [-2.50088611e-01 9.68208231e-01 -5.33921146e-03 -6.62205691e+01] [-2.05952462e-02 1.93597165e-04 9.99787877e-01 -7.09280415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.778623853 meters 0.021756217260427514 Centerline is valid? [True, True] Translation: X:277.74, Y:-66.23, Z:-7.09 [[ 9.68389290e-01 2.48616817e-01 2.02943727e-02 2.77738434e+02] [-2.48557271e-01 9.68601892e-01 -5.44585319e-03 -6.62303176e+01] [-2.10110985e-02 2.29392015e-04 9.99779216e-01 -7.09298306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.80862385300003 meters 0.022963646480511087 Centerline is valid? [True, True] Translation: X:277.77, Y:-66.24, Z:-7.09 [[ 9.68957752e-01 2.46372548e-01 2.05290573e-02 2.77765542e+02] [-2.46311142e-01 9.69175159e-01 -5.50743238e-03 -6.62393803e+01] [-2.12531325e-02 2.79933743e-04 9.99774087e-01 -7.09185091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.838623853 meters 0.02312060718349552 Centerline is valid? [True, True] Translation: X:277.79, Y:-66.25, Z:-7.09 [[ 9.69171384e-01 2.45506772e-01 2.08147586e-02 2.77792883e+02] [-2.45443467e-01 9.69394829e-01 -5.58308690e-03 -6.62468174e+01] [-2.15484050e-02 3.02121548e-04 9.99767761e-01 -7.09201273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.86862385300003 meters 0.024922056340942248 Centerline is valid? [True, True] Translation: X:277.82, Y:-66.26, Z:-7.09 [[ 9.69501098e-01 2.44172222e-01 2.11553190e-02 2.77819148e+02] [-2.44106540e-01 9.69731825e-01 -5.67308629e-03 -6.62568495e+01] [-2.19001962e-02 3.35911659e-04 9.99760106e-01 -7.09238633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.898623853 meters 0.026054128509107898 Centerline is valid? [True, True] Translation: X:277.85, Y:-66.27, Z:-7.09 [[ 9.69612455e-01 2.43759509e-01 2.08083620e-02 2.77845830e+02] [-2.43695897e-01 9.69835650e-01 -5.57876558e-03 -6.62659490e+01] [-2.15405685e-02 3.38328150e-04 9.99767918e-01 -7.09422283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.92862385300003 meters 0.026538852034964585 Centerline is valid? [True, True] Translation: X:277.87, Y:-66.27, Z:-7.10 [[ 9.69731077e-01 2.43308493e-01 2.05576124e-02 2.77873774e+02] [-2.43246331e-01 9.69948895e-01 -5.51027442e-03 -6.62743348e+01] [-2.12805300e-02 3.42920568e-04 9.99773485e-01 -7.09573012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.958623853 meters 0.02695774567183529 Centerline is valid? [True, True] Translation: X:277.90, Y:-66.28, Z:-7.10 [[ 9.69815752e-01 2.43004499e-01 2.01548975e-02 2.77901077e+02] [-2.42944702e-01 9.70025101e-01 -5.40140570e-03 -6.62820319e+01] [-2.08633224e-02 3.41842754e-04 9.99782279e-01 -7.09723089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.98862385300004 meters 0.027451184351890284 Centerline is valid? [True, True] Translation: X:277.93, Y:-66.29, Z:-7.10 [[ 9.69888831e-01 2.42754844e-01 1.96403172e-02 2.77927932e+02] [-2.42698027e-01 9.70087610e-01 -5.26266256e-03 -6.62893289e+01] [-2.03303652e-02 3.37531401e-04 9.99793260e-01 -7.09954521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.018623853 meters 0.027396797521657964 Centerline is valid? [True, True] Translation: X:277.96, Y:-66.30, Z:-7.10 [[ 9.69909502e-01 2.42696106e-01 1.93431651e-02 2.77955546e+02] [-2.42641007e-01 9.70102309e-01 -5.18187683e-03 -6.62966195e+01] [-2.00224705e-02 3.32506504e-04 9.99799475e-01 -7.10070948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.04862385300004 meters 0.027297604215953463 Centerline is valid? [True, True] Translation: X:277.98, Y:-66.30, Z:-7.10 [[ 9.69837345e-01 2.42966823e-01 1.95613789e-02 2.77982586e+02] [-2.42910547e-01 9.70034543e-01 -5.23946267e-03 -6.63040647e+01] [-2.02482289e-02 3.29761308e-04 9.99794929e-01 -7.10139654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.078623853 meters 0.02632130599812555 Centerline is valid? [True, True] Translation: X:278.01, Y:-66.31, Z:-7.10 [[ 9.69614815e-01 2.43808465e-01 2.01132592e-02 2.78011083e+02] [-2.43749176e-01 9.69823350e-01 -5.38602832e-03 -6.63108537e+01] [-2.08194677e-02 3.19782505e-04 9.99783200e-01 -7.10077211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.10862385300004 meters 0.02363514174756985 Centerline is valid? [True, True] Translation: X:278.04, Y:-66.31, Z:-7.10 [[ 9.69481392e-01 2.44341763e-01 2.00731932e-02 2.78040459e+02] [-2.44282843e-01 9.69689130e-01 -5.37438711e-03 -6.63144463e+01] [-2.07779445e-02 3.06831593e-04 9.99784068e-01 -7.10041472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.138623853 meters 0.025322088078112454 Centerline is valid? [True, True] Translation: X:278.07, Y:-66.33, Z:-7.10 [[ 9.69299610e-01 2.45030558e-01 2.04521936e-02 2.78067319e+02] [-2.44969568e-01 9.69515311e-01 -5.47475893e-03 -6.63255936e+01] [-2.11701980e-02 2.96516667e-04 9.99775842e-01 -7.10211771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.16862385300004 meters 0.02520066797428958 Centerline is valid? [True, True] Translation: X:278.09, Y:-66.33, Z:-7.10 [[ 9.69220068e-01 2.45338503e-01 2.05299623e-02 2.78093856e+02] [-2.45277132e-01 9.69437432e-01 -5.49487428e-03 -6.63325571e+01] [-2.12506182e-02 2.90212139e-04 9.99774138e-01 -7.10268169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.198623853 meters 0.022757175955489466 Centerline is valid? [True, True] Translation: X:278.12, Y:-66.34, Z:-7.10 [[ 9.69196732e-01 2.45417736e-01 2.06840129e-02 2.78123232e+02] [-2.45355485e-01 9.69417377e-01 -5.53489472e-03 -6.63360725e+01] [-2.14098029e-02 2.89465852e-04 9.99770742e-01 -7.10239993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.22862385300004 meters 0.02234126703109519 Centerline is valid? [True, True] Translation: X:278.15, Y:-66.34, Z:-7.10 [[ 9.69238992e-01 2.45250175e-01 2.06912428e-02 2.78152054e+02] [-2.45187866e-01 9.69459781e-01 -5.53570956e-03 -6.63434283e+01] [-2.14169615e-02 2.92183874e-04 9.99770588e-01 -7.10288875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.258623853 meters 0.02285538740753338 Centerline is valid? [True, True] Translation: X:278.18, Y:-66.35, Z:-7.10 [[ 9.69456786e-01 2.44413074e-01 2.03909323e-02 2.78180238e+02] [-2.44352386e-01 9.69671159e-01 -5.45485623e-03 -6.63539465e+01] [-2.11057371e-02 3.05674432e-04 9.99777202e-01 -7.10434910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.28862385300005 meters 0.02285538740753338 Centerline is valid? [True, True] Translation: X:278.21, Y:-66.36, Z:-7.11 [[ 9.69462677e-01 2.44389696e-01 2.03910636e-02 2.78208420e+02] [-2.44329013e-01 9.69677051e-01 -5.45436512e-03 -6.63614392e+01] [-2.11057371e-02 3.05674948e-04 9.99777202e-01 -7.10508262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.318623853 meters 0.02412163046026121 Centerline is valid? [True, True] Translation: X:278.24, Y:-66.37, Z:-7.11 [[ 9.69526737e-01 2.44142153e-01 2.03104786e-02 2.78235784e+02] [-2.44081909e-01 9.69739405e-01 -5.43213057e-03 -6.63729380e+01] [-2.10220835e-02 3.09175425e-04 9.99778964e-01 -7.10626687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.34862385300005 meters 0.02295420609035603 Centerline is valid? [True, True] Translation: X:278.27, Y:-66.38, Z:-7.11 [[ 9.69580892e-01 2.43920814e-01 2.03845792e-02 2.78265080e+02] [-2.43860073e-01 9.69795101e-01 -5.45227905e-03 -6.63798645e+01] [-2.10987894e-02 3.15440611e-04 9.99777346e-01 -7.10636770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.378623853 meters 0.024044995583711717 Centerline is valid? [True, True] Translation: X:278.29, Y:-66.39, Z:-7.11 [[ 9.69370173e-01 2.44741124e-01 2.05730176e-02 2.78292256e+02] [-2.44679440e-01 9.69588414e-01 -5.50272902e-03 -6.63911193e+01] [-2.12941036e-02 3.00386972e-04 9.99773210e-01 -7.10685175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.408623853 meters 0.02226302032974898 Centerline is valid? [True, True] Translation: X:278.32, Y:-66.40, Z:-7.11 [[ 9.69084814e-01 2.45846292e-01 2.08380639e-02 2.78321179e+02] [-2.45783264e-01 9.69308786e-01 -5.57357697e-03 -6.63963437e+01] [-2.15687617e-02 2.79621438e-04 9.99767328e-01 -7.10669990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.438623853 meters 0.019439036282294115 Centerline is valid? [True, True] Translation: X:278.35, Y:-66.40, Z:-7.11 [[ 9.68063813e-01 2.49830319e-01 2.09109177e-02 2.78349963e+02] [-2.49767815e-01 9.68289614e-01 -5.59129837e-03 -6.63985555e+01] [-2.16447002e-02 1.89859397e-04 9.99765708e-01 -7.10679207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.468623853 meters 0.017851621584540123 Centerline is valid? [True, True] Translation: X:278.38, Y:-66.40, Z:-7.11 [[ 9.67436675e-01 2.52263060e-01 2.07274944e-02 2.78379144e+02] [-2.52202228e-01 9.67658685e-01 -5.54124063e-03 -6.64014813e+01] [-2.14549903e-02 1.33279146e-04 9.99769806e-01 -7.10861939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.498623853 meters 0.017041869296787745 Centerline is valid? [True, True] Translation: X:278.41, Y:-66.40, Z:-7.11 [[ 9.66709995e-01 2.55078303e-01 2.01703854e-02 2.78406913e+02] [-2.55021330e-01 9.66920397e-01 -5.39136949e-03 -6.64044304e+01] [-2.08783784e-02 6.80122760e-05 9.99782021e-01 -7.11054363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.528623853 meters 0.01691494370201451 Centerline is valid? [True, True] Translation: X:278.44, Y:-66.40, Z:-7.11 [[ 9.65392956e-01 2.60024709e-01 2.00895574e-02 2.78435168e+02] [-2.59969285e-01 9.65601962e-01 -5.36860482e-03 -6.64019962e+01] [-2.07944860e-02 -3.98546031e-05 9.99783770e-01 -7.11254631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.55862385300003 meters 0.017256229703076637 Centerline is valid? [True, True] Translation: X:278.46, Y:-66.41, Z:-7.11 [[ 9.64801926e-01 2.62209887e-01 2.00802867e-02 2.78463975e+02] [-2.62155025e-01 9.65010864e-01 -5.36426604e-03 -6.64058861e+01] [-2.07842584e-02 -8.86938682e-05 9.99783980e-01 -7.11209260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.588623853 meters 0.01843396963213997 Centerline is valid? [True, True] Translation: X:278.49, Y:-66.41, Z:-7.11 [[ 9.64304849e-01 2.64026912e-01 2.01481565e-02 2.78491799e+02] [-2.63972096e-01 9.64515305e-01 -5.38139820e-03 -6.64079320e+01] [-2.08540393e-02 -1.29242728e-04 9.99782523e-01 -7.11364215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.61862385300003 meters 0.018449074407780753 Centerline is valid? [True, True] Translation: X:278.52, Y:-66.41, Z:-7.11 [[ 9.63887329e-01 2.65498285e-01 2.07816871e-02 2.78520465e+02] [-2.65440339e-01 9.64111318e-01 -5.54918263e-03 -6.64120766e+01] [-2.15091582e-02 -1.67511271e-04 9.99768637e-01 -7.11267233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.648623853 meters 0.01880108132843453 Centerline is valid? [True, True] Translation: X:278.55, Y:-66.42, Z:-7.11 [[ 9.63889314e-01 2.65482170e-01 2.08951858e-02 2.78547101e+02] [-2.65423607e-01 9.64115755e-01 -5.57851647e-03 -6.64174615e+01] [-2.16263744e-02 -1.69003165e-04 9.99766108e-01 -7.11346951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.67862385300003 meters 0.01819456501908342 Centerline is valid? [True, True] Translation: X:278.58, Y:-66.43, Z:-7.11 [[ 9.64290086e-01 2.64031244e-01 2.07877960e-02 2.78575208e+02] [-2.63972985e-01 9.64514118e-01 -5.54797337e-03 -6.64257839e+01] [-2.15149610e-02 -1.37560831e-04 9.99768517e-01 -7.11460126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.708623853 meters 0.017800121540199523 Centerline is valid? [True, True] Translation: X:278.60, Y:-66.43, Z:-7.12 [[ 9.64497488e-01 2.63294695e-01 2.05060767e-02 2.78602285e+02] [-2.63237882e-01 9.64715445e-01 -5.47067249e-03 -6.64342468e+01] [-2.12229280e-02 -1.21526335e-04 9.99774761e-01 -7.11536171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.73862385300004 meters 0.01752492741260316 Centerline is valid? [True, True] Translation: X:278.63, Y:-66.44, Z:-7.12 [[ 9.64753277e-01 2.62365255e-01 2.03859854e-02 2.78629877e+02] [-2.62308921e-01 9.64968633e-01 -5.43757910e-03 -6.64421941e+01] [-2.10984683e-02 -1.01503571e-04 9.99777397e-01 -7.11659741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.768623853 meters 0.017031343553334775 Centerline is valid? [True, True] Translation: X:278.66, Y:-66.45, Z:-7.12 [[ 9.65256883e-01 2.60535692e-01 2.00075947e-02 2.78656445e+02] [-2.60481057e-01 9.65464214e-01 -5.33568545e-03 -6.64494853e+01] [-2.07067532e-02 -6.12923108e-05 9.99785590e-01 -7.11834555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.79862385300004 meters 0.016852913222377794 Centerline is valid? [True, True] Translation: X:278.68, Y:-66.46, Z:-7.12 [[ 9.65601134e-01 2.59257734e-01 1.99969405e-02 2.78683201e+02] [-2.59202908e-01 9.65808173e-01 -5.33163467e-03 -6.64568239e+01] [-2.06954761e-02 -3.50326490e-05 9.99785825e-01 -7.11950035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.828623853 meters 0.016710060653881836 Centerline is valid? [True, True] Translation: X:278.71, Y:-66.46, Z:-7.12 [[ 9.65940602e-01 2.58014593e-01 1.96779985e-02 2.78709841e+02] [-2.57961278e-01 9.66141020e-01 -5.24494936e-03 -6.64646342e+01] [-2.03649950e-02 -9.85208544e-06 9.99792612e-01 -7.12015179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.85862385300004 meters 0.016911583264238545 Centerline is valid? [True, True] Translation: X:278.74, Y:-66.47, Z:-7.12 [[ 9.66366307e-01 2.56437187e-01 1.93940866e-02 2.78736498e+02] [-2.56385111e-01 9.66560898e-01 -5.16780962e-03 -6.64730374e+01] [-2.00707843e-02 2.16420568e-05 9.99798561e-01 -7.12202531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.888623853 meters 0.017623784572891644 Centerline is valid? [True, True] Translation: X:278.76, Y:-66.48, Z:-7.12 [[ 9.67209796e-01 2.53240510e-01 1.93508275e-02 2.78761810e+02] [-2.53188056e-01 9.67403348e-01 -5.15474412e-03 -6.64843054e+01] [-2.00254454e-02 8.63206088e-05 9.99799467e-01 -7.12324783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.91862385300004 meters 0.01979569656688932 Centerline is valid? [True, True] Translation: X:278.79, Y:-66.49, Z:-7.12 [[ 9.67582503e-01 2.51800215e-01 1.95128772e-02 2.78789403e+02] [-2.51746613e-01 9.67779230e-01 -5.19659957e-03 -6.64931338e+01] [-2.01926622e-02 1.15838073e-04 9.99796101e-01 -7.11942819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.948623853 meters 0.018696835462344085 Centerline is valid? [True, True] Translation: X:278.82, Y:-66.50, Z:-7.12 [[ 9.68054606e-01 2.49917361e-01 2.02877491e-02 2.78816658e+02] [-2.49859026e-01 9.68267157e-01 -5.40186927e-03 -6.65021903e+01] [-2.09939821e-02 1.60227185e-04 9.99779589e-01 -7.12244413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.97862385300004 meters 0.020848222849308512 Centerline is valid? [True, True] Translation: X:278.84, Y:-66.51, Z:-7.12 [[ 9.68913076e-01 2.46503174e-01 2.10626562e-02 2.78842416e+02] [-2.46439513e-01 9.69141954e-01 -5.60711743e-03 -6.65128834e+01] [-2.17948761e-02 2.42138652e-04 9.99762434e-01 -7.12136098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.008623853 meters 0.021471413592170883 Centerline is valid? [True, True] Translation: X:278.87, Y:-66.52, Z:-7.12 [[ 9.69314581e-01 2.44883229e-01 2.14813045e-02 2.78869618e+02] [-2.44816645e-01 9.69552538e-01 -5.71718987e-03 -6.65208032e+01] [-2.22272972e-02 2.82774627e-04 9.99752903e-01 -7.12066276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.03862385300005 meters 0.023022047365324812 Centerline is valid? [True, True] Translation: X:278.90, Y:-66.53, Z:-7.12 [[ 9.69731617e-01 2.43191022e-01 2.18796100e-02 2.78896242e+02] [-2.43121549e-01 9.69978361e-01 -5.82165822e-03 -6.65302346e+01] [-2.26385232e-02 3.26041378e-04 9.99743663e-01 -7.12056904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.068623853 meters 0.02503615723860536 Centerline is valid? [True, True] Translation: X:278.92, Y:-66.54, Z:-7.12 [[ 9.70516170e-01 2.40053460e-01 2.17416528e-02 2.78924347e+02] [-2.39984110e-01 9.70759589e-01 -5.78329137e-03 -6.65424983e+01] [-2.24942170e-02 3.95126585e-04 9.99746895e-01 -7.12175004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.09862385300005 meters 0.027291539386031287 Centerline is valid? [True, True] Translation: X:278.95, Y:-66.55, Z:-7.12 [[ 9.70848986e-01 2.38740557e-01 2.13352676e-02 2.78951731e+02] [-2.38673458e-01 9.71083298e-01 -5.67523065e-03 -6.65539305e+01] [-2.20732297e-02 4.17629824e-04 9.99756269e-01 -7.12339970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.128623853 meters 0.027907060850843088 Centerline is valid? [True, True] Translation: X:278.98, Y:-66.56, Z:-7.12 [[ 9.71111281e-01 2.37703677e-01 2.09724116e-02 2.78980270e+02] [-2.37638605e-01 9.71337621e-01 -5.57848807e-03 -6.65623484e+01] [-2.16973195e-02 4.33478061e-04 9.99764491e-01 -7.12427476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.158623853 meters 0.028470432378624254 Centerline is valid? [True, True] Translation: X:279.01, Y:-66.57, Z:-7.13 [[ 9.71297397e-01 2.36955693e-01 2.08174547e-02 2.79008900e+02] [-2.36891419e-01 9.71520355e-01 -5.53675272e-03 -6.65702137e+01] [-2.15365460e-02 4.46357126e-04 9.99767962e-01 -7.12566178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.188623853 meters 0.030677761720819628 Centerline is valid? [True, True] Translation: X:279.04, Y:-66.58, Z:-7.13 [[ 9.71492578e-01 2.36147271e-01 2.08958674e-02 2.79036370e+02] [-2.36082336e-01 9.71717166e-01 -5.55703759e-03 -6.65802548e+01] [-2.16171523e-02 4.65475595e-04 9.99766214e-01 -7.12685700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.218623853 meters 0.029585865597676224 Centerline is valid? [True, True] Translation: X:279.07, Y:-66.59, Z:-7.13 [[ 9.71526078e-01 2.36004142e-01 2.09553184e-02 2.79065096e+02] [-2.35938809e-01 9.71751936e-01 -5.57262715e-03 -6.65863311e+01] [-2.16785343e-02 4.69779742e-04 9.99764883e-01 -7.12717982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.248623853 meters 0.02964816745622074 Centerline is valid? [True, True] Translation: X:279.09, Y:-66.59, Z:-7.13 [[ 9.71508793e-01 2.36077593e-01 2.09292820e-02 2.79092704e+02] [-2.36012450e-01 9.71734095e-01 -5.56522388e-03 -6.65939169e+01] [-2.16515215e-02 4.67092828e-04 9.99765469e-01 -7.12779181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.278623853 meters 0.029230933940459097 Centerline is valid? [True, True] Translation: X:279.12, Y:-66.60, Z:-7.13 [[ 9.71315125e-01 2.36880799e-01 2.08426228e-02 2.79120206e+02] [-2.36816397e-01 9.71538619e-01 -5.54135832e-03 -6.66009317e+01] [-2.15620543e-02 4.46530339e-04 9.99767412e-01 -7.12873746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.30862385300003 meters 0.028409486304397023 Centerline is valid? [True, True] Translation: X:279.15, Y:-66.61, Z:-7.13 [[ 9.71138974e-01 2.37618594e-01 2.06517884e-02 2.79149490e+02] [-2.37555543e-01 9.71358442e-01 -5.49014469e-03 -6.66075222e+01] [-2.13648495e-02 4.25746676e-04 9.99771655e-01 -7.12970455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.338623853 meters 0.02868450945119092 Centerline is valid? [True, True] Translation: X:279.18, Y:-66.61, Z:-7.13 [[ 9.70969890e-01 2.38314015e-01 2.05888823e-02 2.79176964e+02] [-2.38251513e-01 9.71188068e-01 -5.47295925e-03 -6.66147450e+01] [-2.12999597e-02 4.08746285e-04 9.99773047e-01 -7.13126018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.36862385300003 meters 0.03185272086163651 Centerline is valid? [True, True] Translation: X:279.21, Y:-66.62, Z:-7.13 [[ 9.70631424e-01 2.39713088e-01 2.03045205e-02 2.79205629e+02] [-2.39652621e-01 9.70843704e-01 -5.39668213e-03 -6.66182764e+01] [-2.10061712e-02 3.72157712e-04 9.99779277e-01 -7.12562281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.398623853 meters 0.024950951006281762 Centerline is valid? [True, True] Translation: X:279.23, Y:-66.62, Z:-7.13 [[ 9.70576613e-01 2.39920927e-01 2.04691652e-02 2.79234796e+02] [-2.39859545e-01 9.70792363e-01 -5.43933649e-03 -6.66224564e+01] [-2.11763199e-02 3.69568127e-04 9.99775688e-01 -7.13210524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.42862385300003 meters 0.025240494696646625 Centerline is valid? [True, True] Translation: X:279.26, Y:-66.63, Z:-7.13 [[ 9.70503666e-01 2.40217429e-01 2.04504619e-02 2.79262095e+02] [-2.40156235e-01 9.70719040e-01 -5.43388958e-03 -6.66305194e+01] [-2.11569677e-02 3.62303828e-04 9.99776101e-01 -7.13325771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.458623853 meters 0.025962375693012848 Centerline is valid? [True, True] Translation: X:279.29, Y:-66.64, Z:-7.13 [[ 9.70262261e-01 2.41212073e-01 2.01960744e-02 2.79288947e+02] [-2.41152623e-01 9.70472371e-01 -5.36553283e-03 -6.66393270e+01] [-2.08939635e-02 3.35637701e-04 9.99781641e-01 -7.13481400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.48862385300004 meters 0.024190978311279306 Centerline is valid? [True, True] Translation: X:279.32, Y:-66.64, Z:-7.14 [[ 9.70138949e-01 2.41716846e-01 2.00844764e-02 2.79317692e+02] [-2.41658175e-01 9.70346774e-01 -5.33518446e-03 -6.66432806e+01] [-2.07785108e-02 3.22292346e-04 9.99784051e-01 -7.13527493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.518623853 meters 0.023061604017962034 Centerline is valid? [True, True] Translation: X:279.35, Y:-66.65, Z:-7.14 [[ 9.69962306e-01 2.42462790e-01 1.96193819e-02 2.79346426e+02] [-2.42406977e-01 9.70160660e-01 -5.21068164e-03 -6.66483994e+01] [-2.02973489e-02 2.98289726e-04 9.99793943e-01 -7.13659580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.54862385300004 meters 0.024033056365567903 Centerline is valid? [True, True] Translation: X:279.37, Y:-66.66, Z:-7.14 [[ 9.69701087e-01 2.43522338e-01 1.94080748e-02 2.79372715e+02] [-2.43467951e-01 9.69895250e-01 -5.15363503e-03 -6.66565993e+01] [-2.00788248e-02 2.72241277e-04 9.99798363e-01 -7.13901158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.578623853 meters 0.0210078642002301 Centerline is valid? [True, True] Translation: X:279.40, Y:-66.66, Z:-7.14 [[ 9.69099519e-01 2.45907701e-01 1.93784586e-02 2.79401985e+02] [-2.45853983e-01 9.69293224e-01 -5.14446215e-03 -6.66573120e+01] [-2.00484715e-02 2.21224562e-04 9.99798985e-01 -7.13876749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.60862385300004 meters 0.021640786464787346 Centerline is valid? [True, True] Translation: X:279.43, Y:-66.66, Z:-7.14 [[ 9.68756639e-01 2.47277104e-01 1.90947287e-02 2.79430787e+02] [-2.47225232e-01 9.68944786e-01 -5.06819837e-03 -6.66623512e+01] [-1.97549872e-02 1.89152090e-04 9.99804833e-01 -7.13673372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.638623853 meters 0.019095078068324323 Centerline is valid? [True, True] Translation: X:279.46, Y:-66.67, Z:-7.14 [[ 9.68505076e-01 2.48270108e-01 1.89702647e-02 2.79459126e+02] [-2.48219120e-01 9.68690831e-01 -5.03420689e-03 -6.66668205e+01] [-1.96261645e-02 1.66872534e-04 9.99807374e-01 -7.14035383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.66862385300004 meters 0.01817516187160185 Centerline is valid? [True, True] Translation: X:279.49, Y:-66.67, Z:-7.14 [[ 9.67896286e-01 2.50621004e-01 1.91283088e-02 2.79487134e+02] [-2.50569639e-01 9.68085274e-01 -5.07521078e-03 -6.66696106e+01] [-1.97897885e-02 1.19304239e-04 9.99804156e-01 -7.14120222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.698623853 meters 0.017732392411619773 Centerline is valid? [True, True] Translation: X:279.52, Y:-66.67, Z:-7.14 [[ 9.67703736e-01 2.51361371e-01 1.91557022e-02 2.79516001e+02] [-2.51310030e-01 9.67893305e-01 -5.08117122e-03 -6.66747109e+01] [-1.98178861e-02 1.03048263e-04 9.99803601e-01 -7.14198804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.72862385300004 meters 0.028775066246130385 Centerline is valid? [True, True] Translation: X:279.54, Y:-66.68, Z:-7.14 [[ 9.67529839e-01 2.52045805e-01 1.89452493e-02 2.79543760e+02] [-2.51995733e-01 9.67715301e-01 -5.02453762e-03 -6.66804260e+01] [-1.96000213e-02 8.72680741e-05 9.99807897e-01 -7.13549894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.758623853 meters 0.017150080199018317 Centerline is valid? [True, True] Translation: X:279.57, Y:-66.68, Z:-7.14 [[ 9.67391327e-01 2.52488573e-01 2.00883288e-02 2.79572814e+02] [-2.52432408e-01 9.67599873e-01 -5.32592475e-03 -6.66843238e+01] [-2.07821995e-02 8.13081935e-05 9.99784023e-01 -7.14131813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.78862385300005 meters 0.01721508493164763 Centerline is valid? [True, True] Translation: X:279.60, Y:-66.69, Z:-7.14 [[ 9.67337811e-01 2.52671259e-01 2.03665139e-02 2.79600080e+02] [-2.52613590e-01 9.67552184e-01 -5.39864907e-03 -6.66910230e+01] [-2.10697485e-02 7.74591793e-05 9.99778005e-01 -7.14215761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.818623853 meters 0.017235525488818067 Centerline is valid? [True, True] Translation: X:279.63, Y:-66.70, Z:-7.14 [[ 9.67508342e-01 2.51998252e-01 2.06031587e-02 2.79627313e+02] [-2.51939110e-01 9.67727685e-01 -5.46007086e-03 -6.66973374e+01] [-2.13141754e-02 9.19226535e-05 9.99772823e-01 -7.14202324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.84862385300005 meters 0.017598297877630845 Centerline is valid? [True, True] Translation: X:279.65, Y:-66.70, Z:-7.14 [[ 9.67621698e-01 2.51588554e-01 2.02842204e-02 2.79654420e+02] [-2.51531170e-01 9.67834278e-01 -5.37406983e-03 -6.67047500e+01] [-2.09838183e-02 9.79528694e-05 9.99779811e-01 -7.14383326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.878623853 meters 0.01962052280266615 Centerline is valid? [True, True] Translation: X:279.68, Y:-66.71, Z:-7.14 [[ 9.67801666e-01 2.50923098e-01 1.99382768e-02 2.79682457e+02] [-2.50867550e-01 9.68007018e-01 -5.28064286e-03 -6.67116995e+01] [-2.06254272e-02 1.08748300e-04 9.99787267e-01 -7.14140002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.908623853 meters 0.0183413813396998 Centerline is valid? [True, True] Translation: X:279.71, Y:-66.72, Z:-7.15 [[ 9.68136836e-01 2.49644346e-01 1.97171954e-02 2.79709220e+02] [-2.49589778e-01 9.68337587e-01 -5.22114456e-03 -6.67190074e+01] [-2.03963307e-02 1.33571943e-04 9.99791964e-01 -7.14578394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.938623853 meters 0.018678684875770197 Centerline is valid? [True, True] Translation: X:279.74, Y:-66.73, Z:-7.15 [[ 9.68391487e-01 2.48636721e-01 1.99426534e-02 2.79736505e+02] [-2.48580709e-01 9.68596798e-01 -5.27959447e-03 -6.67266627e+01] [-2.06290913e-02 1.55355421e-04 9.99787186e-01 -7.14648841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.968623853 meters 0.028647834198806756 Centerline is valid? [True, True] Translation: X:279.76, Y:-66.74, Z:-7.14 [[ 9.68646054e-01 2.47676220e-01 1.95271883e-02 2.79764102e+02] [-2.47622354e-01 9.68842846e-01 -5.16808024e-03 -6.67355086e+01] [-2.01987872e-02 1.70672211e-04 9.99795969e-01 -7.13975929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.998623853 meters 0.019999294018179258 Centerline is valid? [True, True] Translation: X:279.79, Y:-66.74, Z:-7.15 [[ 9.68999141e-01 2.46241224e-01 2.01475752e-02 2.79790865e+02] [-2.46183590e-01 9.69208552e-01 -5.33131042e-03 -6.67432273e+01] [-2.08399906e-02 2.06032809e-04 9.99782803e-01 -7.14736622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.028623853 meters 0.022183320300029622 Centerline is valid? [True, True] Translation: X:279.82, Y:-66.75, Z:-7.15 [[ 9.69755205e-01 2.43261411e-01 1.99681804e-02 2.79816516e+02] [-2.43204198e-01 9.69960729e-01 -5.28233391e-03 -6.67540550e+01] [-2.06533388e-02 2.66225499e-04 9.99786662e-01 -7.14877467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.05862385300003 meters 0.023497664845734664 Centerline is valid? [True, True] Translation: X:279.84, Y:-66.76, Z:-7.15 [[ 9.70182788e-01 2.41557129e-01 1.98874837e-02 2.79843322e+02] [-2.41500046e-01 9.70386554e-01 -5.25969829e-03 -6.67638278e+01] [-2.05690644e-02 3.00040526e-04 9.99788389e-01 -7.14948159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.088623853 meters 0.025420657735312064 Centerline is valid? [True, True] Translation: X:279.87, Y:-66.77, Z:-7.15 [[ 9.70673650e-01 2.39592735e-01 1.96973874e-02 2.79870262e+02] [-2.39536353e-01 9.70873425e-01 -5.20845437e-03 -6.67747225e+01] [-2.03715778e-02 3.37469052e-04 9.99792421e-01 -7.15084363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.11862385300003 meters 0.02882987772508941 Centerline is valid? [True, True] Translation: X:279.90, Y:-66.79, Z:-7.15 [[ 9.71645664e-01 2.35646591e-01 1.93749155e-02 2.79896943e+02] [-2.35591277e-01 9.71838728e-01 -5.12213066e-03 -6.67890488e+01] [-2.00363058e-02 4.12334972e-04 9.99799168e-01 -7.15218474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.148623853 meters 0.02882987772508941 Centerline is valid? [True, True] Translation: X:279.92, Y:-66.80, Z:-7.15 [[ 9.71656561e-01 2.35601648e-01 1.93750043e-02 2.79924356e+02] [-2.35546331e-01 9.71849625e-01 -5.12179470e-03 -6.67962029e+01] [-2.00362939e-02 4.12914261e-04 9.99799168e-01 -7.15289738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.17862385300003 meters 0.03137548032260427 Centerline is valid? [True, True] Translation: X:279.95, Y:-66.81, Z:-7.15 [[ 9.72090080e-01 2.33815928e-01 1.92610735e-02 2.79950493e+02] [-2.33760930e-01 9.72280779e-01 -5.09065776e-03 -6.68082963e+01] [-1.99174484e-02 4.46091462e-04 9.99801528e-01 -7.15390030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.208623853 meters 0.03324290072468584 Centerline is valid? [True, True] Translation: X:279.98, Y:-66.82, Z:-7.15 [[ 9.72531826e-01 2.31956797e-01 1.94394152e-02 2.79977804e+02] [-2.31900420e-01 9.72725967e-01 -5.13705196e-03 -6.68197665e+01] [-2.01007981e-02 4.87937973e-04 9.99797839e-01 -7.15439044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.23862385300004 meters 0.03663327048323643 Centerline is valid? [True, True] Translation: X:280.00, Y:-66.83, Z:-7.15 [[ 9.73137217e-01 2.29382223e-01 1.96914543e-02 2.80004663e+02] [-2.29323857e-01 9.73336271e-01 -5.20311351e-03 -6.68345607e+01] [-2.03599084e-02 5.47623143e-04 9.99792566e-01 -7.15418000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.268623853 meters 0.037685771165284404 Centerline is valid? [True, True] Translation: X:280.03, Y:-66.84, Z:-7.15 [[ 9.73360731e-01 2.28401992e-01 2.00354279e-02 2.80032316e+02] [-2.28341366e-01 9.73566740e-01 -5.29380597e-03 -6.68449116e+01] [-2.07149421e-02 5.77865871e-04 9.99785256e-01 -7.15442460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.29862385300004 meters 0.039168611984932676 Centerline is valid? [True, True] Translation: X:280.06, Y:-66.86, Z:-7.15 [[ 9.73596780e-01 2.27333915e-01 2.07026662e-02 2.80060613e+02] [-2.27268955e-01 9.73816670e-01 -5.46950435e-03 -6.68585009e+01] [-2.14040053e-02 6.20018503e-04 9.99770716e-01 -7.15353806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.328623853 meters 0.03985039847418155 Centerline is valid? [True, True] Translation: X:280.09, Y:-66.87, Z:-7.15 [[ 9.73648850e-01 2.27091905e-01 2.09089378e-02 2.80088796e+02] [-2.27025592e-01 9.73873127e-01 -5.52381790e-03 -6.68687669e+01] [-2.16170670e-02 6.31394945e-04 9.99766125e-01 -7.15413220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.35862385300004 meters 0.0345502066941239 Centerline is valid? [True, True] Translation: X:280.12, Y:-66.87, Z:-7.15 [[ 9.73634039e-01 2.27160279e-01 2.08558280e-02 2.80122519e+02] [-2.27094306e-01 9.73857183e-01 -5.51036734e-03 -6.68718135e+01] [-2.15623345e-02 6.28841433e-04 9.99767308e-01 -7.15379069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.388623853 meters 0.03244973106269561 Centerline is valid? [True, True] Translation: X:280.15, Y:-66.88, Z:-7.15 [[ 9.73561060e-01 2.27475789e-01 2.08237382e-02 2.80154377e+02] [-2.27409998e-01 9.73783536e-01 -5.50616809e-03 -6.68788975e+01] [-2.15303334e-02 6.25064567e-04 9.99768000e-01 -7.15457535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.41862385300004 meters 0.03961337341612914 Centerline is valid? [True, True] Translation: X:280.18, Y:-66.90, Z:-7.16 [[ 9.73332067e-01 2.28488353e-01 2.04391563e-02 2.80181292e+02] [-2.28425094e-01 9.73546464e-01 -5.40918949e-03 -6.69001610e+01] [-2.11344051e-02 5.96121408e-04 9.99776466e-01 -7.15749732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.448623853 meters 0.040379773474937875 Centerline is valid? [True, True] Translation: X:280.21, Y:-66.90, Z:-7.15 [[ 9.73109650e-01 2.29491597e-01 1.97792029e-02 2.80213206e+02] [-2.29432529e-01 9.73310483e-01 -5.23626746e-03 -6.69047719e+01] [-2.04529849e-02 5.57469855e-04 9.99790660e-01 -7.15237436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.47862385300004 meters 0.03197541030375092 Centerline is valid? [True, True] Translation: X:280.24, Y:-66.91, Z:-7.16 [[ 9.72847145e-01 2.30620353e-01 1.95623274e-02 2.80244880e+02] [-2.30562734e-01 9.73043663e-01 -5.18215890e-03 -6.69094445e+01] [-2.02301101e-02 5.31104791e-04 9.99795209e-01 -7.15945287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.508623853 meters 0.038878755034737485 Centerline is valid? [True, True] Translation: X:280.27, Y:-66.92, Z:-7.15 [[ 9.72134797e-01 2.33609960e-01 1.95018662e-02 2.80274065e+02] [-2.33553212e-01 9.72330275e-01 -5.17041735e-03 -6.69206614e+01] [-2.01701159e-02 4.71619135e-04 9.99796451e-01 -7.15364938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.53862385300005 meters 0.027570659918020678 Centerline is valid? [True, True] Translation: X:280.31, Y:-66.92, Z:-7.16 [[ 9.71609086e-01 2.35737759e-01 2.00871278e-02 2.80305343e+02] [-2.35677996e-01 9.71816605e-01 -5.32612387e-03 -6.69241973e+01] [-2.07765728e-02 4.40816327e-04 9.99784047e-01 -7.15981716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.568623853 meters 0.02644893089409819 Centerline is valid? [True, True] Translation: X:280.34, Y:-66.93, Z:-7.16 [[ 9.71069312e-01 2.37929430e-01 2.03464433e-02 2.80335251e+02] [-2.37868583e-01 9.71282362e-01 -5.39542074e-03 -6.69313915e+01] [-2.10458708e-02 3.99547893e-04 9.99778431e-01 -7.16000565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.59862385300005 meters 0.03360774740732199 Centerline is valid? [True, True] Translation: X:280.37, Y:-66.94, Z:-7.15 [[ 9.70522485e-01 2.40185279e-01 1.99283423e-02 2.80365375e+02] [-2.40127370e-01 9.70727003e-01 -5.28516338e-03 -6.69377364e+01] [-2.06143984e-02 3.44029488e-04 9.99787442e-01 -7.15434600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.628623853 meters 0.020909243962825702 Centerline is valid? [True, True] Translation: X:280.40, Y:-66.94, Z:-7.16 [[ 9.69341257e-01 2.44858549e-01 2.05381959e-02 2.80395890e+02] [-2.44798086e-01 9.69558780e-01 -5.44701240e-03 -6.69400576e+01] [-2.12467357e-02 2.52302802e-04 9.99774231e-01 -7.16204483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.658623853 meters 0.01911894805420165 Centerline is valid? [True, True] Translation: X:280.42, Y:-66.94, Z:-7.16 [[ 9.68778500e-01 2.47034796e-01 2.10244564e-02 2.80424917e+02] [-2.46971962e-01 9.69006587e-01 -5.57532889e-03 -6.69448343e+01] [-2.17501370e-02 2.08807519e-04 9.99763416e-01 -7.16199677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.688623853 meters 0.018054675776956894 Centerline is valid? [True, True] Translation: X:280.45, Y:-66.95, Z:-7.16 [[ 9.68212394e-01 2.49217865e-01 2.13358089e-02 2.80453341e+02] [-2.49153697e-01 9.68447433e-01 -5.65737430e-03 -6.69506768e+01] [-2.20725281e-02 1.61644246e-04 9.99756359e-01 -7.16264249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.718623853 meters 0.017028864703483016 Centerline is valid? [True, True] Translation: X:280.48, Y:-66.96, Z:-7.16 [[ 9.67724204e-01 2.51076717e-01 2.16874749e-02 2.80481581e+02] [-2.51010900e-01 9.67967183e-01 -5.74980765e-03 -6.69560383e+01] [-2.24364068e-02 1.20435460e-04 9.99748265e-01 -7.16294278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.748623853 meters 0.016087481776454804 Centerline is valid? [True, True] Translation: X:280.51, Y:-66.96, Z:-7.16 [[ 9.66959981e-01 2.54013723e-01 2.15736744e-02 2.80508948e+02] [-2.53949349e-01 9.67200613e-01 -5.71857366e-03 -6.69601761e+01] [-2.23186673e-02 5.10113096e-05 9.99750906e-01 -7.16366701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.778623853 meters 0.015852294587295448 Centerline is valid? [True, True] Translation: X:280.54, Y:-66.97, Z:-7.16 [[ 9.66628211e-01 2.55287361e-01 2.14071054e-02 2.80536873e+02] [-2.55224321e-01 9.66865225e-01 -5.67300888e-03 -6.69661975e+01] [-2.21460332e-02 2.00764895e-05 9.99754746e-01 -7.16479332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.80862385300003 meters 0.01599342465517348 Centerline is valid? [True, True] Translation: X:280.56, Y:-66.97, Z:-7.17 [[ 9.66008376e-01 2.57631127e-01 2.13077342e-02 2.80564871e+02] [-2.57569265e-01 9.66243345e-01 -5.64559929e-03 -6.69723280e+01] [-2.20429385e-02 -3.45212392e-05 9.99757024e-01 -7.16575065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.838623853 meters 0.016055234685670855 Centerline is valid? [True, True] Translation: X:280.59, Y:-66.98, Z:-7.17 [[ 9.65731467e-01 2.58678523e-01 2.11696702e-02 2.80592189e+02] [-2.58617734e-01 9.65963466e-01 -5.60796724e-03 -6.69785063e+01] [-2.18997887e-02 -5.90616983e-05 9.99760169e-01 -7.16664465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.86862385300003 meters 0.017066267251055284 Centerline is valid? [True, True] Translation: X:280.62, Y:-66.98, Z:-7.17 [[ 9.64983324e-01 2.61445166e-01 2.12981299e-02 2.80619651e+02] [-2.61384340e-01 9.65218322e-01 -5.64065394e-03 -6.69816207e+01] [-2.20320669e-02 -1.23860644e-04 9.99757257e-01 -7.16714519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.898623853 meters 0.017870247631784294 Centerline is valid? [True, True] Translation: X:280.65, Y:-66.99, Z:-7.17 [[ 9.64570005e-01 2.62958034e-01 2.13957493e-02 2.80648202e+02] [-2.62897059e-01 9.64807259e-01 -5.66480077e-03 -6.69867688e+01] [-2.21323791e-02 -1.60782648e-04 9.99755036e-01 -7.16792174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.92862385300003 meters 0.018769834467611924 Centerline is valid? [True, True] Translation: X:280.68, Y:-66.99, Z:-7.17 [[ 9.64222268e-01 2.64245718e-01 2.12042285e-02 2.80675995e+02] [-2.64186163e-01 9.64455372e-01 -5.61308778e-03 -6.69908850e+01] [-2.19337665e-02 -1.89599529e-04 9.99759408e-01 -7.16896897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.958623853 meters 0.01984334654048002 Centerline is valid? [True, True] Translation: X:280.70, Y:-67.00, Z:-7.17 [[ 9.63808003e-01 2.65743691e-01 2.13172332e-02 2.80704978e+02] [-2.65683896e-01 9.64043692e-01 -5.64163663e-03 -6.69953301e+01] [-2.20499735e-02 -2.26191021e-04 9.99756844e-01 -7.16980095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.98862385300004 meters 0.02200800137148343 Centerline is valid? [True, True] Translation: X:280.73, Y:-67.00, Z:-7.17 [[ 9.63113550e-01 2.68233128e-01 2.15238878e-02 2.80734309e+02] [-2.68172813e-01 9.63353988e-01 -5.69525811e-03 -6.69974392e+01] [-2.22627801e-02 -2.86941285e-04 9.99752112e-01 -7.17100953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.018623853 meters 0.022159617332974987 Centerline is valid? [True, True] Translation: X:280.76, Y:-67.00, Z:-7.17 [[ 9.62883771e-01 2.69049412e-01 2.16161418e-02 2.80762335e+02] [-2.68988807e-01 9.63126326e-01 -5.71861111e-03 -6.70037635e+01] [-2.23576641e-02 -3.08142367e-04 9.99749989e-01 -7.17149603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.04862385300004 meters 0.023803346772635823 Centerline is valid? [True, True] Translation: X:280.79, Y:-67.01, Z:-7.17 [[ 9.62702628e-01 2.69706012e-01 2.15015763e-02 2.80790562e+02] [-2.69646233e-01 9.62942658e-01 -5.68733490e-03 -6.70071094e+01] [-2.22386935e-02 -3.22606809e-04 9.99752638e-01 -7.17263618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.078623853 meters 0.024884009917063396 Centerline is valid? [True, True] Translation: X:280.82, Y:-67.01, Z:-7.17 [[ 9.62388520e-01 2.70828874e-01 2.14489673e-02 2.80819759e+02] [-2.70769711e-01 9.62627446e-01 -5.67141045e-03 -6.70096665e+01] [-2.21833463e-02 -3.49630352e-04 9.99753858e-01 -7.17405455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.10862385300004 meters 0.023122285962083825 Centerline is valid? [True, True] Translation: X:280.85, Y:-67.02, Z:-7.17 [[ 9.62326265e-01 2.71057959e-01 2.13481269e-02 2.80847272e+02] [-2.70999429e-01 9.62562963e-01 -5.64373871e-03 -6.70184358e+01] [-2.20786966e-02 -3.54212213e-04 9.99756173e-01 -7.17466290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.138623853 meters 0.022951264349085548 Centerline is valid? [True, True] Translation: X:280.88, Y:-67.02, Z:-7.18 [[ 9.62295179e-01 2.71165182e-01 2.13876895e-02 2.80875798e+02] [-2.71106487e-01 9.62532761e-01 -5.65308865e-03 -6.70244206e+01] [-2.21192726e-02 -3.58401405e-04 9.99755275e-01 -7.17545949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.16862385300004 meters 0.02562541900943292 Centerline is valid? [True, True] Translation: X:280.90, Y:-67.02, Z:-7.18 [[ 9.62301815e-01 2.71194831e-01 2.07021939e-02 2.80904607e+02] [-2.71139866e-01 9.62524411e-01 -5.47090093e-03 -6.70239521e+01] [-2.14100470e-02 -3.48532186e-04 9.99770718e-01 -7.17819729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.198623853 meters 0.0250644975149563 Centerline is valid? [True, True] Translation: X:280.93, Y:-67.03, Z:-7.18 [[ 9.62352867e-01 2.71023210e-01 2.05761932e-02 2.80932301e+02] [-2.70968901e-01 9.62572751e-01 -5.43629628e-03 -6.70302453e+01] [-2.12794453e-02 -3.43873148e-04 9.99773508e-01 -7.17965258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.22862385300004 meters 0.024356367361845946 Centerline is valid? [True, True] Translation: X:280.96, Y:-67.03, Z:-7.18 [[ 9.62592016e-01 2.70136892e-01 2.10397482e-02 2.80961147e+02] [-2.70079932e-01 9.62821868e-01 -5.55711886e-03 -6.70348741e+01] [-2.17587124e-02 -3.33175510e-04 9.99763196e-01 -7.17987110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.258623853 meters 0.0214046984060551 Centerline is valid? [True, True] Translation: X:280.99, Y:-67.04, Z:-7.18 [[ 9.62850790e-01 2.69194763e-01 2.12728850e-02 2.80988535e+02] [-2.69136327e-01 9.63085707e-01 -5.61766589e-03 -6.70449224e+01] [-2.19998578e-02 -3.16332096e-04 9.99757924e-01 -7.17930223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.28862385300005 meters 0.023403724410066204 Centerline is valid? [True, True] Translation: X:281.02, Y:-67.05, Z:-7.18 [[ 9.63114996e-01 2.68233952e-01 2.14488188e-02 2.81016986e+02] [-2.68174331e-01 9.63353756e-01 -5.66301542e-03 -6.70469414e+01] [-2.21818132e-02 -2.97887584e-04 9.99753909e-01 -7.18071718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.318623853 meters 0.019544135636749626 Centerline is valid? [True, True] Translation: X:281.04, Y:-67.06, Z:-7.18 [[ 9.63878113e-01 2.65445285e-01 2.18582714e-02 2.81043722e+02] [-2.65382683e-01 9.64125896e-01 -5.76961342e-03 -6.70576755e+01] [-2.26056421e-02 -2.39602603e-04 9.99744431e-01 -7.18045059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.34862385300005 meters 0.018660309485155197 Centerline is valid? [True, True] Translation: X:281.07, Y:-67.06, Z:-7.18 [[ 9.64271120e-01 2.64003828e-01 2.19814817e-02 2.81071190e+02] [-2.63940169e-01 9.64521610e-01 -5.80101104e-03 -6.70646761e+01] [-2.27331033e-02 -2.08048598e-04 9.99741548e-01 -7.18103472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.378623853 meters 0.01789636801173131 Centerline is valid? [True, True] Translation: X:281.10, Y:-67.07, Z:-7.18 [[ 9.64738107e-01 2.62309671e-01 2.17720250e-02 2.81098276e+02] [-2.62246812e-01 9.64983735e-01 -5.74467349e-03 -6.70713353e+01] [-2.25165334e-02 -1.67538710e-04 9.99746457e-01 -7.18232689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.408623853 meters 0.016733255556695827 Centerline is valid? [True, True] Translation: X:281.13, Y:-67.08, Z:-7.18 [[ 9.65165928e-01 2.60745695e-01 2.15966073e-02 2.81125656e+02] [-2.60683484e-01 9.65407512e-01 -5.69702515e-03 -6.70793343e+01] [-2.23350017e-02 -1.31304254e-04 9.99750534e-01 -7.18375735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.438623853 meters 0.0157817459107896 Centerline is valid? [True, True] Translation: X:281.15, Y:-67.09, Z:-7.19 [[ 9.66043022e-01 2.57498734e-01 2.13373321e-02 2.81152134e+02] [-2.57437236e-01 9.66278634e-01 -5.62766402e-03 -6.70860848e+01] [-2.20669245e-02 -5.64582541e-05 9.99756494e-01 -7.18631320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.468623853 meters 0.015549116537089062 Centerline is valid? [True, True] Translation: X:281.18, Y:-67.09, Z:-7.19 [[ 9.66468786e-01 2.55931720e-01 2.09055363e-02 2.81179250e+02] [-2.55872359e-01 9.66694861e-01 -5.51193187e-03 -6.70932109e+01] [-2.16199527e-02 -2.20387842e-05 9.99766261e-01 -7.18746970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.498623853 meters 0.01565470725585623 Centerline is valid? [True, True] Translation: X:281.21, Y:-67.10, Z:-7.19 [[ 9.67237715e-01 2.53048342e-01 2.04386755e-02 2.81205907e+02] [-2.52990992e-01 9.67453635e-01 -5.38725834e-03 -6.71009160e+01] [-2.11367077e-02 3.99586370e-05 9.99776594e-01 -7.18930604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.528623853 meters 0.016123579115840538 Centerline is valid? [True, True] Translation: X:281.23, Y:-67.11, Z:-7.19 [[ 9.67651413e-01 2.51471601e-01 2.03169134e-02 2.81233518e+02] [-2.51414613e-01 9.67864675e-01 -5.35382710e-03 -6.71081685e+01] [-2.10103583e-02 7.26694255e-05 9.99779255e-01 -7.19033039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.55862385300003 meters 0.01634512777891375 Centerline is valid? [True, True] Translation: X:281.26, Y:-67.11, Z:-7.19 [[ 9.68051164e-01 2.49929168e-01 2.03065209e-02 2.81261993e+02] [-2.49871921e-01 9.68264117e-01 -5.35006989e-03 -6.71146110e+01] [-2.09992140e-02 1.05111999e-04 9.99779487e-01 -7.19033173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.588623853 meters 0.018199443144217096 Centerline is valid? [True, True] Translation: X:281.29, Y:-67.12, Z:-7.19 [[ 9.68860254e-01 2.46827869e-01 1.96420799e-02 2.81288781e+02] [-2.46773689e-01 9.69059325e-01 -5.17406827e-03 -6.71228510e+01] [-2.03114449e-02 1.65800601e-04 9.99793688e-01 -7.19269458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.61862385300003 meters 0.018606420779406413 Centerline is valid? [True, True] Translation: X:281.32, Y:-67.13, Z:-7.19 [[ 9.69277905e-01 2.45169450e-01 1.98061542e-02 2.81316640e+02] [-2.45114042e-01 9.69480222e-01 -5.21590980e-03 -6.71294323e+01] [-2.04804565e-02 2.00899608e-04 9.99790233e-01 -7.19325609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.648623853 meters 0.019433745216195442 Centerline is valid? [True, True] Translation: X:281.34, Y:-67.14, Z:-7.19 [[ 9.69666476e-01 2.43620793e-01 1.98956161e-02 2.81344535e+02] [-2.43564579e-01 9.69870535e-01 -5.23841208e-03 -6.71371763e+01] [-2.05723580e-02 2.33645208e-04 9.99788339e-01 -7.19370748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.67862385300003 meters 0.022568211105872645 Centerline is valid? [True, True] Translation: X:281.37, Y:-67.15, Z:-7.19 [[ 9.70479153e-01 2.40326589e-01 2.03308660e-02 2.81370279e+02] [-2.40267187e-01 9.70692039e-01 -5.35195813e-03 -6.71467717e+01] [-2.10212276e-02 3.09123811e-04 9.99778982e-01 -7.19426343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.708623853 meters 0.02400998626877663 Centerline is valid? [True, True] Translation: X:281.40, Y:-67.15, Z:-7.19 [[ 9.70832167e-01 2.38887126e-01 2.04412677e-02 2.81396996e+02] [-2.38826787e-01 9.71047282e-01 -5.37968779e-03 -6.71547138e+01] [-2.11345756e-02 3.40851664e-04 9.99776582e-01 -7.19445445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.73862385300004 meters 0.024101289438392865 Centerline is valid? [True, True] Translation: X:281.43, Y:-67.16, Z:-7.19 [[ 9.71228954e-01 2.37239625e-01 2.07768745e-02 2.81425141e+02] [-2.37176941e-01 9.71451087e-01 -5.46664951e-03 -6.71602706e+01] [-2.14806232e-02 3.81572763e-04 9.99769192e-01 -7.19415006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.768623853 meters 0.027018758505306325 Centerline is valid? [True, True] Translation: X:281.45, Y:-67.17, Z:-7.19 [[ 9.71580289e-01 2.35785385e-01 2.09044191e-02 2.81451471e+02] [-2.35721615e-01 9.71805063e-01 -5.49916449e-03 -6.71701294e+01] [-2.16116429e-02 4.15256399e-04 9.99766355e-01 -7.19492957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.79862385300004 meters 0.02763862674400301 Centerline is valid? [True, True] Translation: X:281.48, Y:-67.18, Z:-7.20 [[ 9.72239874e-01 2.33020788e-01 2.12353484e-02 2.81480353e+02] [-2.32954356e-01 9.72471634e-01 -5.58471622e-03 -6.71766789e+01] [-2.19521289e-02 4.82816895e-04 9.99758906e-01 -7.19512301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.828623853 meters 0.029069676186798257 Centerline is valid? [True, True] Translation: X:281.51, Y:-67.18, Z:-7.20 [[ 9.72565185e-01 2.31680917e-01 2.09979553e-02 2.81506428e+02] [-2.31615659e-01 9.72791702e-01 -5.52186369e-03 -6.71846723e+01] [-2.17059471e-02 5.06917135e-04 9.99764270e-01 -7.19635115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.85862385300004 meters 0.03124891895971365 Centerline is valid? [True, True] Translation: X:281.53, Y:-67.19, Z:-7.20 [[ 9.72842562e-01 2.30535926e-01 2.07493710e-02 2.81532523e+02] [-2.30471970e-01 9.73063673e-01 -5.45526407e-03 -6.71942297e+01] [-2.14480935e-02 5.24964672e-04 9.99769825e-01 -7.19745389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.888623853 meters 0.03317330412231857 Centerline is valid? [True, True] Translation: X:281.56, Y:-67.20, Z:-7.20 [[ 9.73377862e-01 2.28247829e-01 2.09396072e-02 2.81560496e+02] [-2.28182197e-01 9.73602893e-01 -5.50380537e-03 -6.72033987e+01] [-2.16430937e-02 5.79236732e-04 9.99765593e-01 -7.19806167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.91862385300004 meters 0.03340762468651964 Centerline is valid? [True, True] Translation: X:281.59, Y:-67.21, Z:-7.20 [[ 9.73632781e-01 2.27163253e-01 2.08821349e-02 2.81588077e+02] [-2.27097741e-01 9.73856506e-01 -5.48826647e-03 -6.72103377e+01] [-2.15829354e-02 6.01270483e-04 9.99766881e-01 -7.19904402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.948623853 meters 0.032887264668022095 Centerline is valid? [True, True] Translation: X:281.62, Y:-67.22, Z:-7.20 [[ 9.73862369e-01 2.26206560e-01 2.05591378e-02 2.81616465e+02] [-2.26142869e-01 9.74079164e-01 -5.40230552e-03 -6.72169645e+01] [-2.12482647e-02 6.11799635e-04 9.99774043e-01 -7.19983271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.97862385300004 meters 0.037260465813927744 Centerline is valid? [True, True] Translation: X:281.64, Y:-67.23, Z:-7.20 [[ 9.74159064e-01 2.25026283e-01 1.94239632e-02 2.81642787e+02] [-2.24969212e-01 9.74352508e-01 -5.10330979e-03 -6.72305491e+01] [-2.00741661e-02 6.01641781e-04 9.99798313e-01 -7.20389244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.008623853 meters 0.03550659442421539 Centerline is valid? [True, True] Translation: X:281.67, Y:-67.24, Z:-7.20 [[ 9.74269666e-01 2.24570762e-01 1.91465670e-02 2.81671008e+02] [-2.24515235e-01 9.74457598e-01 -5.02976844e-03 -6.72359426e+01] [-1.97870567e-02 6.01654834e-04 9.99804036e-01 -7.20426933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.03862385300005 meters 0.042352177934842375 Centerline is valid? [True, True] Translation: X:281.70, Y:-67.24, Z:-7.20 [[ 9.74447336e-01 2.23835414e-01 1.87108817e-02 2.81699665e+02] [-2.23782270e-01 9.74626773e-01 -4.91424123e-03 -6.72431116e+01] [-1.93361075e-02 6.01505689e-04 9.99812859e-01 -7.19667778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.068623853 meters 0.03513622873113759 Centerline is valid? [True, True] Translation: X:281.73, Y:-67.25, Z:-7.20 [[ 9.74409186e-01 2.23928488e-01 1.95645409e-02 2.81726493e+02] [-2.23870413e-01 9.74605376e-01 -5.13796553e-03 -6.72521900e+01] [-2.02182436e-02 6.26558964e-04 9.99795394e-01 -7.20438179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.09862385300005 meters 0.03513622873113759 Centerline is valid? [True, True] Translation: X:281.75, Y:-67.26, Z:-7.21 [[ 9.74414603e-01 2.23904897e-01 1.95647425e-02 2.81754718e+02] [-2.23846832e-01 9.74610797e-01 -5.13719769e-03 -6.72595578e+01] [-2.02182530e-02 6.26254820e-04 9.99795394e-01 -7.20511557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.128623853 meters 0.037798978847881866 Centerline is valid? [True, True] Translation: X:281.78, Y:-67.27, Z:-7.21 [[ 9.74351527e-01 2.24138234e-01 2.00288308e-02 2.81781434e+02] [-2.24077442e-01 9.74557155e-01 -5.25851075e-03 -6.72715541e+01] [-2.06978737e-02 6.35628819e-04 9.99785574e-01 -7.20552934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.158623853 meters 0.03612635597203644 Centerline is valid? [True, True] Translation: X:281.81, Y:-67.28, Z:-7.21 [[ 9.74256658e-01 2.24525158e-01 2.03080713e-02 2.81810120e+02] [-2.24462751e-01 9.74468085e-01 -5.33140479e-03 -6.72779366e+01] [-2.09866018e-02 6.35751058e-04 9.99779555e-01 -7.20539010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.188623853 meters 0.0360648801200787 Centerline is valid? [True, True] Translation: X:281.84, Y:-67.29, Z:-7.21 [[ 9.73887260e-01 2.26120662e-01 2.03236609e-02 2.81837230e+02] [-2.26058522e-01 9.74099115e-01 -5.33472822e-03 -6.72866147e+01] [-2.10035524e-02 6.01087087e-04 9.99779220e-01 -7.20600896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.218623853 meters 0.034651024971993086 Centerline is valid? [True, True] Translation: X:281.87, Y:-67.29, Z:-7.21 [[ 9.73649145e-01 2.27132731e-01 2.04466422e-02 2.81865302e+02] [-2.27070076e-01 9.73863637e-01 -5.36628187e-03 -6.72932379e+01] [-2.11310996e-02 5.82055165e-04 9.99776544e-01 -7.20654074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.248623853 meters 0.03575342577477538 Centerline is valid? [True, True] Translation: X:281.89, Y:-67.30, Z:-7.20 [[ 9.73457095e-01 2.27958866e-01 2.03970228e-02 2.81893862e+02] [-2.27896718e-01 9.73670601e-01 -5.35220701e-03 -6.73006289e+01] [-2.10800645e-02 5.61729329e-04 9.99777633e-01 -7.20241783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.278623853 meters 0.03414674631778475 Centerline is valid? [True, True] Translation: X:281.92, Y:-67.31, Z:-7.21 [[ 9.73103167e-01 2.29462266e-01 2.04277732e-02 2.81920619e+02] [-2.29400276e-01 9.73317414e-01 -5.35956190e-03 -6.73095790e+01] [-2.11125246e-02 5.29269854e-04 9.99776966e-01 -7.20824059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.30862385300003 meters 0.029217041621196607 Centerline is valid? [True, True] Translation: X:281.95, Y:-67.31, Z:-7.21 [[ 9.72352229e-01 2.32664259e-01 1.99620870e-02 2.81950610e+02] [-2.32605759e-01 9.72557012e-01 -5.23632119e-03 -6.73120551e+01] [-2.06325725e-02 4.48252170e-04 9.99787025e-01 -7.20904164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.338623853 meters 0.027864906178152234 Centerline is valid? [True, True] Translation: X:281.98, Y:-67.32, Z:-7.21 [[ 9.71907120e-01 2.34506739e-01 2.00783286e-02 2.81977884e+02] [-2.34447956e-01 9.72114407e-01 -5.26646942e-03 -6.73183666e+01] [-2.07534551e-02 4.11196025e-04 9.99784539e-01 -7.20990296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.36862385300003 meters 0.023758424162601776 Centerline is valid? [True, True] Translation: X:282.01, Y:-67.32, Z:-7.21 [[ 9.70830761e-01 2.38905409e-01 2.02938151e-02 2.82008072e+02] [-2.38846347e-01 9.71042792e-01 -5.32152958e-03 -6.73214127e+01] [-2.09775051e-02 3.19200996e-04 9.99779897e-01 -7.20943057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.398623853 meters 0.02047162052404822 Centerline is valid? [True, True] Translation: X:282.04, Y:-67.32, Z:-7.21 [[ 9.70239666e-01 2.41297604e-01 2.02597225e-02 2.82037424e+02] [-2.41239263e-01 9.70451130e-01 -5.31250358e-03 -6.73233124e+01] [-2.09429650e-02 2.66961175e-04 9.99780636e-01 -7.20910674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.42862385300003 meters 0.030534617280050833 Centerline is valid? [True, True] Translation: X:282.07, Y:-67.33, Z:-7.20 [[ 9.69634490e-01 2.43725920e-01 2.01651025e-02 2.82065507e+02] [-2.43668670e-01 9.69844127e-01 -5.28665756e-03 -6.73284092e+01] [-2.08455017e-02 2.12521815e-04 9.99782686e-01 -7.20187591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.458623853 meters 0.016260591346150117 Centerline is valid? [True, True] Translation: X:282.10, Y:-67.33, Z:-7.21 [[ 9.68334466e-01 2.48786265e-01 2.08268241e-02 2.82095580e+02] [-2.48726388e-01 9.68558405e-01 -5.45898562e-03 -6.73283878e+01] [-2.15301162e-02 1.05943182e-04 9.99768195e-01 -7.21064320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.48862385300004 meters 0.015575286730035763 Centerline is valid? [True, True] Translation: X:282.12, Y:-67.33, Z:-7.21 [[ 9.67816920e-01 2.50795930e-01 2.07800404e-02 2.82124223e+02] [-2.50736801e-01 9.68039977e-01 -5.44599214e-03 -6.73325088e+01] [-2.14817425e-02 6.04024802e-05 9.99769239e-01 -7.21146009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.518623853 meters 0.015288928478464232 Centerline is valid? [True, True] Translation: X:282.15, Y:-67.34, Z:-7.21 [[ 9.67345912e-01 2.52631320e-01 2.04769033e-02 2.82151034e+02] [-2.52574333e-01 9.67562616e-01 -5.36566586e-03 -6.73362856e+01] [-2.11682214e-02 1.85147296e-05 9.99775928e-01 -7.21274903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.54862385300004 meters 0.015605616557779974 Centerline is valid? [True, True] Translation: X:282.18, Y:-67.34, Z:-7.21 [[ 9.66590638e-01 2.55552963e-01 1.98801818e-02 2.82180201e+02] [-2.55499906e-01 9.66795056e-01 -5.20743206e-03 -6.73385659e+01] [-2.05508362e-02 -4.59295051e-05 9.99788808e-01 -7.21499494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.578623853 meters 0.02475218077624659 Centerline is valid? [True, True] Translation: X:282.21, Y:-67.34, Z:-7.21 [[ 9.66460476e-01 2.56123256e-01 1.88421543e-02 2.82208732e+02] [-2.56075721e-01 9.66644130e-01 -4.93463422e-03 -6.73442638e+01] [-1.94775324e-02 -5.58892993e-05 9.99810293e-01 -7.20899950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.60862385300004 meters 0.016327279398720862 Centerline is valid? [True, True] Translation: X:282.24, Y:-67.35, Z:-7.22 [[ 9.66244829e-01 2.56913142e-01 1.91459840e-02 2.82235088e+02] [-2.56864232e-01 9.66434495e-01 -5.01339623e-03 -6.73486125e+01] [-1.97913467e-02 -7.37502831e-05 9.99804129e-01 -7.21837078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.638623853 meters 0.016301012335921822 Centerline is valid? [True, True] Translation: X:282.26, Y:-67.35, Z:-7.22 [[ 9.66025634e-01 2.57703869e-01 1.95752611e-02 2.82262432e+02] [-2.57652942e-01 9.66223942e-01 -5.12393512e-03 -6.73538456e+01] [-2.02345439e-02 -9.37709415e-05 9.99795256e-01 -7.21790201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.66862385300004 meters 0.016605645210093667 Centerline is valid? [True, True] Translation: X:282.29, Y:-67.36, Z:-7.22 [[ 9.65945877e-01 2.58025650e-01 1.92698295e-02 2.82290045e+02] [-2.57976393e-01 9.66138061e-01 -5.04250147e-03 -6.73599939e+01] [-1.99184104e-02 -1.00377603e-04 9.99801604e-01 -7.21894511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.698623853 meters 0.01664548746091843 Centerline is valid? [True, True] Translation: X:282.32, Y:-67.37, Z:-7.22 [[ 9.65885444e-01 2.58260775e-01 1.91489342e-02 2.82317645e+02] [-2.58212204e-01 9.66075236e-01 -5.00968399e-03 -6.73664414e+01] [-1.97931160e-02 -1.05707668e-04 9.99804091e-01 -7.21922719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.72862385300004 meters 0.016800341683898014 Centerline is valid? [True, True] Translation: X:282.34, Y:-67.37, Z:-7.22 [[ 9.65772752e-01 2.58669700e-01 1.93126528e-02 2.82344492e+02] [-2.58620399e-01 9.65965824e-01 -5.05140340e-03 -6.73702907e+01] [-1.99620076e-02 -1.16138214e-04 9.99800733e-01 -7.21990174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.758623853 meters 0.016958626378388478 Centerline is valid? [True, True] Translation: X:282.37, Y:-67.38, Z:-7.22 [[ 9.65725737e-01 2.58819329e-01 1.96559507e-02 2.82371485e+02] [-2.58768322e-01 9.65925742e-01 -5.13965601e-03 -6.73754261e+01] [-2.03164311e-02 -1.22839279e-04 9.99793592e-01 -7.22019247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.78862385300005 meters 0.017059638382471248 Centerline is valid? [True, True] Translation: X:282.40, Y:-67.38, Z:-7.22 [[ 9.65695239e-01 2.58913042e-01 1.99184053e-02 2.82398022e+02] [-2.58860744e-01 9.65900626e-01 -5.20528408e-03 -6.73803740e+01] [-2.05869161e-02 -1.29375163e-04 9.99788059e-01 -7.22053819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.818623853 meters 0.01708719893154422 Centerline is valid? [True, True] Translation: X:282.42, Y:-67.39, Z:-7.22 [[ 9.65762413e-01 2.58635429e-01 2.02651659e-02 2.82424525e+02] [-2.58581267e-01 9.65974999e-01 -5.29430695e-03 -6.73860063e+01] [-2.09449390e-02 -1.27149618e-04 9.99780623e-01 -7.22066861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.84862385300005 meters 0.017119519023833168 Centerline is valid? [True, True] Translation: X:282.45, Y:-67.39, Z:-7.22 [[ 9.65860351e-01 2.58272790e-01 2.02224652e-02 2.82451117e+02] [-2.58218838e-01 9.66072022e-01 -5.28022170e-03 -6.73912650e+01] [-2.09000955e-02 -1.21864684e-04 9.99781562e-01 -7.22158687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.878623853 meters 0.016562303306475915 Centerline is valid? [True, True] Translation: X:282.48, Y:-67.40, Z:-7.22 [[ 9.66052848e-01 2.57533877e-01 2.04498715e-02 2.82478782e+02] [-2.57478568e-01 9.66269264e-01 -5.33824088e-03 -6.73980530e+01] [-2.11348602e-02 -1.08380822e-04 9.99776628e-01 -7.22179178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.908623853 meters 0.01608928403140344 Centerline is valid? [True, True] Translation: X:282.51, Y:-67.40, Z:-7.22 [[ 9.66385390e-01 2.56258308e-01 2.07595039e-02 2.82506357e+02] [-2.56201107e-01 9.66608334e-01 -5.41483390e-03 -6.74039658e+01] [-2.14539056e-02 -8.57915030e-05 9.99769835e-01 -7.22202854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.938623853 meters 0.01575689377112524 Centerline is valid? [True, True] Translation: X:282.53, Y:-67.41, Z:-7.22 [[ 9.66569792e-01 2.55561974e-01 2.07584952e-02 2.82534188e+02] [-2.55504662e-01 9.66792673e-01 -5.41249982e-03 -6.74110267e+01] [-2.14523902e-02 -7.23334924e-05 9.99769868e-01 -7.22280184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.968623853 meters 0.015592675512436358 Centerline is valid? [True, True] Translation: X:282.56, Y:-67.42, Z:-7.22 [[ 9.66772332e-01 2.54781978e-01 2.09141649e-02 2.82562198e+02] [-2.54723643e-01 9.66998522e-01 -5.45206876e-03 -6.74181855e+01] [-2.16130554e-02 -5.64230534e-05 9.99766409e-01 -7.22345347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.998623853 meters 0.01542763225803337 Centerline is valid? [True, True] Translation: X:282.59, Y:-67.42, Z:-7.22 [[ 9.66971410e-01 2.54025729e-01 2.09098320e-02 2.82588914e+02] [-2.53967261e-01 9.67197460e-01 -5.45001247e-03 -6.74247900e+01] [-2.16083798e-02 -4.04065115e-05 9.99766511e-01 -7.22424262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.028623853 meters 0.015219310485333074 Centerline is valid? [True, True] Translation: X:282.62, Y:-67.43, Z:-7.23 [[ 9.67387898e-01 2.52494075e-01 2.01840808e-02 2.82615806e+02] [-2.52439291e-01 9.67598441e-01 -5.25945920e-03 -6.74314031e+01] [-2.08580674e-02 -7.31787719e-06 9.99782447e-01 -7.22667134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.05862385300003 meters 0.015286756981512781 Centerline is valid? [True, True] Translation: X:282.64, Y:-67.44, Z:-7.23 [[ 9.67608207e-01 2.51686529e-01 1.97040343e-02 2.82644025e+02] [-2.51634184e-01 9.67808809e-01 -5.13289493e-03 -6.74383252e+01] [-2.03616185e-02 8.42266867e-06 9.99792681e-01 -7.22770531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.088623853 meters 0.015730247083924835 Centerline is valid? [True, True] Translation: X:282.67, Y:-67.44, Z:-7.23 [[ 9.68054605e-01 2.50035198e-01 1.87798348e-02 2.82671243e+02] [-2.49987353e-01 9.68236747e-01 -4.89134165e-03 -6.74448108e+01] [-1.94063338e-02 4.03646141e-05 9.99811679e-01 -7.23115545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.11862385300003 meters 0.01589415870483149 Centerline is valid? [True, True] Translation: X:282.70, Y:-67.45, Z:-7.23 [[ 9.68356348e-01 2.48870379e-01 1.86953666e-02 2.82699403e+02] [-2.48822770e-01 9.68536799e-01 -4.86813559e-03 -6.74520902e+01] [-1.93186852e-02 6.22571096e-05 9.99813375e-01 -7.23199609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.148623853 meters 0.01631989509224883 Centerline is valid? [True, True] Translation: X:282.73, Y:-67.46, Z:-7.23 [[ 9.68657860e-01 2.47694356e-01 1.86937321e-02 2.82726912e+02] [-2.47646554e-01 9.68838221e-01 -4.86679800e-03 -6.74598465e+01] [-1.93166805e-02 8.48238102e-05 9.99813412e-01 -7.23251994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.17862385300003 meters 0.016872063731460333 Centerline is valid? [True, True] Translation: X:282.75, Y:-67.47, Z:-7.23 [[ 9.69317454e-01 2.45090398e-01 1.88247412e-02 2.82754967e+02] [-2.45041449e-01 9.69500221e-01 -4.90000685e-03 -6.74671714e+01] [-1.94515354e-02 1.36820291e-04 9.99810792e-01 -7.23143131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.208623853 meters 0.017442728915128762 Centerline is valid? [True, True] Translation: X:282.78, Y:-67.47, Z:-7.23 [[ 9.69661785e-01 2.43702471e-01 1.91083378e-02 2.82782866e+02] [-2.43651787e-01 9.69850029e-01 -4.97281500e-03 -6.74741943e+01] [-1.97441093e-02 1.66168021e-04 9.99805052e-01 -7.23150814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.23862385300004 meters 0.018890143917682928 Centerline is valid? [True, True] Translation: X:282.81, Y:-67.48, Z:-7.23 [[ 9.70201663e-01 2.41481385e-01 1.98865381e-02 2.82809304e+02] [-2.41426040e-01 9.70405427e-01 -5.17442170e-03 -6.74818004e+01] [-2.05475310e-02 2.19104391e-04 9.99788853e-01 -7.23065953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.268623853 meters 0.019975219944800195 Centerline is valid? [True, True] Translation: X:282.84, Y:-67.49, Z:-7.23 [[ 9.70457132e-01 2.40433430e-01 2.01176924e-02 2.82836173e+02] [-2.40376608e-01 9.70665600e-01 -5.23253055e-03 -6.74900138e+01] [-2.07856273e-02 2.42123928e-04 9.99783926e-01 -7.23118517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.29862385300004 meters 0.02042202650196046 Centerline is valid? [True, True] Translation: X:282.86, Y:-67.50, Z:-7.23 [[ 9.70737578e-01 2.39271727e-01 2.04351440e-02 2.82864249e+02] [-2.39212868e-01 9.70952609e-01 -5.31372365e-03 -6.74973578e+01] [-2.11129802e-02 2.69881826e-04 9.99777060e-01 -7.23131052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.328623853 meters 0.02119936323172936 Centerline is valid? [True, True] Translation: X:282.89, Y:-67.50, Z:-7.23 [[ 9.71022346e-01 2.38116603e-01 2.03982264e-02 2.82892300e+02] [-2.38057724e-01 9.71236530e-01 -5.30308665e-03 -6.75049387e+01] [-2.10742556e-02 2.93460293e-04 9.99777870e-01 -7.23181274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.35862385300004 meters 0.02200165909460241 Centerline is valid? [True, True] Translation: X:282.92, Y:-67.51, Z:-7.23 [[ 9.71277429e-01 2.37030885e-01 2.08929537e-02 2.82920442e+02] [-2.36968887e-01 9.71502061e-01 -5.43060984e-03 -6.75131275e+01] [-2.15847699e-02 3.23648760e-04 9.99766969e-01 -7.23182402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.388623853 meters 0.024536028770481572 Centerline is valid? [True, True] Translation: X:282.95, Y:-67.52, Z:-7.23 [[ 9.71805856e-01 2.34892403e-01 2.04679520e-02 2.82946582e+02] [-2.34832448e-01 9.72021310e-01 -5.31917462e-03 -6.75238224e+01] [-2.11447192e-02 3.62665772e-04 9.99776360e-01 -7.23330441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.41862385300004 meters 0.02609222439332498 Centerline is valid? [True, True] Translation: X:282.97, Y:-67.53, Z:-7.24 [[ 9.72145644e-01 2.33517040e-01 2.00658640e-02 2.82972663e+02] [-2.33459149e-01 9.72352634e-01 -5.21352583e-03 -6.75333335e+01] [-2.07285428e-02 3.83746891e-04 9.99785067e-01 -7.23513594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.448623853 meters 0.027556359353573274 Centerline is valid? [True, True] Translation: X:283.00, Y:-67.54, Z:-7.24 [[ 9.72485995e-01 2.32116625e-01 1.98207467e-02 2.82999080e+02] [-2.32059882e-01 9.72687877e-01 -5.14823495e-03 -6.75426243e+01] [-2.04743910e-02 4.06986238e-04 9.99790295e-01 -7.23608896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.47862385300004 meters 0.033693224565981374 Centerline is valid? [True, True] Translation: X:283.03, Y:-67.55, Z:-7.23 [[ 9.73293558e-01 2.28760144e-01 1.91949889e-02 2.83026174e+02] [-2.28706312e-01 9.73482709e-01 -4.98382470e-03 -6.75542939e+01] [-1.98260903e-02 4.60709344e-04 9.99803338e-01 -7.23128123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.508623853 meters 0.036783578385635764 Centerline is valid? [True, True] Translation: X:283.05, Y:-67.57, Z:-7.24 [[ 9.73589707e-01 2.27468572e-01 1.95225657e-02 2.83050270e+02] [-2.27412640e-01 9.73785297e-01 -5.06825952e-03 -6.75708207e+01] [-2.01636572e-02 4.94727108e-04 9.99796570e-01 -7.23948780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.53862385300005 meters 0.032770064263836426 Centerline is valid? [True, True] Translation: X:283.08, Y:-67.58, Z:-7.24 [[ 9.74261264e-01 2.24570523e-01 1.95721749e-02 2.83079319e+02] [-2.24513747e-01 9.74457681e-01 -5.07988191e-03 -6.75756146e+01] [-2.02130479e-02 5.54909847e-04 9.99795541e-01 -7.23853020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.568623853 meters 0.03454111792698379 Centerline is valid? [True, True] Translation: X:283.10, Y:-67.59, Z:-7.24 [[ 9.74550184e-01 2.23316702e-01 1.95343177e-02 2.83104713e+02] [-2.23259911e-01 9.74745770e-01 -5.06919596e-03 -6.75863000e+01] [-2.01730296e-02 5.78955841e-04 9.99796336e-01 -7.23895126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.59862385300005 meters 0.035794832411275866 Centerline is valid? [True, True] Translation: X:283.13, Y:-67.60, Z:-7.24 [[ 9.74784678e-01 2.22300994e-01 1.94190452e-02 2.83132084e+02] [-2.22244694e-01 9.74977904e-01 -5.03804995e-03 -6.75965396e+01] [-2.00531035e-02 5.95234129e-04 9.99798739e-01 -7.23969840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.628623853 meters 0.03313981891313897 Centerline is valid? [True, True] Translation: X:283.16, Y:-67.60, Z:-7.24 [[ 9.75029162e-01 2.21217821e-01 1.95143246e-02 2.83161196e+02] [-2.21160773e-01 9.75224226e-01 -5.06168083e-03 -6.76037017e+01] [-2.01505761e-02 6.19483291e-04 9.99796765e-01 -7.23945804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.658623853 meters 0.04055415697202588 Centerline is valid? [True, True] Translation: X:283.19, Y:-67.62, Z:-7.24 [[ 9.75075878e-01 2.21019529e-01 1.94267658e-02 2.83185790e+02] [-2.20962962e-01 9.75269185e-01 -5.03852122e-03 -6.76226214e+01] [-2.00599376e-02 6.20344792e-04 9.99798587e-01 -7.24220862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.688623853 meters 0.03823343941874738 Centerline is valid? [True, True] Translation: X:283.21, Y:-67.63, Z:-7.24 [[ 9.75123735e-01 2.20834329e-01 1.91285375e-02 2.83213660e+02] [-2.20779463e-01 9.75311141e-01 -4.96047849e-03 -6.76282444e+01] [-1.97517197e-02 6.13892082e-04 9.99804727e-01 -7.24248153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.718623853 meters 0.03805980953315476 Centerline is valid? [True, True] Translation: X:283.24, Y:-67.64, Z:-7.24 [[ 9.75014911e-01 2.21284994e-01 1.94647194e-02 2.83240900e+02] [-2.21228291e-01 9.75208990e-01 -5.04668352e-03 -6.76388051e+01] [-2.00989247e-02 6.14445067e-04 9.99797807e-01 -7.24286094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.748623853 meters 0.03784550879364327 Centerline is valid? [True, True] Translation: X:283.27, Y:-67.65, Z:-7.24 [[ 9.74932094e-01 2.21634676e-01 1.96336991e-02 2.83267782e+02] [-2.21577074e-01 9.75129579e-01 -5.08958248e-03 -6.76477604e+01] [-2.02734287e-02 6.11619715e-04 9.99794286e-01 -7.24334640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.778623853 meters 0.038263606612768584 Centerline is valid? [True, True] Translation: X:283.29, Y:-67.66, Z:-7.24 [[ 9.74885705e-01 2.21813815e-01 1.99121663e-02 2.83293925e+02] [-2.21754630e-01 9.75088844e-01 -5.16053771e-03 -6.76578119e+01] [-2.05608098e-02 6.15319361e-04 9.99788415e-01 -7.24400907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.80862385300003 meters 0.03618892069238796 Centerline is valid? [True, True] Translation: X:283.32, Y:-67.66, Z:-7.24 [[ 9.74848035e-01 2.21982886e-01 1.98722586e-02 2.83322397e+02] [-2.21923997e-01 9.75050371e-01 -5.14905254e-03 -6.76648602e+01] [-2.05194547e-02 6.09412688e-04 9.99789268e-01 -7.24405152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.838623853 meters 0.037070296310700274 Centerline is valid? [True, True] Translation: X:283.35, Y:-67.68, Z:-7.25 [[ 9.74814210e-01 2.22147681e-01 1.96891779e-02 2.83348877e+02] [-2.22089942e-01 9.75012846e-01 -5.09982014e-03 -6.76787774e+01] [-2.03301146e-02 5.98608763e-04 9.99793143e-01 -7.24539280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.86862385300003 meters 0.04374482192400043 Centerline is valid? [True, True] Translation: X:283.38, Y:-67.69, Z:-7.24 [[ 9.74907752e-01 2.21818096e-01 1.87511918e-02 2.83377480e+02] [-2.21765681e-01 9.75087894e-01 -4.85614618e-03 -6.76865060e+01] [-1.93612413e-02 5.75923721e-04 9.99812388e-01 -7.23732775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.898623853 meters 0.03534189536488539 Centerline is valid? [True, True] Translation: X:283.41, Y:-67.70, Z:-7.25 [[ 9.74879014e-01 2.21903226e-01 1.92319292e-02 2.83405008e+02] [-2.21848115e-01 9.75068517e-01 -4.98014567e-03 -6.76976014e+01] [-1.98575591e-02 5.88472257e-04 9.99802646e-01 -7.24708518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.92862385300003 meters 0.0376936358529571 Centerline is valid? [True, True] Translation: X:283.43, Y:-67.71, Z:-7.25 [[ 9.74743609e-01 2.22488036e-01 1.93383351e-02 2.83431369e+02] [-2.22432442e-01 9.74935248e-01 -5.00699443e-03 -6.77141840e+01] [-1.99676209e-02 5.79062711e-04 9.99800459e-01 -7.24815310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.958623853 meters 0.0376936358529571 Centerline is valid? [True, True] Translation: X:283.46, Y:-67.72, Z:-7.25 [[ 9.74748594e-01 2.22466205e-01 1.93382001e-02 2.83459619e+02] [-2.22410597e-01 9.74940230e-01 -5.00751590e-03 -6.77214524e+01] [-1.99675923e-02 5.80048459e-04 9.99800459e-01 -7.24888694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.98862385300004 meters 0.034079382694895424 Centerline is valid? [True, True] Translation: X:283.49, Y:-67.73, Z:-7.25 [[ 9.74563701e-01 2.23286181e-01 1.92061111e-02 2.83489670e+02] [-2.23231501e-01 9.74752773e-01 -4.97271030e-03 -6.77271608e+01] [-1.98315476e-02 5.58813933e-04 9.99803179e-01 -7.24876271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.018623853 meters 0.03541034870300657 Centerline is valid? [True, True] Translation: X:283.52, Y:-67.74, Z:-7.24 [[ 9.74072389e-01 2.25395482e-01 1.94899334e-02 2.83517522e+02] [-2.25339597e-01 9.74267213e-01 -5.04614960e-03 -6.77381018e+01] [-2.01257824e-02 5.23461273e-04 9.99797319e-01 -7.24246972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.04862385300004 meters 0.03321547728126535 Centerline is valid? [True, True] Translation: X:283.54, Y:-67.75, Z:-7.25 [[ 9.73647756e-01 2.27145134e-01 2.03748795e-02 2.83544407e+02] [-2.27084420e-01 9.73860785e-01 -5.27620517e-03 -6.77498034e+01] [-2.10407604e-02 5.10347629e-04 9.99778488e-01 -7.24954746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.078623853 meters 0.027155668938362684 Centerline is valid? [True, True] Translation: X:283.58, Y:-67.75, Z:-7.25 [[ 9.73236136e-01 2.28939569e-01 1.99523828e-02 2.83575848e+02] [-2.28881738e-01 9.73440528e-01 -5.16614710e-03 -6.77520032e+01] [-2.06051936e-02 4.61144989e-04 9.99787584e-01 -7.24893195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.10862385300004 meters 0.02418929836348121 Centerline is valid? [True, True] Translation: X:283.60, Y:-67.76, Z:-7.25 [[ 9.72167765e-01 2.33436501e-01 1.99307793e-02 2.83604214e+02] [-2.33379730e-01 9.72371979e-01 -5.16092896e-03 -6.77598033e+01] [-2.05848805e-02 3.65848884e-04 9.99788042e-01 -7.25057008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.138623853 meters 0.021899825488601702 Centerline is valid? [True, True] Translation: X:283.63, Y:-67.77, Z:-7.25 [[ 9.71567226e-01 2.35940214e-01 1.97317051e-02 2.83633632e+02] [-2.35885092e-01 9.71767523e-01 -5.10918459e-03 -6.77654984e+01] [-2.03800923e-02 3.09501219e-04 9.99792256e-01 -7.25154611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.16862385300004 meters 0.020528008196801097 Centerline is valid? [True, True] Translation: X:283.66, Y:-67.77, Z:-7.25 [[ 9.70974702e-01 2.38396519e-01 1.93707903e-02 2.83661621e+02] [-2.38343892e-01 9.71167872e-01 -5.01530713e-03 -6.77719212e+01] [-2.00079210e-02 2.52826799e-04 9.99799790e-01 -7.25318740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.198623853 meters 0.017159514937623847 Centerline is valid? [True, True] Translation: X:283.69, Y:-67.78, Z:-7.25 [[ 9.69793276e-01 2.43194600e-01 1.89047130e-02 2.83690672e+02] [-2.43145399e-01 9.69977507e-01 -4.89392479e-03 -6.77763883e+01] [-1.95273225e-02 1.49501369e-04 9.99809312e-01 -7.25470841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.22862385300004 meters 0.01600847977513687 Centerline is valid? [True, True] Translation: X:283.72, Y:-67.78, Z:-7.25 [[ 9.69302419e-01 2.45130841e-01 1.90706844e-02 2.83718472e+02] [-2.45081160e-01 9.69489999e-01 -4.93622645e-03 -6.77826463e+01] [-1.96988591e-02 1.10830791e-04 9.99805952e-01 -7.25479615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.258623853 meters 0.015453171667910114 Centerline is valid? [True, True] Translation: X:283.75, Y:-67.79, Z:-7.26 [[ 9.68857937e-01 2.46861447e-01 1.93319221e-02 2.83746856e+02] [-2.46810760e-01 9.69050783e-01 -5.00282260e-03 -6.77898907e+01] [-1.99686183e-02 7.56979916e-05 9.99800604e-01 -7.25504145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.28862385300005 meters 0.017148586693217952 Centerline is valid? [True, True] Translation: X:283.77, Y:-67.80, Z:-7.25 [[ 9.68538643e-01 2.48099515e-01 1.94814785e-02 2.83773855e+02] [-2.48048311e-01 9.68734550e-01 -5.04056334e-03 -6.77968526e+01] [-2.01229426e-02 4.96325478e-05 9.99797512e-01 -7.25170582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.318623853 meters 0.01460826291905838 Centerline is valid? [True, True] Translation: X:283.80, Y:-67.80, Z:-7.25 [[ 9.67981350e-01 2.50160987e-01 2.07746835e-02 2.83800038e+02] [-2.50103264e-01 9.68204256e-01 -5.37370874e-03 -6.78047071e+01] [-2.14584292e-02 5.83370735e-06 9.99769741e-01 -7.25383893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.34862385300005 meters 0.014529766446349422 Centerline is valid? [True, True] Translation: X:283.83, Y:-67.81, Z:-7.25 [[ 9.67797642e-01 2.50841368e-01 2.11265604e-02 2.83828178e+02] [-2.50781865e-01 9.68028206e-01 -5.46333089e-03 -6.78127771e+01] [-2.18215357e-02 -1.07594715e-05 9.99761882e-01 -7.25433991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.378623853 meters 0.014609437443266027 Centerline is valid? [True, True] Translation: X:283.86, Y:-67.82, Z:-7.25 [[ 9.67664531e-01 2.51356222e-01 2.11046102e-02 2.83855327e+02] [-2.51296989e-01 9.67894648e-01 -5.45659560e-03 -6.78210610e+01] [-2.17985885e-02 -2.33709709e-05 9.99762382e-01 -7.25462320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.408623853 meters 0.014576721520644912 Centerline is valid? [True, True] Translation: X:283.88, Y:-67.83, Z:-7.26 [[ 9.67589412e-01 2.51658161e-01 2.09499107e-02 2.83883490e+02] [-2.51599889e-01 9.67816186e-01 -5.41542312e-03 -6.78298813e+01] [-2.16384981e-02 -3.10891424e-05 9.99765860e-01 -7.25563034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.438623853 meters 0.016920786050246214 Centerline is valid? [True, True] Translation: X:283.91, Y:-67.84, Z:-7.25 [[ 9.67684268e-01 2.51336353e-01 2.04253357e-02 2.83909899e+02] [-2.51280902e-01 9.67899807e-01 -5.27931563e-03 -6.78404427e+01] [-2.10965624e-02 -2.37861098e-05 9.99777442e-01 -7.25466497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.468623853 meters 0.01469288771391932 Centerline is valid? [True, True] Translation: X:283.94, Y:-67.85, Z:-7.26 [[ 9.67707003e-01 2.51236440e-01 2.05768863e-02 2.83936778e+02] [-2.51180153e-01 9.67925746e-01 -5.31793512e-03 -6.78499681e+01] [-2.12529571e-02 -2.23023965e-05 9.99774130e-01 -7.25928248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.498623853 meters 0.014739777383328583 Centerline is valid? [True, True] Translation: X:283.96, Y:-67.86, Z:-7.26 [[ 9.67799546e-01 2.50898292e-01 2.03491122e-02 2.83963287e+02] [-2.50843189e-01 9.68013454e-01 -5.25809077e-03 -6.78590584e+01] [-2.10174603e-02 -1.56583386e-05 9.99779109e-01 -7.26082828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.528623853 meters 0.014718941777777335 Centerline is valid? [True, True] Translation: X:283.99, Y:-67.87, Z:-7.26 [[ 9.67908390e-01 2.50477998e-01 2.03499426e-02 2.83989836e+02] [-2.50422827e-01 9.68122292e-01 -5.25695703e-03 -6.78698848e+01] [-2.10179851e-02 -7.83733067e-06 9.99779098e-01 -7.26112295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.55862385300003 meters 0.01483843543427533 Centerline is valid? [True, True] Translation: X:284.02, Y:-67.88, Z:-7.26 [[ 9.67948259e-01 2.50328654e-01 2.02912056e-02 2.84017028e+02] [-2.50273789e-01 9.68160919e-01 -5.24078190e-03 -6.78783010e+01] [-2.09570702e-02 -5.55119934e-06 9.99780376e-01 -7.26170809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.588623853 meters 0.014830892651571557 Centerline is valid? [True, True] Translation: X:284.04, Y:-67.89, Z:-7.26 [[ 9.68040944e-01 2.49980535e-01 2.01609198e-02 2.84044137e+02] [-2.49926317e-01 9.68250862e-01 -5.20614346e-03 -6.78870247e+01] [-2.08222625e-02 1.01560849e-06 9.99783193e-01 -7.26287710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.61862385300003 meters 0.014852448522296582 Centerline is valid? [True, True] Translation: X:284.07, Y:-67.90, Z:-7.26 [[ 9.68234685e-01 2.49206803e-01 2.04343969e-02 2.84071171e+02] [-2.49150954e-01 9.68450292e-01 -5.27569618e-03 -6.78981180e+01] [-2.11044370e-02 1.68625388e-05 9.99777276e-01 -7.26343670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.648623853 meters 0.014795504407280067 Centerline is valid? [True, True] Translation: X:284.10, Y:-67.91, Z:-7.26 [[ 9.68366006e-01 2.48666260e-01 2.07934882e-02 2.84098941e+02] [-2.48608324e-01 9.68589227e-01 -5.36758341e-03 -6.79075795e+01] [-2.14750856e-02 2.83510591e-05 9.99769383e-01 -7.26395223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.67862385300003 meters 0.01908094980851116 Centerline is valid? [True, True] Translation: X:284.13, Y:-67.92, Z:-7.26 [[ 9.68499999e-01 2.48141688e-01 2.08195537e-02 2.84128503e+02] [-2.48083499e-01 9.68723749e-01 -5.37371736e-03 -6.79166873e+01] [-2.15018394e-02 3.94575490e-05 9.99768808e-01 -7.25893218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.708623853 meters 0.015184670156687464 Centerline is valid? [True, True] Translation: X:284.16, Y:-67.93, Z:-7.26 [[ 9.68863455e-01 2.46643200e-01 2.16965001e-02 2.84156630e+02] [-2.46579629e-01 9.69106354e-01 -5.60003139e-03 -6.79293717e+01] [-2.24074258e-02 7.57508099e-05 9.99748919e-01 -7.26356899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.73862385300004 meters 0.015365683608890303 Centerline is valid? [True, True] Translation: X:284.19, Y:-67.94, Z:-7.26 [[ 9.68987107e-01 2.46153011e-01 2.17412452e-02 2.84186342e+02] [-2.46089049e-01 9.69230977e-01 -5.61182575e-03 -6.79395568e+01] [-2.24536561e-02 8.75044385e-05 9.99747881e-01 -7.26423369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.768623853 meters 0.015438068814096815 Centerline is valid? [True, True] Translation: X:284.22, Y:-67.95, Z:-7.26 [[ 9.69058015e-01 2.45887887e-01 2.15803304e-02 2.84216234e+02] [-2.45824791e-01 9.69298271e-01 -5.57083326e-03 -6.79490785e+01] [-2.22875774e-02 9.34804043e-05 9.99751597e-01 -7.26494245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.79862385300004 meters 0.015468495611141738 Centerline is valid? [True, True] Translation: X:284.25, Y:-67.96, Z:-7.27 [[ 9.68935488e-01 2.46469697e-01 2.04134541e-02 2.84245211e+02] [-2.46413358e-01 9.69150495e-01 -5.27014474e-03 -6.79577133e+01] [-2.10826401e-02 7.62824986e-05 9.99777734e-01 -7.26793418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.828623853 meters 0.02985149959793663 Centerline is valid? [True, True] Translation: X:284.27, Y:-67.96, Z:-7.26 [[ 9.68719673e-01 2.47398250e-01 1.93985042e-02 2.84274754e+02] [-2.47347554e-01 9.68913878e-01 -5.00840570e-03 -6.79643409e+01] [-2.00345508e-02 5.35685490e-05 9.99799287e-01 -7.26224297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.85862385300004 meters 0.015313242897757436 Centerline is valid? [True, True] Translation: X:284.30, Y:-67.97, Z:-7.27 [[ 9.68543512e-01 2.48066751e-01 1.96558694e-02 2.84303057e+02] [-2.48014838e-01 9.68742941e-01 -5.07491228e-03 -6.79722444e+01] [-2.03004018e-02 4.03260937e-05 9.99793925e-01 -7.27217302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.888623853 meters 0.015017486344344962 Centerline is valid? [True, True] Translation: X:284.33, Y:-67.98, Z:-7.27 [[ 9.67983950e-01 2.50239203e-01 1.96828165e-02 2.84332762e+02] [-2.50187601e-01 9.68184043e-01 -5.08168081e-03 -6.79778667e+01] [-2.03282246e-02 -5.41117671e-06 9.99793360e-01 -7.27223712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.91862385300004 meters 0.015013348668911379 Centerline is valid? [True, True] Translation: X:284.36, Y:-67.98, Z:-7.27 [[ 9.67635096e-01 2.51565170e-01 1.99320548e-02 2.84361732e+02] [-2.51512543e-01 9.67840361e-01 -5.14552647e-03 -6.79839077e+01] [-2.05854823e-02 -3.41697910e-05 9.99788096e-01 -7.27256791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.948623853 meters 0.015258435845414827 Centerline is valid? [True, True] Translation: X:284.39, Y:-67.99, Z:-7.27 [[ 9.67286421e-01 2.52870040e-01 2.03401798e-02 2.84390180e+02] [-2.52815535e-01 9.67500253e-01 -5.25037158e-03 -6.79894852e+01] [-2.10067908e-02 -6.37003001e-05 9.99779331e-01 -7.27233052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.97862385300004 meters 0.01603496869057151 Centerline is valid? [True, True] Translation: X:284.42, Y:-67.99, Z:-7.27 [[ 9.66753943e-01 2.54904159e-01 2.02653104e-02 2.84418047e+02] [-2.54850516e-01 9.66966317e-01 -5.23034295e-03 -6.79941315e+01] [-2.09291087e-02 -1.08170124e-04 9.99780956e-01 -7.27337139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.008623853 meters 0.030965552142941683 Centerline is valid? [True, True] Translation: X:284.45, Y:-68.00, Z:-7.27 [[ 9.66503901e-01 2.55909298e-01 1.95100113e-02 2.84446679e+02] [-2.55859777e-01 9.66700789e-01 -5.03577748e-03 -6.79994900e+01] [-2.01490456e-02 -1.24728566e-04 9.99796980e-01 -7.26676043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.03862385300005 meters 0.01668252209490115 Centerline is valid? [True, True] Translation: X:284.47, Y:-68.01, Z:-7.28 [[ 9.66418643e-01 2.56184102e-01 2.01174434e-02 2.84474109e+02] [-2.56131529e-01 9.66627999e-01 -5.19154761e-03 -6.80063573e+01] [-2.07760761e-02 -1.35503155e-04 9.99784145e-01 -7.27601588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.068623853 meters 0.01702764414148187 Centerline is valid? [True, True] Translation: X:284.50, Y:-68.01, Z:-7.27 [[ 9.65990582e-01 2.57749215e-01 2.06769865e-02 2.84503662e+02] [-2.57694059e-01 9.66211836e-01 -5.33480500e-03 -6.80123524e+01] [-2.13533909e-02 -1.74965204e-04 9.99771975e-01 -7.27453262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.09862385300005 meters 0.018628510064725077 Centerline is valid? [True, True] Translation: X:284.53, Y:-68.02, Z:-7.28 [[ 9.65696065e-01 2.58817099e-01 2.10907398e-02 2.84532751e+02] [-2.58759979e-01 9.65926326e-01 -5.44103860e-03 -6.80155232e+01] [-2.17803347e-02 -2.03049840e-04 9.99762760e-01 -7.27569531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.128623853 meters 0.019369898150154257 Centerline is valid? [True, True] Translation: X:284.56, Y:-68.02, Z:-7.28 [[ 9.65425939e-01 2.59805473e-01 2.13042800e-02 2.84561464e+02] [-2.59747449e-01 9.65660947e-01 -5.49532900e-03 -6.80207069e+01] [-2.20004278e-02 -2.28399235e-04 9.99757935e-01 -7.27608857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.158623853 meters 0.02032401867385415 Centerline is valid? [True, True] Translation: X:284.59, Y:-68.03, Z:-7.28 [[ 9.64791829e-01 2.62156598e-01 2.12283923e-02 2.84590313e+02] [-2.62099579e-01 9.65025305e-01 -5.47468964e-03 -6.80255673e+01] [-2.19211618e-02 -2.82016852e-04 9.99759663e-01 -7.27590343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.188623853 meters 0.02134388199789946 Centerline is valid? [True, True] Translation: X:284.62, Y:-68.03, Z:-7.28 [[ 9.64509767e-01 2.63187849e-01 2.12853610e-02 2.84617535e+02] [-2.63130788e-01 9.64744558e-01 -5.48872694e-03 -6.80298371e+01] [-2.19795024e-02 -3.06903076e-04 9.99758374e-01 -7.27678545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.218623853 meters 0.03332882903284732 Centerline is valid? [True, True] Translation: X:284.65, Y:-68.03, Z:-7.27 [[ 9.64238888e-01 2.64242605e-01 2.04746648e-02 2.84645873e+02] [-2.64190072e-01 9.64456191e-01 -5.27843689e-03 -6.80314296e+01] [-2.11417051e-02 -3.19529043e-04 9.99776438e-01 -7.27215499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.248623853 meters 0.022284280307168947 Centerline is valid? [True, True] Translation: X:284.67, Y:-68.04, Z:-7.28 [[ 9.64048677e-01 2.64899435e-01 2.09389029e-02 2.84673606e+02] [-2.64844678e-01 9.64275983e-01 -5.39674281e-03 -6.80386539e+01] [-2.16204753e-02 -3.42834238e-04 9.99766191e-01 -7.27883403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.278623853 meters 0.02262137153509439 Centerline is valid? [True, True] Translation: X:284.70, Y:-68.04, Z:-7.28 [[ 9.63997258e-01 2.65062863e-01 2.12359490e-02 2.84701403e+02] [-2.65006604e-01 9.64231069e-01 -5.47223736e-03 -6.80441768e+01] [-2.19268487e-02 -3.52444928e-04 9.99759516e-01 -7.27964784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.30862385300003 meters 0.02313366591338893 Centerline is valid? [True, True] Translation: X:284.73, Y:-68.05, Z:-7.28 [[ 9.64026805e-01 2.64970144e-01 2.10509568e-02 2.84728692e+02] [-2.64914868e-01 9.64256554e-01 -5.42323826e-03 -6.80492228e+01] [-2.17355193e-02 -3.48564407e-04 9.99763695e-01 -7.28041712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.338623853 meters 0.022535466624094648 Centerline is valid? [True, True] Translation: X:284.76, Y:-68.05, Z:-7.28 [[ 9.64305251e-01 2.63974763e-01 2.08016089e-02 2.84755807e+02] [-2.63920585e-01 9.64529533e-01 -5.35772431e-03 -6.80547390e+01] [-2.14780702e-02 -3.23491116e-04 9.99769267e-01 -7.28161733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.36862385300003 meters 0.021537733542499212 Centerline is valid? [True, True] Translation: X:284.78, Y:-68.06, Z:-7.28 [[ 9.64566701e-01 2.63000556e-01 2.10187181e-02 2.84784060e+02] [-2.62945043e-01 9.64795633e-01 -5.41206917e-03 -6.80624759e+01] [-2.17021446e-02 -3.06466020e-04 9.99764434e-01 -7.28217242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.398623853 meters 0.02029428091165449 Centerline is valid? [True, True] Translation: X:284.81, Y:-68.07, Z:-7.28 [[ 9.64916951e-01 2.61681508e-01 2.14024849e-02 2.84811384e+02] [-2.61623642e-01 9.65154241e-01 -5.51010422e-03 -6.80702789e+01] [-2.20985915e-02 -2.82603101e-04 9.99755756e-01 -7.28232925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.42862385300003 meters 0.01800375403043918 Centerline is valid? [True, True] Translation: X:284.84, Y:-68.08, Z:-7.28 [[ 9.65771057e-01 2.58490385e-01 2.16561002e-02 2.84839647e+02] [-2.58430363e-01 9.66013807e-01 -5.57422217e-03 -6.80794497e+01] [-2.23609747e-02 -2.13171409e-04 9.99749939e-01 -7.28286936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.458623853 meters 0.017118092919943716 Centerline is valid? [True, True] Translation: X:284.87, Y:-68.09, Z:-7.28 [[ 9.66279047e-01 2.56587913e-01 2.16205034e-02 2.84866025e+02] [-2.56527621e-01 9.66520882e-01 -5.56463013e-03 -6.80877917e+01] [-2.23244848e-02 -1.69270795e-04 9.99750763e-01 -7.28361040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.48862385300004 meters 0.03128004875925477 Centerline is valid? [True, True] Translation: X:284.89, Y:-68.10, Z:-7.28 [[ 9.67419711e-01 2.52282058e-01 2.12806623e-02 2.84894273e+02] [-2.52222638e-01 9.67653739e-01 -5.47560725e-03 -6.80996707e+01] [-2.19737099e-02 -7.02544015e-05 9.99758546e-01 -7.27669205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.518623853 meters 0.01494640136516509 Centerline is valid? [True, True] Translation: X:284.92, Y:-68.11, Z:-7.28 [[ 9.67967545e-01 2.50113420e-01 2.19569682e-02 2.84921590e+02] [-2.50049625e-01 9.68216544e-01 -5.64878106e-03 -6.81091117e+01] [-2.26719358e-02 -2.24949151e-05 9.99742958e-01 -7.28472612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.54862385300004 meters 0.014964733482018757 Centerline is valid? [True, True] Translation: X:284.95, Y:-68.12, Z:-7.29 [[ 9.68495081e-01 2.48060691e-01 2.19811591e-02 2.84949553e+02] [-2.47996246e-01 9.68744493e-01 -5.65412718e-03 -6.81184105e+01] [-2.26966936e-02 2.47494146e-05 9.99742397e-01 -7.28539500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.578623853 meters 0.015231371131038379 Centerline is valid? [True, True] Translation: X:284.98, Y:-68.13, Z:-7.29 [[ 9.68960100e-01 2.46240985e-01 2.19477284e-02 2.84977176e+02] [-2.46176285e-01 9.69208632e-01 -5.64482032e-03 -6.81274636e+01] [-2.26619139e-02 6.65954256e-05 9.99743184e-01 -7.28592019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.60862385300004 meters 0.01662366908667243 Centerline is valid? [True, True] Translation: X:285.01, Y:-68.14, Z:-7.29 [[ 9.69807141e-01 2.42889972e-01 2.18762827e-02 2.85005889e+02] [-2.42824818e-01 9.70053834e-01 -5.62736635e-03 -6.81382686e+01] [-2.25880028e-02 1.45355710e-04 9.99744848e-01 -7.28681916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.638623853 meters 0.017684006209238868 Centerline is valid? [True, True] Translation: X:285.03, Y:-68.15, Z:-7.29 [[ 9.70237733e-01 2.41155953e-01 2.19669549e-02 2.85034842e+02] [-2.41089814e-01 9.70486358e-01 -5.65066036e-03 -6.81479873e+01] [-2.26813204e-02 1.86474840e-04 9.99742728e-01 -7.28774332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.66862385300004 meters 0.018396056082061327 Centerline is valid? [True, True] Translation: X:285.07, Y:-68.16, Z:-7.29 [[ 9.70627756e-01 2.39597235e-01 2.17927584e-02 2.85066076e+02] [-2.39531752e-01 9.70872348e-01 -5.60568816e-03 -6.81572410e+01] [-2.25010939e-02 2.20978921e-04 9.99746794e-01 -7.28855111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.698623853 meters 0.02836914413903375 Centerline is valid? [True, True] Translation: X:285.10, Y:-68.17, Z:-7.28 [[ 9.71398520e-01 2.36529358e-01 2.09470360e-02 2.85095520e+02] [-2.36468065e-01 9.71624301e-01 -5.39184348e-03 -6.81687403e+01] [-2.16279785e-02 2.84323689e-04 9.99766047e-01 -7.28334858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.72862385300004 meters 0.02340096942270582 Centerline is valid? [True, True] Translation: X:285.12, Y:-68.18, Z:-7.29 [[ 9.71853671e-01 2.34610427e-01 2.14100471e-02 2.85124248e+02] [-2.34545843e-01 9.72089416e-01 -5.51494615e-03 -6.81805133e+01] [-2.21063441e-02 3.38083124e-04 9.99755568e-01 -7.29091604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.758623853 meters 0.024729867804945526 Centerline is valid? [True, True] Translation: X:285.16, Y:-68.19, Z:-7.29 [[ 9.72249458e-01 2.32966695e-01 2.13894929e-02 2.85155070e+02] [-2.32901796e-01 9.72484641e-01 -5.51147171e-03 -6.81908974e+01] [-2.20849426e-02 3.76874078e-04 9.99756027e-01 -7.29181666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.78862385300005 meters 0.02627609768627351 Centerline is valid? [True, True] Translation: X:285.19, Y:-68.20, Z:-7.29 [[ 9.72632831e-01 2.31373950e-01 2.12478376e-02 2.85185736e+02] [-2.31309446e-01 9.72864803e-01 -5.47867591e-03 -6.82016164e+01] [-2.19388962e-02 4.13914509e-04 9.99759228e-01 -7.29307271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.818623853 meters 0.029522850311127332 Centerline is valid? [True, True] Translation: X:285.22, Y:-68.22, Z:-7.29 [[ 9.73376196e-01 2.28239004e-01 2.11124976e-02 2.85215173e+02] [-2.28174494e-01 9.73605013e-01 -5.44787504e-03 -6.82152650e+01] [-2.17986510e-02 4.85498443e-04 9.99762263e-01 -7.29361922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.84862385300005 meters 0.03963641351236455 Centerline is valid? [True, True] Translation: X:285.25, Y:-68.22, Z:-7.29 [[ 9.73697117e-01 2.26897098e-01 2.07757317e-02 2.85245992e+02] [-2.26834311e-01 9.73918605e-01 -5.36154538e-03 -6.82247011e+01] [-2.14503907e-02 5.07872499e-04 9.99769785e-01 -7.28567435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.878623853 meters 0.033269312893540195 Centerline is valid? [True, True] Translation: X:285.27, Y:-68.24, Z:-7.30 [[ 9.74022528e-01 2.25426447e-01 2.15181940e-02 2.85274169e+02] [-2.25358639e-01 9.74260027e-01 -5.55737517e-03 -6.82376638e+01] [-2.22170956e-02 5.63697687e-04 9.99753011e-01 -7.29505842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.908623853 meters 0.033269312893540195 Centerline is valid? [True, True] Translation: X:285.31, Y:-68.25, Z:-7.30 [[ 9.73980822e-01 2.25606608e-01 2.15178113e-02 2.85305582e+02] [-2.25538812e-01 9.74218324e-01 -5.55885677e-03 -6.82459788e+01] [-2.22171609e-02 5.61118305e-04 9.99753011e-01 -7.29587612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.938623853 meters 0.04771717301215098 Centerline is valid? [True, True] Translation: X:285.34, Y:-68.26, Z:-7.29 [[ 9.74530590e-01 2.23254026e-01 2.11605638e-02 2.85336118e+02] [-2.23187808e-01 9.74760109e-01 -5.47113067e-03 -6.82570822e+01] [-2.18479254e-02 6.09004358e-04 9.99761120e-01 -7.28788259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.968623853 meters 0.032655984471591355 Centerline is valid? [True, True] Translation: X:285.37, Y:-68.26, Z:-7.30 [[ 9.74710258e-01 2.22421969e-01 2.16421098e-02 2.85366879e+02] [-2.22352480e-01 9.74950283e-01 -5.59642863e-03 -6.82637562e+01] [-2.23447498e-02 6.42719603e-04 9.99750118e-01 -7.29604135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.998623853 meters 0.033331205284039996 Centerline is valid? [True, True] Translation: X:285.40, Y:-68.27, Z:-7.30 [[ 9.74796747e-01 2.22036226e-01 2.17075216e-02 2.85397761e+02] [-2.21966137e-01 9.75038195e-01 -5.61706011e-03 -6.82741293e+01] [-2.24128536e-02 6.57157195e-04 9.99748584e-01 -7.29683176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.028623853 meters 0.033570948757162725 Centerline is valid? [True, True] Translation: X:285.43, Y:-68.28, Z:-7.30 [[ 9.74830219e-01 2.21915364e-01 2.14386613e-02 2.85428366e+02] [-2.21846886e-01 9.75065711e-01 -5.55137730e-03 -6.82841679e+01] [-2.21360395e-02 6.55550097e-04 9.99754753e-01 -7.29761613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.05862385300003 meters 0.038565740191199814 Centerline is valid? [True, True] Translation: X:285.46, Y:-68.30, Z:-7.30 [[ 9.74783183e-01 2.22138030e-01 2.12706996e-02 2.85456247e+02] [-2.22070589e-01 9.75015012e-01 -5.51173192e-03 -6.83020273e+01] [-2.19636167e-02 6.49146806e-04 9.99758560e-01 -7.29931614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.088623853 meters 0.036773561865757136 Centerline is valid? [True, True] Translation: X:285.49, Y:-68.31, Z:-7.30 [[ 9.74646006e-01 2.22742060e-01 2.12399837e-02 2.85487757e+02] [-2.22674864e-01 9.74877206e-01 -5.50803838e-03 -6.83093525e+01] [-2.19332478e-02 6.38777128e-04 9.99759233e-01 -7.30006210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.11862385300003 meters 0.03338499903951585 Centerline is valid? [True, True] Translation: X:285.52, Y:-68.31, Z:-7.30 [[ 9.74475116e-01 2.23485219e-01 2.12745416e-02 2.85519379e+02] [-2.23417900e-01 9.74707117e-01 -5.52065483e-03 -6.83140641e+01] [-2.19702318e-02 6.26627350e-04 9.99758429e-01 -7.29986486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.148623853 meters 0.0363921952569544 Centerline is valid? [True, True] Translation: X:285.55, Y:-68.33, Z:-7.30 [[ 9.74238415e-01 2.24493868e-01 2.14944994e-02 2.85548512e+02] [-2.24425303e-01 9.74475308e-01 -5.58189424e-03 -6.83273587e+01] [-2.21989599e-02 6.14186266e-04 9.99753384e-01 -7.30055168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.17862385300003 meters 0.03152231865250197 Centerline is valid? [True, True] Translation: X:285.58, Y:-68.33, Z:-7.30 [[ 9.73720168e-01 2.26750003e-01 2.12948597e-02 2.85580718e+02] [-2.26683202e-01 9.73952834e-01 -5.53199743e-03 -6.83311555e+01] [-2.19945694e-02 5.59430482e-04 9.99757934e-01 -7.30070423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.208623853 meters 0.031108139614520726 Centerline is valid? [True, True] Translation: X:285.61, Y:-68.34, Z:-7.30 [[ 9.73472844e-01 2.27816862e-01 2.12155250e-02 2.85610781e+02] [-2.27750726e-01 9.73703851e-01 -5.51522723e-03 -6.83392615e+01] [-2.19141002e-02 5.37072709e-04 9.99759713e-01 -7.30190209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.23862385300004 meters 0.029596163167331886 Centerline is valid? [True, True] Translation: X:285.64, Y:-68.35, Z:-7.30 [[ 9.73203566e-01 2.28953810e-01 2.13300928e-02 2.85641637e+02] [-2.28887153e-01 9.73437150e-01 -5.54853109e-03 -6.83467788e+01] [-2.20338620e-02 5.17666042e-04 9.99757091e-01 -7.30261832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.268623853 meters 0.03768706675773083 Centerline is valid? [True, True] Translation: X:285.67, Y:-68.36, Z:-7.30 [[ 9.72705190e-01 2.31063274e-01 2.13160893e-02 2.85671711e+02] [-2.30997126e-01 9.72938610e-01 -5.54875006e-03 -6.83569827e+01] [-2.20213587e-02 4.73342608e-04 9.99757388e-01 -7.29556008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.29862385300004 meters 0.027285426729793463 Centerline is valid? [True, True] Translation: X:285.70, Y:-68.36, Z:-7.30 [[ 9.72496166e-01 2.31915905e-01 2.15921238e-02 2.85703002e+02] [-2.31848162e-01 9.72735729e-01 -5.62420298e-03 -6.83649288e+01] [-2.23077724e-02 4.63421621e-04 9.99751043e-01 -7.30350030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.328623853 meters 0.027580168100821777 Centerline is valid? [True, True] Translation: X:285.73, Y:-68.37, Z:-7.31 [[ 9.72271983e-01 2.32872583e-01 2.13904604e-02 2.85732786e+02] [-2.32806246e-01 9.72507155e-01 -5.57550181e-03 -6.83746354e+01] [-2.21007573e-02 4.41071423e-04 9.99755651e-01 -7.30524405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.35862385300004 meters 0.026367770326007393 Centerline is valid? [True, True] Translation: X:285.76, Y:-68.38, Z:-7.31 [[ 9.71854575e-01 2.34663126e-01 2.07822735e-02 2.85762548e+02] [-2.34600846e-01 9.72076676e-01 -5.42030814e-03 -6.83838365e+01] [-2.14739098e-02 3.92212327e-04 9.99769332e-01 -7.30721236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.388623853 meters 0.02492996096598221 Centerline is valid? [True, True] Translation: X:285.79, Y:-68.39, Z:-7.31 [[ 9.71568515e-01 2.35858472e-01 2.06252707e-02 2.85793479e+02] [-2.35797329e-01 9.71787347e-01 -5.38260161e-03 -6.83912168e+01] [-2.13129092e-02 3.66182519e-04 9.99772787e-01 -7.30820459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.41862385300004 meters 0.023877556206295208 Centerline is valid? [True, True] Translation: X:285.82, Y:-68.40, Z:-7.31 [[ 9.71297152e-01 2.36965900e-01 2.07124262e-02 2.85824512e+02] [-2.36904413e-01 9.71517906e-01 -5.40900851e-03 -6.83991695e+01] [-2.14042435e-02 3.46889390e-04 9.99770843e-01 -7.30873071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.448623853 meters 0.022039245923710368 Centerline is valid? [True, True] Translation: X:285.86, Y:-68.41, Z:-7.31 [[ 9.70762364e-01 2.39139364e-01 2.08037914e-02 2.85855331e+02] [-2.39077752e-01 9.70985207e-01 -5.43657218e-03 -6.84072546e+01] [-2.15002721e-02 3.03895989e-04 9.99768796e-01 -7.30922937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.47862385300004 meters 0.021453586516291884 Centerline is valid? [True, True] Translation: X:285.89, Y:-68.42, Z:-7.31 [[ 9.70528184e-01 2.40061854e-01 2.11033521e-02 2.85885989e+02] [-2.39998589e-01 9.70757550e-01 -5.51865421e-03 -6.84154723e+01] [-2.18110568e-02 2.91234711e-04 9.99762068e-01 -7.30948633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.508623853 meters 0.02183089260282629 Centerline is valid? [True, True] Translation: X:285.92, Y:-68.43, Z:-7.31 [[ 9.70323664e-01 2.40879769e-01 2.11878102e-02 2.85915408e+02] [-2.40816108e-01 9.70554924e-01 -5.54455660e-03 -6.84255805e+01] [-2.18995050e-02 2.77648478e-04 9.99760139e-01 -7.31054885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.53862385300005 meters 0.019663883533419437 Centerline is valid? [True, True] Translation: X:285.95, Y:-68.43, Z:-7.31 [[ 9.69990224e-01 2.42186586e-01 2.15551166e-02 2.85946643e+02] [-2.42120942e-01 9.70229659e-01 -5.64423518e-03 -6.84333077e+01] [-2.22803715e-02 2.55907816e-04 9.99751729e-01 -7.30987794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.568623853 meters 0.01967012355713679 Centerline is valid? [True, True] Translation: X:285.98, Y:-68.44, Z:-7.31 [[ 9.69793146e-01 2.42965498e-01 2.16568816e-02 2.85976546e+02] [-2.42899335e-01 9.70034900e-01 -5.67500340e-03 -6.84428505e+01] [-2.23867610e-02 2.43137273e-04 9.99749355e-01 -7.31019385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.59862385300005 meters 0.019061329744634557 Centerline is valid? [True, True] Translation: X:286.01, Y:-68.45, Z:-7.31 [[ 9.69641648e-01 2.43562303e-01 2.17365727e-02 2.86008734e+02] [-2.43495757e-01 9.69885226e-01 -5.69782831e-03 -6.84515489e+01] [-2.24697569e-02 2.32088417e-04 9.99747496e-01 -7.31086532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.628623853 meters 0.018197623542375918 Centerline is valid? [True, True] Translation: X:286.04, Y:-68.46, Z:-7.31 [[ 9.69284102e-01 2.45024297e-01 2.12467445e-02 2.86039841e+02] [-2.44960974e-01 9.69516918e-01 -5.57370714e-03 -6.84605251e+01] [-2.19647719e-02 1.97882483e-04 9.99758726e-01 -7.31250397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.658623853 meters 0.018273637855786236 Centerline is valid? [True, True] Translation: X:286.07, Y:-68.47, Z:-7.31 [[ 9.69087199e-01 2.45831078e-01 2.09065292e-02 2.86070595e+02] [-2.45769877e-01 9.69312668e-01 -5.48805860e-03 -6.84700701e+01] [-2.16140989e-02 1.80212232e-04 9.99766372e-01 -7.31440880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.688623853 meters 0.017470765398455164 Centerline is valid? [True, True] Translation: X:286.10, Y:-68.48, Z:-7.31 [[ 9.68908703e-01 2.46536147e-01 2.08770985e-02 2.86102604e+02] [-2.46475197e-01 9.69133582e-01 -5.48425947e-03 -6.84777577e+01] [-2.15847655e-02 1.68059756e-04 9.99767008e-01 -7.31430016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.718623853 meters 0.01723487002731381 Centerline is valid? [True, True] Translation: X:286.13, Y:-68.49, Z:-7.31 [[ 9.68720978e-01 2.47269071e-01 2.09206577e-02 2.86134590e+02] [-2.47207945e-01 9.68946842e-01 -5.49997302e-03 -6.84861152e+01] [-2.16309784e-02 1.56186439e-04 9.99766011e-01 -7.31483271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.748623853 meters 0.016576917148609868 Centerline is valid? [True, True] Translation: X:286.17, Y:-68.49, Z:-7.31 [[ 9.68427760e-01 2.48376832e-01 2.13687204e-02 2.86166013e+02] [-2.48313230e-01 9.68663476e-01 -5.62226885e-03 -6.84941583e+01] [-2.20955403e-02 1.38625260e-04 9.99755854e-01 -7.31493845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.778623853 meters 0.01644639592733167 Centerline is valid? [True, True] Translation: X:286.20, Y:-68.50, Z:-7.32 [[ 9.68270345e-01 2.49000617e-01 2.12422102e-02 2.86196910e+02] [-2.48937834e-01 9.68503318e-01 -5.59269094e-03 -6.85033361e+01] [-2.19657345e-02 1.27246998e-04 9.99758716e-01 -7.31620950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.80862385300003 meters 0.016085455165119427 Centerline is valid? [True, True] Translation: X:286.23, Y:-68.51, Z:-7.32 [[ 9.68112588e-01 2.49629132e-01 2.10550311e-02 2.86228861e+02] [-2.49567515e-01 9.68341512e-01 -5.54729573e-03 -6.85116526e+01] [-2.17732273e-02 1.15755034e-04 9.99762928e-01 -7.31694070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.838623853 meters 0.015546951438299848 Centerline is valid? [True, True] Translation: X:286.26, Y:-68.52, Z:-7.32 [[ 9.67682937e-01 2.51284374e-01 2.11162500e-02 2.86259055e+02] [-2.51222695e-01 9.67913300e-01 -5.56789879e-03 -6.85190504e+01] [-2.18378252e-02 8.30794318e-05 9.99761523e-01 -7.31817880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.86862385300003 meters 0.015341863422399023 Centerline is valid? [True, True] Translation: X:286.29, Y:-68.53, Z:-7.32 [[ 9.67404986e-01 2.52345500e-01 2.11976595e-02 2.86290972e+02] [-2.52283524e-01 9.67637197e-01 -5.59274361e-03 -6.85267927e+01] [-2.19229475e-02 6.26278029e-05 9.99759661e-01 -7.31907352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.898623853 meters 0.026023504895419408 Centerline is valid? [True, True] Translation: X:286.32, Y:-68.53, Z:-7.31 [[ 9.67153380e-01 2.53378332e-01 2.03411024e-02 2.86322242e+02] [-2.53321407e-01 9.67367262e-01 -5.37078385e-03 -6.85345290e+01] [-2.10381568e-02 4.15350700e-05 9.99778673e-01 -7.31372306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.92862385300003 meters 0.01939141737815126 Centerline is valid? [True, True] Translation: X:286.35, Y:-68.54, Z:-7.32 [[ 9.66851553e-01 2.54535665e-01 2.02403212e-02 2.86352909e+02] [-2.54479475e-01 9.67063387e-01 -5.34805376e-03 -6.85418263e+01] [-2.09349440e-02 2.00277524e-05 9.99780840e-01 -7.31729051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.958623853 meters 0.01511912607209926 Centerline is valid? [True, True] Translation: X:286.39, Y:-68.55, Z:-7.32 [[ 9.66402688e-01 2.56254094e-01 1.99921003e-02 2.86385405e+02] [-2.56199566e-01 9.66609455e-01 -5.28612174e-03 -6.85482589e+01] [-2.06791435e-02 -1.34451633e-05 9.99786164e-01 -7.32313174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.98862385300004 meters 0.015241609824645924 Centerline is valid? [True, True] Translation: X:286.42, Y:-68.56, Z:-7.32 [[ 9.66170987e-01 2.57128510e-01 1.99637750e-02 2.86417330e+02] [-2.57074240e-01 9.66377219e-01 -5.28267245e-03 -6.85559554e+01] [-2.06508631e-02 -2.82074308e-05 9.99786748e-01 -7.32412113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.018623853 meters 0.015183538101558666 Centerline is valid? [True, True] Translation: X:286.45, Y:-68.56, Z:-7.32 [[ 9.65973115e-01 2.57860834e-01 2.00930492e-02 2.86449567e+02] [-2.57805931e-01 9.66182068e-01 -5.32104556e-03 -6.85637756e+01] [-2.07856331e-02 -4.01202957e-05 9.99783955e-01 -7.32449312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.04862385300004 meters 0.015282476372085916 Centerline is valid? [True, True] Translation: X:286.48, Y:-68.57, Z:-7.33 [[ 9.65845395e-01 2.58348087e-01 1.99734448e-02 2.86480471e+02] [-2.58293853e-01 9.66051895e-01 -5.29355869e-03 -6.85707896e+01] [-2.06629649e-02 -4.62587208e-05 9.99786497e-01 -7.32629577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.078623853 meters 0.015323357875565031 Centerline is valid? [True, True] Translation: X:286.51, Y:-68.58, Z:-7.33 [[ 9.65775334e-01 2.58594190e-01 2.01754408e-02 2.86511970e+02] [-2.58538824e-01 9.65986047e-01 -5.35104583e-03 -6.85788671e+01] [-2.08729437e-02 -4.82266785e-05 9.99782135e-01 -7.32640263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.10862385300004 meters 0.01524277351144745 Centerline is valid? [True, True] Translation: X:286.54, Y:-68.59, Z:-7.33 [[ 9.65828829e-01 2.58396362e-01 2.01492697e-02 2.86543247e+02] [-2.58341014e-01 9.66038984e-01 -5.34808027e-03 -6.85881389e+01] [-2.08469045e-02 -4.00526714e-05 9.99782679e-01 -7.32576893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.138623853 meters 0.015198038482683134 Centerline is valid? [True, True] Translation: X:286.58, Y:-68.60, Z:-7.33 [[ 9.65981178e-01 2.57791754e-01 2.05858129e-02 2.86575312e+02] [-2.57733749e-01 9.66200502e-01 -5.46841724e-03 -6.85973556e+01] [-2.12997357e-02 -2.32706165e-05 9.99773135e-01 -7.32605749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.16862385300004 meters 0.028718246227722524 Centerline is valid? [True, True] Translation: X:286.61, Y:-68.61, Z:-7.32 [[ 9.66003505e-01 2.57771826e-01 1.97715336e-02 2.86607342e+02] [-2.57718234e-01 9.66205819e-01 -5.25607816e-03 -6.86061103e+01] [-2.04582397e-02 -1.80948036e-05 9.99790708e-01 -7.31955485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.198623853 meters 0.015060181297253544 Centerline is valid? [True, True] Translation: X:286.64, Y:-68.61, Z:-7.33 [[ 9.66155303e-01 2.57153172e-01 2.04004071e-02 2.86638405e+02] [-2.57095877e-01 9.66370657e-01 -5.42803897e-03 -6.86146901e+01] [-2.11101922e-02 -5.31909221e-07 9.99777155e-01 -7.32781070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.22862385300004 meters 0.015040374026844707 Centerline is valid? [True, True] Translation: X:286.67, Y:-68.62, Z:-7.33 [[ 9.66197192e-01 2.56976943e-01 2.06358016e-02 2.86670083e+02] [-2.56918226e-01 9.66417534e-01 -5.49313220e-03 -6.86234854e+01] [-2.13544089e-02 5.73537377e-06 9.99771969e-01 -7.32852285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.258623853 meters 0.015130626381418289 Centerline is valid? [True, True] Translation: X:286.70, Y:-68.63, Z:-7.33 [[ 9.66333541e-01 2.56470867e-01 2.05470611e-02 2.86702186e+02] [-2.56412449e-01 9.66551961e-01 -5.47373074e-03 -6.86324300e+01] [-2.12636546e-02 2.09273608e-05 9.99773903e-01 -7.32928480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.28862385300005 meters 0.015342070456336884 Centerline is valid? [True, True] Translation: X:286.73, Y:-68.64, Z:-7.33 [[ 9.66485929e-01 2.55920956e-01 2.02339898e-02 2.86733274e+02] [-2.55864096e-01 9.66697710e-01 -5.39454671e-03 -6.86406054e+01] [-2.09407291e-02 3.66019836e-05 9.99780718e-01 -7.33103649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.318623853 meters 0.015372006089459768 Centerline is valid? [True, True] Translation: X:286.76, Y:-68.65, Z:-7.33 [[ 9.66487356e-01 2.55927193e-01 2.00863811e-02 2.86764919e+02] [-2.55871082e-01 9.66696059e-01 -5.35903411e-03 -6.86490759e+01] [-2.07889480e-02 3.99146342e-05 9.99783886e-01 -7.33191200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.34862385300005 meters 0.01544602585808959 Centerline is valid? [True, True] Translation: X:286.80, Y:-68.66, Z:-7.33 [[ 9.66575112e-01 2.55580353e-01 2.02789656e-02 2.86795985e+02] [-2.55522996e-01 9.66787816e-01 -5.41463848e-03 -6.86580894e+01] [-2.09893321e-02 5.19127471e-05 9.99779698e-01 -7.33256515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.378623853 meters 0.017819594364282727 Centerline is valid? [True, True] Translation: X:286.83, Y:-68.67, Z:-7.33 [[ 9.66846648e-01 2.54541596e-01 2.03993914e-02 2.86827522e+02] [-2.54483236e-01 9.67061823e-01 -5.45095798e-03 -6.86670346e+01] [-2.11149682e-02 7.89373128e-05 9.99777051e-01 -7.32882201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.408623853 meters 0.01613506073589215 Centerline is valid? [True, True] Translation: X:286.86, Y:-68.68, Z:-7.33 [[ 9.67013006e-01 2.53896310e-01 2.05550292e-02 2.86858044e+02] [-2.53836816e-01 9.67231438e-01 -5.49696143e-03 -6.86768508e+01] [-2.12771287e-02 9.80100196e-05 9.99773611e-01 -7.33326986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.438623853 meters 0.01645283546825939 Centerline is valid? [True, True] Translation: X:286.89, Y:-68.69, Z:-7.33 [[ 9.67159532e-01 2.53348743e-01 2.04170233e-02 2.86889470e+02] [-2.53289840e-01 9.67375006e-01 -5.46398885e-03 -6.86863644e+01] [-2.11352127e-02 1.13124328e-04 9.99776620e-01 -7.33413900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.468623853 meters 0.01742855990137606 Centerline is valid? [True, True] Translation: X:286.92, Y:-68.70, Z:-7.34 [[ 9.67589496e-01 2.51739703e-01 1.99421273e-02 2.86919680e+02] [-2.51683083e-01 9.67794968e-01 -5.34095469e-03 -6.86963521e+01] [-2.06444208e-02 1.48755572e-04 9.99786870e-01 -7.33539655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.498623853 meters 0.017918269871609827 Centerline is valid? [True, True] Translation: X:286.95, Y:-68.71, Z:-7.34 [[ 9.67758571e-01 2.51087995e-01 1.99541220e-02 2.86950726e+02] [-2.51031096e-01 9.67964251e-01 -5.34765910e-03 -6.87059694e+01] [-2.06576098e-02 1.66137806e-04 9.99786595e-01 -7.33641283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.528623853 meters 0.018912309806446658 Centerline is valid? [True, True] Translation: X:286.98, Y:-68.72, Z:-7.34 [[ 9.67928473e-01 2.50440893e-01 1.98451665e-02 2.86980228e+02] [-2.50384393e-01 9.68131874e-01 -5.32262301e-03 -6.87162347e+01] [-2.05457407e-02 1.82998393e-04 9.99788897e-01 -7.33802698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.55862385300003 meters 0.019482656674183443 Centerline is valid? [True, True] Translation: X:287.01, Y:-68.73, Z:-7.34 [[ 9.68088707e-01 2.49830973e-01 1.97164845e-02 2.87011032e+02] [-2.49775044e-01 9.68289444e-01 -5.28968389e-03 -6.87260083e+01] [-2.04127907e-02 1.96197462e-04 9.99791618e-01 -7.33898078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.588623853 meters 0.01905793619136746 Centerline is valid? [True, True] Translation: X:287.04, Y:-68.73, Z:-7.34 [[ 9.68265243e-01 2.49152128e-01 1.96376436e-02 2.87042614e+02] [-2.49096440e-01 9.68464337e-01 -5.27181046e-03 -6.87339087e+01] [-2.03318403e-02 2.12843735e-04 9.99793264e-01 -7.33894069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.61862385300003 meters 0.0292889222284074 Centerline is valid? [True, True] Translation: X:287.07, Y:-68.74, Z:-7.33 [[ 9.68534796e-01 2.48124706e-01 1.93514776e-02 2.87071771e+02] [-2.48070349e-01 9.68728071e-01 -5.19868251e-03 -6.87443000e+01] [-2.00362411e-02 2.34577107e-04 9.99799227e-01 -7.33101633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.648623853 meters 0.021158846576837392 Centerline is valid? [True, True] Translation: X:287.10, Y:-68.75, Z:-7.34 [[ 9.68675592e-01 2.47520967e-01 2.00241856e-02 2.87101029e+02] [-2.47462570e-01 9.68882503e-01 -5.38261999e-03 -6.87540279e+01] [-2.07333944e-02 2.58776166e-04 9.99785007e-01 -7.34029915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.67862385300003 meters 0.02230349471469009 Centerline is valid? [True, True] Translation: X:287.13, Y:-68.76, Z:-7.34 [[ 9.68906732e-01 2.46599439e-01 2.02104293e-02 2.87130279e+02] [-2.46539713e-01 9.69117452e-01 -5.43445016e-03 -6.87637649e+01] [-2.09264122e-02 2.82801896e-04 9.99780979e-01 -7.34085595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.708623853 meters 0.02291533608807794 Centerline is valid? [True, True] Translation: X:287.16, Y:-68.77, Z:-7.34 [[ 9.68977875e-01 2.46328299e-01 2.01058873e-02 2.87159855e+02] [-2.46269058e-01 9.69186403e-01 -5.40984496e-03 -6.87731939e+01] [-2.08189505e-02 2.90562142e-04 9.99783220e-01 -7.34186589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.73862385300004 meters 0.023048479541974965 Centerline is valid? [True, True] Translation: X:287.19, Y:-68.78, Z:-7.34 [[ 9.69069297e-01 2.45984866e-01 1.99033475e-02 2.87190625e+02] [-2.45926708e-01 9.69273624e-01 -5.35688228e-03 -6.87817570e+01] [-2.06095018e-02 2.96425402e-04 9.99787558e-01 -7.34323842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.768623853 meters 0.023048479541974965 Centerline is valid? [True, True] Translation: X:287.22, Y:-68.79, Z:-7.34 [[ 9.69023463e-01 2.46165428e-01 1.99025021e-02 2.87221939e+02] [-2.46107245e-01 9.69227782e-01 -5.36002122e-03 -6.87903940e+01] [-2.06095099e-02 2.95836367e-04 9.99787558e-01 -7.34405618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.79862385300004 meters 0.02274588296372287 Centerline is valid? [True, True] Translation: X:287.25, Y:-68.80, Z:-7.35 [[ 9.69113329e-01 2.45873882e-01 1.91151475e-02 2.87253095e+02] [-2.45820081e-01 9.69301784e-01 -5.15170427e-03 -6.87987806e+01] [-1.97950161e-02 2.93698176e-04 9.99804016e-01 -7.34557664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.828623853 meters 0.023631474788009525 Centerline is valid? [True, True] Translation: X:287.28, Y:-68.81, Z:-7.35 [[ 9.69165443e-01 2.45742103e-01 1.81428451e-02 2.87282382e+02] [-2.45693546e-01 9.69335204e-01 -4.89321096e-03 -6.88091159e+01] [-1.87889664e-02 2.84751013e-04 9.99823431e-01 -7.34878291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.85862385300004 meters 0.023145715991378928 Centerline is valid? [True, True] Translation: X:287.31, Y:-68.82, Z:-7.35 [[ 9.69068125e-01 2.46131669e-01 1.80601684e-02 2.87313879e+02] [-2.46083601e-01 9.69236362e-01 -4.87202596e-03 -6.88173778e+01] [-1.87037318e-02 2.77013794e-04 9.99825032e-01 -7.34909998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.888623853 meters 0.022554509849624038 Centerline is valid? [True, True] Translation: X:287.35, Y:-68.83, Z:-7.35 [[ 9.68905757e-01 2.46781454e-01 1.79038595e-02 2.87345490e+02] [-2.46734255e-01 9.69071124e-01 -4.83363818e-03 -6.88251247e+01] [-1.85429655e-02 2.65844428e-04 9.99828029e-01 -7.35002900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.91862385300004 meters 0.0225242690383079 Centerline is valid? [True, True] Translation: X:287.38, Y:-68.83, Z:-7.35 [[ 9.68713879e-01 2.47551843e-01 1.76495484e-02 2.87376041e+02] [-2.47506044e-01 9.68874616e-01 -4.76819076e-03 -6.88330911e+01] [-1.82805738e-02 2.50642657e-04 9.99832865e-01 -7.35074818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.948623853 meters 0.03193629062291799 Centerline is valid? [True, True] Translation: X:287.41, Y:-68.84, Z:-7.34 [[ 9.68163183e-01 2.49711702e-01 1.74389485e-02 2.87406241e+02] [-2.49667289e-01 9.68320206e-01 -4.71417960e-03 -6.88402845e+01] [-1.80636720e-02 2.10160145e-04 9.99836816e-01 -7.34297997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.97862385300004 meters 0.019564774303336356 Centerline is valid? [True, True] Translation: X:287.44, Y:-68.84, Z:-7.35 [[ 9.67938855e-01 2.50537963e-01 1.80306006e-02 2.87438040e+02] [-2.50490572e-01 9.68106754e-01 -4.87708728e-03 -6.88449569e+01] [-1.86774417e-02 2.04226827e-04 9.99825541e-01 -7.35026416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.008623853 meters 0.018735272642585704 Centerline is valid? [True, True] Translation: X:287.47, Y:-68.85, Z:-7.35 [[ 9.67677725e-01 2.51520607e-01 1.83631610e-02 2.87469652e+02] [-2.51471562e-01 9.67851924e-01 -4.97052862e-03 -6.88523315e+01] [-1.90230111e-02 1.92057046e-04 9.99819028e-01 -7.35058487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.03862385300005 meters 0.018678580976670904 Centerline is valid? [True, True] Translation: X:287.50, Y:-68.86, Z:-7.35 [[ 9.67302254e-01 2.52913944e-01 1.89970048e-02 2.87499339e+02] [-2.52861648e-01 9.67488763e-01 -5.14592884e-03 -6.88603241e+01] [-1.96808659e-02 1.74054620e-04 9.99806298e-01 -7.35098260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.068623853 meters 0.018251016707492875 Centerline is valid? [True, True] Translation: X:287.53, Y:-68.87, Z:-7.35 [[ 9.67082143e-01 2.53735750e-01 1.92431067e-02 2.87529131e+02] [-2.53682177e-01 9.67273561e-01 -5.21637297e-03 -6.88677547e+01] [-1.99369287e-02 1.63027946e-04 9.99801226e-01 -7.35097980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.09862385300005 meters 0.02521606327159003 Centerline is valid? [True, True] Translation: X:287.56, Y:-68.87, Z:-7.34 [[ 9.66850082e-01 2.54620203e-01 1.92216122e-02 2.87561200e+02] [-2.54566898e-01 9.67041122e-01 -5.21188969e-03 -6.88746017e+01] [-1.99151418e-02 1.45929803e-04 9.99801663e-01 -7.34259182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.128623853 meters 0.017107394897523814 Centerline is valid? [True, True] Translation: X:287.59, Y:-68.88, Z:-7.35 [[ 9.66666101e-01 2.55267856e-01 1.98738852e-02 2.87591961e+02] [-2.55210915e-01 9.66870364e-01 -5.39325643e-03 -6.88819498e+01] [-2.05921957e-02 1.41445729e-04 9.99787948e-01 -7.35069361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.158623853 meters 0.016668702756245588 Centerline is valid? [True, True] Translation: X:287.62, Y:-68.89, Z:-7.35 [[ 9.66318624e-01 2.56612478e-01 1.94512892e-02 2.87622122e+02] [-2.56558133e-01 9.66514368e-01 -5.28214142e-03 -6.88884014e+01] [-2.01554139e-02 1.13845180e-04 9.99796853e-01 -7.35261827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.188623853 meters 0.016677596929957284 Centerline is valid? [True, True] Translation: X:287.65, Y:-68.90, Z:-7.35 [[ 9.66169699e-01 2.57190125e-01 1.92185604e-02 2.87652917e+02] [-2.57137126e-01 9.66360817e-01 -5.22205263e-03 -6.88970162e+01] [-1.99151241e-02 1.03583638e-04 9.99801669e-01 -7.35422832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.218623853 meters 0.023717449528537406 Centerline is valid? [True, True] Translation: X:287.69, Y:-68.91, Z:-7.35 [[ 9.66032131e-01 2.57777789e-01 1.82355274e-02 2.87685272e+02] [-2.57730117e-01 9.66204225e-01 -4.95814442e-03 -6.89055079e+01] [-1.88973431e-02 8.98822151e-05 9.99821425e-01 -7.34949746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.248623853 meters 0.033902597327356954 Centerline is valid? [True, True] Translation: X:287.72, Y:-68.91, Z:-7.35 [[ 9.65812960e-01 2.58643793e-01 1.75702562e-02 2.87717090e+02] [-2.58599618e-01 9.65972765e-01 -4.78065731e-03 -6.89132103e+01] [-1.82088763e-02 7.35592310e-05 9.99834202e-01 -7.34943140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.278623853 meters 0.016468240761870357 Centerline is valid? [True, True] Translation: X:287.75, Y:-68.92, Z:-7.36 [[ 9.65692296e-01 2.59059301e-01 1.80739539e-02 2.87747666e+02] [-2.59012556e-01 9.65861415e-01 -4.92162821e-03 -6.89215830e+01] [-1.87319282e-02 7.13974641e-05 9.99824539e-01 -7.35906070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.30862385300003 meters 0.021969159309724262 Centerline is valid? [True, True] Translation: X:287.78, Y:-68.93, Z:-7.35 [[ 9.65540596e-01 2.59659716e-01 1.75553267e-02 2.87779610e+02] [-2.59615657e-01 9.65700175e-01 -4.78353574e-03 -6.89299163e+01] [-1.81952736e-02 6.10602698e-05 9.99834450e-01 -7.35328766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.338623853 meters 0.03082157944466447 Centerline is valid? [True, True] Translation: X:287.81, Y:-68.94, Z:-7.35 [[ 9.65440071e-01 2.60049551e-01 1.73118519e-02 2.87810309e+02] [-2.60006705e-01 9.65595271e-01 -4.72074561e-03 -6.89383245e+01] [-1.79438701e-02 5.63993934e-05 9.99838994e-01 -7.35154592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.36862385300003 meters 0.016214437483981214 Centerline is valid? [True, True] Translation: X:287.84, Y:-68.95, Z:-7.36 [[ 9.65412264e-01 2.60083318e-01 1.83256454e-02 2.87839998e+02] [-2.60035231e-01 9.65586176e-01 -5.00148566e-03 -6.89461931e+01] [-1.89957929e-02 6.31821623e-05 9.99819562e-01 -7.36077864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.398623853 meters 0.016151711554744017 Centerline is valid? [True, True] Translation: X:287.87, Y:-68.95, Z:-7.36 [[ 9.65399943e-01 2.60112955e-01 1.85526508e-02 2.87870820e+02] [-2.60063647e-01 9.65578193e-01 -5.06487854e-03 -6.89543520e+01] [-1.92314755e-02 6.47634301e-05 9.99815056e-01 -7.36030856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.42862385300003 meters 0.016321984502528076 Centerline is valid? [True, True] Translation: X:287.90, Y:-68.96, Z:-7.36 [[ 9.65502823e-01 2.59709100e-01 1.88542072e-02 2.87902394e+02] [-2.59658036e-01 9.65686894e-01 -5.15043837e-03 -6.89637705e+01] [-1.95448765e-02 7.71163848e-05 9.99808978e-01 -7.36076659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.458623853 meters 0.016707835239047 Centerline is valid? [True, True] Translation: X:287.93, Y:-68.97, Z:-7.36 [[ 9.65927335e-01 2.58123469e-01 1.88853970e-02 2.87932286e+02] [-2.58071856e-01 9.66111930e-01 -5.16291229e-03 -6.89747229e+01] [-1.95780762e-02 1.13208667e-04 9.99808325e-01 -7.36075966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.48862385300004 meters 0.022797191800591192 Centerline is valid? [True, True] Translation: X:287.96, Y:-68.99, Z:-7.36 [[ 9.66285646e-01 2.56806982e-01 1.84992861e-02 2.87962675e+02] [-2.56757152e-01 9.66462702e-01 -5.06070688e-03 -6.89855037e+01] [-1.91784948e-02 1.40264426e-04 9.99816066e-01 -7.35525425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.518623853 meters 0.018398910852539307 Centerline is valid? [True, True] Translation: X:287.99, Y:-69.00, Z:-7.36 [[ 9.66598814e-01 2.55624012e-01 1.85228892e-02 2.87990978e+02] [-2.55573765e-01 9.66776260e-01 -5.07091500e-03 -6.89974797e+01] [-1.92037372e-02 1.67575872e-04 9.99815577e-01 -7.36329600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.54862385300004 meters 0.020148367500635856 Centerline is valid? [True, True] Translation: X:288.02, Y:-69.01, Z:-7.36 [[ 9.67275375e-01 2.53083076e-01 1.80915949e-02 2.88020556e+02] [-2.53034652e-01 9.67444526e-01 -4.95523159e-03 -6.90113013e+01] [-1.87566997e-02 2.15273057e-04 9.99824054e-01 -7.36487747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.578623853 meters 0.022128971662730583 Centerline is valid? [True, True] Translation: X:288.05, Y:-69.02, Z:-7.37 [[ 9.67663951e-01 2.51611215e-01 1.78402491e-02 2.88048928e+02] [-2.51563808e-01 9.67828361e-01 -4.89019290e-03 -6.90235586e+01] [-1.84967264e-02 2.44102398e-04 9.99828891e-01 -7.36673115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.60862385300004 meters 0.02720351542814274 Centerline is valid? [True, True] Translation: X:288.08, Y:-69.03, Z:-7.36 [[ 9.67958647e-01 2.50502336e-01 1.74538560e-02 2.88079697e+02] [-2.50456762e-01 9.68115960e-01 -4.78523270e-03 -6.90349910e+01] [-1.80960686e-02 2.60471091e-04 9.99836219e-01 -7.36058356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.638623853 meters 0.024169354046284595 Centerline is valid? [True, True] Translation: X:288.11, Y:-69.05, Z:-7.37 [[ 9.68193829e-01 2.49565571e-01 1.78251289e-02 2.88108700e+02] [-2.49517816e-01 9.68357859e-01 -4.89039579e-03 -6.90466639e+01] [-1.84815781e-02 2.87163783e-04 9.99829160e-01 -7.36778974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.66862385300004 meters 0.026767333076449608 Centerline is valid? [True, True] Translation: X:288.14, Y:-69.06, Z:-7.36 [[ 9.68795180e-01 2.47229147e-01 1.77101235e-02 2.88138468e+02] [-2.47181565e-01 9.68956985e-01 -4.86162878e-03 -6.90597837e+01] [-1.83622842e-02 3.32306477e-04 9.99831344e-01 -7.36495501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.698623853 meters 0.031930902519010415 Centerline is valid? [True, True] Translation: X:288.17, Y:-69.07, Z:-7.36 [[ 9.69047008e-01 2.46254799e-01 1.75063250e-02 2.88168643e+02] [-2.46208090e-01 9.69205062e-01 -4.80882149e-03 -6.90719637e+01] [-1.81514142e-02 3.49775229e-04 9.99835188e-01 -7.36089417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.72862385300004 meters 0.028236359979300504 Centerline is valid? [True, True] Translation: X:288.20, Y:-69.08, Z:-7.37 [[ 9.69294066e-01 2.45243709e-01 1.80148983e-02 2.88196850e+02] [-2.45193999e-01 9.69461385e-01 -4.95244676e-03 -6.90845777e+01] [-1.86793046e-02 3.83232302e-04 9.99825453e-01 -7.36918769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.758623853 meters 0.02973362109008271 Centerline is valid? [True, True] Translation: X:288.23, Y:-69.10, Z:-7.37 [[ 9.69717476e-01 2.43550995e-01 1.81914979e-02 2.88225664e+02] [-2.43499980e-01 9.69888002e-01 -5.00239815e-03 -6.90995813e+01] [-1.88620546e-02 4.21283530e-04 9.99822007e-01 -7.36935439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.78862385300005 meters 0.03119140239711856 Centerline is valid? [True, True] Translation: X:288.26, Y:-69.11, Z:-7.37 [[ 9.69719824e-01 2.43539742e-01 1.82169387e-02 2.88255610e+02] [-2.43488528e-01 9.69890826e-01 -5.01229186e-03 -6.91122463e+01] [-1.88891339e-02 4.24903198e-04 9.99821494e-01 -7.37060710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.818623853 meters 0.028959373926875247 Centerline is valid? [True, True] Translation: X:288.29, Y:-69.12, Z:-7.37 [[ 9.69723237e-01 2.43536043e-01 1.80842263e-02 2.88287662e+02] [-2.43485511e-01 9.69891754e-01 -4.97907533e-03 -6.91194419e+01] [-1.87523263e-02 4.25077971e-04 9.99824069e-01 -7.37068437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.84862385300005 meters 0.030141525446062387 Centerline is valid? [True, True] Translation: X:288.32, Y:-69.13, Z:-7.37 [[ 9.69556909e-01 2.44214950e-01 1.78454151e-02 2.88318617e+02] [-2.44165786e-01 9.69721037e-01 -4.91722171e-03 -6.91296162e+01] [-1.85059335e-02 4.10286464e-04 9.99828666e-01 -7.36699140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.878623853 meters 0.02942824746795706 Centerline is valid? [True, True] Translation: X:288.35, Y:-69.14, Z:-7.37 [[ 9.69338476e-01 2.45087633e-01 1.77474221e-02 2.88347857e+02] [-2.45039084e-01 9.69500849e-01 -4.89398925e-03 -6.91408541e+01] [-1.84055970e-02 3.95120034e-04 9.99830525e-01 -7.37320974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.908623853 meters 0.0258560759400528 Centerline is valid? [True, True] Translation: X:288.38, Y:-69.15, Z:-7.37 [[ 9.68640553e-01 2.47842492e-01 1.75948263e-02 2.88379458e+02] [-2.47795205e-01 9.68800280e-01 -4.85321843e-03 -6.91479218e+01] [-1.82487064e-02 3.41110602e-04 9.99833420e-01 -7.37350528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.938623853 meters 0.024798992584292256 Centerline is valid? [True, True] Translation: X:288.41, Y:-69.16, Z:-7.37 [[ 9.68123705e-01 2.49848276e-01 1.76728566e-02 2.88409626e+02] [-2.49800841e-01 9.68284950e-01 -4.87810903e-03 -6.91565696e+01] [-1.83311482e-02 3.07918558e-04 9.99831923e-01 -7.37418633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.968623853 meters 0.022766279407699274 Centerline is valid? [True, True] Translation: X:288.44, Y:-69.16, Z:-7.37 [[ 9.67536920e-01 2.52108376e-01 1.77108492e-02 2.88440951e+02] [-2.52061061e-01 9.67698969e-01 -4.89153904e-03 -6.91635445e+01] [-1.83719685e-02 2.68529183e-04 9.99831185e-01 -7.37446526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.998623853 meters 0.020268859000150533 Centerline is valid? [True, True] Translation: X:288.47, Y:-69.17, Z:-7.38 [[ 9.66316719e-01 2.56734199e-01 1.78759542e-02 2.88471480e+02] [-2.56686724e-01 9.66482031e-01 -4.94053987e-03 -6.91690149e+01] [-1.85451941e-02 1.85606153e-04 9.99828006e-01 -7.37576124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.028623853 meters 0.018516900555650497 Centerline is valid? [True, True] Translation: X:288.50, Y:-69.17, Z:-7.38 [[ 9.65657324e-01 2.59194710e-01 1.80009743e-02 2.88503588e+02] [-2.59146939e-01 9.65825078e-01 -4.97812277e-03 -6.91749438e+01] [-1.86760955e-02 1.42263309e-04 9.99825576e-01 -7.37610460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.05862385300003 meters 0.017150024983710307 Centerline is valid? [True, True] Translation: X:288.54, Y:-69.18, Z:-7.38 [[ 9.65084315e-01 2.61324760e-01 1.79341869e-02 2.88535212e+02] [-2.61277654e-01 9.65250931e-01 -4.96270785e-03 -6.91807248e+01] [-1.86078691e-02 1.03629217e-04 9.99826853e-01 -7.37618502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.088623853 meters 0.016001131961205606 Centerline is valid? [True, True] Translation: X:288.57, Y:-69.19, Z:-7.38 [[ 9.63847151e-01 2.65870772e-01 1.76466210e-02 2.88566380e+02] [-2.65825865e-01 9.64008679e-01 -4.88638920e-03 -6.91850637e+01] [-1.83106438e-02 1.88040215e-05 9.99832346e-01 -7.37756373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.11862385300003 meters 0.016101646859166267 Centerline is valid? [True, True] Translation: X:288.60, Y:-69.19, Z:-7.38 [[ 9.63225831e-01 2.68132523e-01 1.73478895e-02 2.88598028e+02] [-2.68089442e-01 9.63382037e-01 -4.80641369e-03 -6.91910256e+01] [-1.80014010e-02 -2.11242012e-05 9.99837961e-01 -7.37905876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.148623853 meters 0.016236748479949978 Centerline is valid? [True, True] Translation: X:288.63, Y:-69.20, Z:-7.38 [[ 9.62714567e-01 2.69961778e-01 1.73580068e-02 2.88630246e+02] [-2.69918886e-01 9.62871038e-01 -4.81238487e-03 -6.91975770e+01] [-1.80126820e-02 -5.23008453e-05 9.99837757e-01 -7.37965507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.17862385300003 meters 0.01714571137804106 Centerline is valid? [True, True] Translation: X:288.66, Y:-69.20, Z:-7.38 [[ 9.61755676e-01 2.73345226e-01 1.75615200e-02 2.88662692e+02] [-2.73301817e-01 9.61915992e-01 -4.87257133e-03 -6.92021678e+01] [-1.82246010e-02 -1.13372192e-04 9.99833912e-01 -7.37936716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.208623853 meters 0.03336834420493242 Centerline is valid? [True, True] Translation: X:288.69, Y:-69.21, Z:-7.37 [[ 9.61361909e-01 2.74751493e-01 1.71725513e-02 2.88694709e+02] [-2.74710159e-01 9.61515262e-01 -4.76754355e-03 -6.92091636e+01] [-1.78215598e-02 -1.34139532e-04 9.99841174e-01 -7.37019204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.23862385300004 meters 0.01851136996101091 Centerline is valid? [True, True] Translation: X:288.73, Y:-69.21, Z:-7.38 [[ 9.60984555e-01 2.76029873e-01 1.77818484e-02 2.88725413e+02] [-2.75985700e-01 9.61149044e-01 -4.94058052e-03 -6.92148240e+01] [-1.84547544e-02 -1.59714306e-04 9.99829684e-01 -7.38035953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.268623853 meters 0.01939147798503181 Centerline is valid? [True, True] Translation: X:288.76, Y:-69.22, Z:-7.38 [[ 9.60630345e-01 2.77245895e-01 1.80015248e-02 2.88756196e+02] [-2.77200811e-01 9.60798980e-01 -5.00306304e-03 -6.92211086e+01] [-1.86829253e-02 -1.83943084e-04 9.99825442e-01 -7.38090748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.29862385300004 meters 0.019511186011541126 Centerline is valid? [True, True] Translation: X:288.79, Y:-69.23, Z:-7.38 [[ 9.60276664e-01 2.78469670e-01 1.79825279e-02 2.88787312e+02] [-2.78424844e-01 9.60445001e-01 -5.00054050e-03 -6.92284681e+01] [-1.86637279e-02 -2.04880187e-04 9.99825796e-01 -7.38046829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.328623853 meters 0.027962689526924978 Centerline is valid? [True, True] Translation: X:288.82, Y:-69.24, Z:-7.37 [[ 9.60108371e-01 2.79077143e-01 1.75460518e-02 2.88819033e+02] [-2.79034513e-01 9.60268663e-01 -4.88219341e-03 -6.92354158e+01] [-1.82114323e-02 -2.08519253e-04 9.99834136e-01 -7.37400575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.35862385300004 meters 0.01993168870071052 Centerline is valid? [True, True] Translation: X:288.85, Y:-69.24, Z:-7.38 [[ 9.60033512e-01 2.79313198e-01 1.78827523e-02 2.88851027e+02] [-2.79268900e-01 9.60200027e-01 -4.97897591e-03 -6.92434412e+01] [-1.85617129e-02 -2.14112821e-04 9.99827694e-01 -7.38223759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.388623853 meters 0.02024744089294749 Centerline is valid? [True, True] Translation: X:288.88, Y:-69.25, Z:-7.38 [[ 9.60014646e-01 2.79423270e-01 1.71614625e-02 2.88881241e+02] [-2.79382419e-01 9.60168003e-01 -4.78219180e-03 -6.92496778e+01] [-1.78141429e-02 -2.03636744e-04 9.99841295e-01 -7.38463135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.41862385300004 meters 0.02027358605302111 Centerline is valid? [True, True] Translation: X:288.91, Y:-69.26, Z:-7.39 [[ 9.60038628e-01 2.79352670e-01 1.69681418e-02 2.88911853e+02] [-2.79312703e-01 9.60188547e-01 -4.72948503e-03 -6.92570553e+01] [-1.76138097e-02 -1.98929216e-04 9.99844845e-01 -7.38611095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.448623853 meters 0.019778549704289647 Centerline is valid? [True, True] Translation: X:288.94, Y:-69.27, Z:-7.39 [[ 9.60139135e-01 2.79024060e-01 1.66858127e-02 2.88942725e+02] [-2.78985318e-01 9.60284093e-01 -4.65332302e-03 -6.92657932e+01] [-1.73215096e-02 -1.87259210e-04 9.99849954e-01 -7.38713822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.47862385300004 meters 0.018789383173047205 Centerline is valid? [True, True] Translation: X:288.97, Y:-69.27, Z:-7.39 [[ 9.60453181e-01 2.77929734e-01 1.68745562e-02 2.88973581e+02] [-2.77889889e-01 9.60601392e-01 -4.70897568e-03 -6.92747271e+01] [-1.75184865e-02 -1.66517872e-04 9.99846526e-01 -7.38653212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.508623853 meters 0.018059067883825726 Centerline is valid? [True, True] Translation: X:289.00, Y:-69.28, Z:-7.39 [[ 9.60628585e-01 2.77310283e-01 1.70800533e-02 2.89004755e+02] [-2.77269309e-01 9.60780403e-01 -4.76939023e-03 -6.92837185e+01] [-1.77327815e-02 -1.54161999e-04 9.99842750e-01 -7.38654751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.53862385300005 meters 0.01833402698955336 Centerline is valid? [True, True] Translation: X:289.04, Y:-69.29, Z:-7.39 [[ 9.60784611e-01 2.76761835e-01 1.71993350e-02 2.89035374e+02] [-2.76720140e-01 9.60938534e-01 -4.80595876e-03 -6.92902384e+01] [-1.78576097e-02 -1.41911161e-04 9.99840530e-01 -7.38815685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.568623853 meters 0.01689642264217323 Centerline is valid? [True, True] Translation: X:289.07, Y:-69.30, Z:-7.39 [[ 9.61207231e-01 2.75267113e-01 1.75691641e-02 2.89066241e+02] [-2.75223302e-01 9.61367777e-01 -4.91226566e-03 -6.92993065e+01] [-1.82426134e-02 -1.13738097e-04 9.99833583e-01 -7.38656635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.59862385300005 meters 0.016636791393257265 Centerline is valid? [True, True] Translation: X:289.10, Y:-69.31, Z:-7.39 [[ 9.61432520e-01 2.74482736e-01 1.75139341e-02 2.89096219e+02] [-2.74439002e-01 9.61592023e-01 -4.90057678e-03 -6.93071684e+01] [-1.81863831e-02 -9.49327174e-05 9.99834610e-01 -7.38742442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.628623853 meters 0.01636891668938588 Centerline is valid? [True, True] Translation: X:289.13, Y:-69.32, Z:-7.39 [[ 9.61672632e-01 2.73652895e-01 1.73159600e-02 2.89127256e+02] [-2.73609981e-01 9.61828512e-01 -4.84676110e-03 -6.93155144e+01] [-1.79813142e-02 -7.68219848e-05 9.99838320e-01 -7.38869072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.65862385300005 meters 0.016347250211315043 Centerline is valid? [True, True] Translation: X:289.16, Y:-69.32, Z:-7.39 [[ 9.61899057e-01 2.72865401e-01 1.71661431e-02 2.89157829e+02] [-2.72823061e-01 9.62052218e-01 -4.80703582e-03 -6.93233868e+01] [-1.78263998e-02 -5.94364863e-05 9.99841095e-01 -7.39049009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.688623853 meters 0.015814166727841365 Centerline is valid? [True, True] Translation: X:289.19, Y:-69.33, Z:-7.39 [[ 9.62396296e-01 2.71102801e-01 1.72232630e-02 2.89189731e+02] [-2.71059867e-01 9.62550399e-01 -4.82472218e-03 -6.93318813e+01] [-1.78862543e-02 -2.52406181e-05 9.99840028e-01 -7.38996642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.718623853 meters 0.015814166727841365 Centerline is valid? [True, True] Translation: X:289.22, Y:-69.34, Z:-7.39 [[ 9.62343972e-01 2.71288537e-01 1.72223292e-02 2.89220955e+02] [-2.71245573e-01 9.62498067e-01 -4.82805252e-03 -6.93408281e+01] [-1.78862539e-02 -2.52333083e-05 9.99840028e-01 -7.39078420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.748623853 meters 0.01590129137204801 Centerline is valid? [True, True] Translation: X:289.25, Y:-69.35, Z:-7.39 [[ 9.62497745e-01 2.70732458e-01 1.73789448e-02 2.89252484e+02] [-2.70688552e-01 9.62654630e-01 -4.87562522e-03 -6.93491081e+01] [-1.80499117e-02 -1.15031420e-05 9.99837087e-01 -7.39136580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.778623853 meters 0.02825200439199247 Centerline is valid? [True, True] Translation: X:289.28, Y:-69.36, Z:-7.38 [[ 9.62704056e-01 2.70004505e-01 1.72762386e-02 2.89283703e+02] [-2.69960926e-01 9.62859059e-01 -4.85091146e-03 -6.93568274e+01] [-1.79443508e-02 6.08275358e-06 9.99838987e-01 -7.38351219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.80862385300003 meters 0.015693833361582872 Centerline is valid? [True, True] Translation: X:289.32, Y:-69.36, Z:-7.39 [[ 9.62970684e-01 2.68959921e-01 1.86553793e-02 2.89315164e+02] [-2.68908864e-01 9.63151369e-01 -5.24052503e-03 -6.93636997e+01] [-1.93774453e-02 2.98751291e-05 9.99812239e-01 -7.39100112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.838623853 meters 0.015761019198924017 Centerline is valid? [True, True] Translation: X:289.35, Y:-69.37, Z:-7.39 [[ 9.63141292e-01 2.68328059e-01 1.89447832e-02 2.89347086e+02] [-2.68275217e-01 9.63327593e-01 -5.32516063e-03 -6.93720443e+01] [-1.96789224e-02 4.64662651e-05 9.99806350e-01 -7.39111740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.86862385300003 meters 0.015944359875814808 Centerline is valid? [True, True] Translation: X:289.38, Y:-69.38, Z:-7.39 [[ 9.63290244e-01 2.67806834e-01 1.87457969e-02 2.89378923e+02] [-2.67754921e-01 9.63472624e-01 -5.27313524e-03 -6.93802879e+01] [-1.94732438e-02 6.02803625e-05 9.99810377e-01 -7.39199609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.898623853 meters 0.01621675368577393 Centerline is valid? [True, True] Translation: X:289.41, Y:-69.39, Z:-7.39 [[ 9.63414027e-01 2.67388497e-01 1.83522465e-02 2.89411447e+02] [-2.67338595e-01 9.63588806e-01 -5.16618408e-03 -6.93881399e+01] [-1.90653975e-02 7.09104156e-05 9.99818236e-01 -7.39318565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.92862385300003 meters 0.029369887732388075 Centerline is valid? [True, True] Translation: X:289.44, Y:-69.39, Z:-7.39 [[ 9.63743673e-01 2.66276317e-01 1.71771714e-02 2.89443535e+02] [-2.66232361e-01 9.63896735e-01 -4.83889043e-03 -6.93943583e+01] [-1.78455014e-02 9.03311342e-05 9.99840752e-01 -7.38735124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.958623853 meters 0.01695566319863001 Centerline is valid? [True, True] Translation: X:289.48, Y:-69.40, Z:-7.40 [[ 9.63837351e-01 2.65901215e-01 1.77229764e-02 2.89475320e+02] [-2.65854299e-01 9.64000277e-01 -4.99585909e-03 -6.94023794e+01] [-1.84133591e-02 1.03466143e-04 9.99830454e-01 -7.39638175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.98862385300004 meters 0.025083300388151028 Centerline is valid? [True, True] Translation: X:289.51, Y:-69.41, Z:-7.39 [[ 9.63970855e-01 2.65444500e-01 1.73034191e-02 2.89506814e+02] [-2.65399638e-01 9.64126135e-01 -4.88131982e-03 -6.94101181e+01] [-1.79783981e-02 1.13128874e-04 9.99838369e-01 -7.38913009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.018623853 meters 0.017525343054646095 Centerline is valid? [True, True] Translation: X:289.54, Y:-69.42, Z:-7.40 [[ 9.64108366e-01 2.64922999e-01 1.76313167e-02 2.89537572e+02] [-2.64876273e-01 9.64269562e-01 -4.97716299e-03 -6.94182912e+01] [-1.83199070e-02 1.28407015e-04 9.99832168e-01 -7.39768641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.04862385300004 meters 0.018420329364525194 Centerline is valid? [True, True] Translation: X:289.57, Y:-69.43, Z:-7.40 [[ 9.64424069e-01 2.63773002e-01 1.76073212e-02 2.89567382e+02] [-2.63726149e-01 9.64584771e-01 -4.97375947e-03 -6.94258067e+01] [-1.82956974e-02 1.53302316e-04 9.99832608e-01 -7.39874644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.078623853 meters 0.018547384992459646 Centerline is valid? [True, True] Translation: X:289.60, Y:-69.43, Z:-7.40 [[ 9.64498845e-01 2.63490852e-01 1.77355299e-02 2.89597427e+02] [-2.63443193e-01 9.64661881e-01 -5.01400136e-03 -6.94330799e+01] [-1.84299331e-02 1.63693902e-04 9.99830141e-01 -7.39971440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.10862385300004 meters 0.019039139611391236 Centerline is valid? [True, True] Translation: X:289.63, Y:-69.44, Z:-7.40 [[ 9.64578541e-01 2.63228740e-01 1.72878143e-02 2.89626977e+02] [-2.63183410e-01 9.64733437e-01 -4.88763596e-03 -6.94405742e+01] [-1.79646987e-02 1.64642843e-04 9.99838608e-01 -7.40145482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.138623853 meters 0.01899962325798787 Centerline is valid? [True, True] Translation: X:289.66, Y:-69.45, Z:-7.40 [[ 9.64617178e-01 2.63132365e-01 1.65848720e-02 2.89657414e+02] [-2.63090612e-01 9.64759728e-01 -4.69007474e-03 -6.94468473e+01] [-1.72345271e-02 1.60802528e-04 9.99851462e-01 -7.40306303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.16862385300004 meters 0.01959530105412461 Centerline is valid? [True, True] Translation: X:289.69, Y:-69.45, Z:-7.41 [[ 9.64627077e-01 2.63118021e-01 1.62329803e-02 2.89686621e+02] [-2.63078011e-01 9.64763640e-01 -4.59107768e-03 -6.94530373e+01] [-1.68689845e-02 1.58137668e-04 9.99857696e-01 -7.40604123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.198623853 meters 0.018859088040312773 Centerline is valid? [True, True] Translation: X:289.72, Y:-69.46, Z:-7.41 [[ 9.64630511e-01 2.63104857e-01 1.62422732e-02 2.89716711e+02] [-2.63064794e-01 9.64767230e-01 -4.59402154e-03 -6.94589443e+01] [-1.68787223e-02 1.58763076e-04 9.99857532e-01 -7.40560554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.22862385300004 meters 0.018798044366442116 Centerline is valid? [True, True] Translation: X:289.75, Y:-69.47, Z:-7.41 [[ 9.64601517e-01 2.63199521e-01 1.64294014e-02 2.89745911e+02] [-2.63158543e-01 9.64741409e-01 -4.64694952e-03 -6.94659896e+01] [-1.70731987e-02 1.58917225e-04 9.99854230e-01 -7.40616558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.258623853 meters 0.018694264784216322 Centerline is valid? [True, True] Translation: X:289.78, Y:-69.47, Z:-7.41 [[ 9.64540278e-01 2.63394880e-01 1.68875565e-02 2.89775871e+02] [-2.63351615e-01 9.64688090e-01 -4.77653573e-03 -6.94729177e+01] [-1.75493397e-02 1.59795819e-04 9.99845986e-01 -7.40690777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.28862385300005 meters 0.02103725547262255 Centerline is valid? [True, True] Translation: X:289.81, Y:-69.48, Z:-7.40 [[ 9.64446800e-01 2.63762662e-01 1.64811558e-02 2.89806660e+02] [-2.63721508e-01 9.64587599e-01 -4.66158793e-03 -6.94773858e+01] [-1.71270714e-02 1.49418297e-04 9.99853310e-01 -7.40284844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.318623853 meters 0.018089124837207565 Centerline is valid? [True, True] Translation: X:289.83, Y:-69.48, Z:-7.41 [[ 9.64192863e-01 2.64686142e-01 1.65338972e-02 2.89834713e+02] [-2.64644855e-01 9.64334604e-01 -4.67680902e-03 -6.94829555e+01] [-1.71820957e-02 1.33735057e-04 9.99852368e-01 -7.40940642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.34862385300005 meters 0.017693588095593023 Centerline is valid? [True, True] Translation: X:289.86, Y:-69.49, Z:-7.41 [[ 9.63905062e-01 2.65749960e-01 1.62477783e-02 2.89862727e+02] [-2.65710247e-01 9.64041984e-01 -4.59545314e-03 -6.94877947e+01] [-1.68847819e-02 1.12379346e-04 9.99857436e-01 -7.41129841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.378623853 meters 0.016869232086394417 Centerline is valid? [True, True] Translation: X:289.89, Y:-69.49, Z:-7.41 [[ 9.63403317e-01 2.67601471e-01 1.56045269e-02 2.89891897e+02] [-2.67565101e-01 9.63529681e-01 -4.41246373e-03 -6.94896817e+01] [-1.62162066e-02 7.57553945e-05 9.99868506e-01 -7.41356293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.40862385300005 meters 0.016648154308496865 Centerline is valid? [True, True] Translation: X:289.92, Y:-69.49, Z:-7.42 [[ 9.63105247e-01 2.68696164e-01 1.51873003e-02 2.89919821e+02] [-2.68661859e-01 9.63224983e-01 -4.29382456e-03 -6.94942130e+01] [-1.57825212e-02 5.51566385e-05 9.99875447e-01 -7.41535423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.438623853 meters 0.01661926658946892 Centerline is valid? [True, True] Translation: X:289.95, Y:-69.50, Z:-7.42 [[ 9.62865776e-01 2.69572180e-01 1.48437679e-02 2.89947637e+02] [-2.69539528e-01 9.62980186e-01 -4.19574620e-03 -6.94989899e+01] [-1.54253108e-02 3.89582201e-05 9.99881022e-01 -7.41716225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.468623853 meters 0.029029105104256464 Centerline is valid? [True, True] Translation: X:289.98, Y:-69.50, Z:-7.41 [[ 9.62602335e-01 2.70606276e-01 1.29995737e-02 2.89977043e+02] [-2.70581339e-01 9.62690108e-01 -3.67365495e-03 -6.95004360e+01] [-1.35086751e-02 1.88267710e-05 9.99908754e-01 -7.41265408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.498623853 meters 0.026405941805883452 Centerline is valid? [True, True] Translation: X:290.01, Y:-69.51, Z:-7.41 [[ 9.62548971e-01 2.70826685e-01 1.23444612e-02 2.90005536e+02] [-2.70804224e-01 9.62628125e-01 -3.48793869e-03 -6.95060609e+01] [-1.28277524e-02 1.43795633e-05 9.99917721e-01 -7.41473156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.528623853 meters 0.01698941137063743 Centerline is valid? [True, True] Translation: X:290.03, Y:-69.51, Z:-7.43 [[ 9.62481515e-01 2.71062791e-01 1.24216188e-02 2.90032720e+02] [-2.71040074e-01 9.62561667e-01 -3.50923277e-03 -6.95124083e+01] [-1.29077965e-02 1.08151926e-05 9.99916691e-01 -7.42501021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.55862385300003 meters 0.017228384699804703 Centerline is valid? [True, True] Translation: X:290.06, Y:-69.52, Z:-7.43 [[ 9.62562824e-01 2.70791431e-01 1.20337553e-02 2.90059474e+02] [-2.70770099e-01 9.62638042e-01 -3.39891334e-03 -6.95187683e+01] [-1.25045473e-02 1.32865067e-05 9.99921815e-01 -7.42739382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.588623853 meters 0.017329951252202647 Centerline is valid? [True, True] Translation: X:290.09, Y:-69.52, Z:-7.43 [[ 9.62724432e-01 2.70211850e-01 1.21336052e-02 2.90086820e+02] [-2.70190125e-01 9.62800891e-01 -3.42645396e-03 -6.95234281e+01] [-1.26081144e-02 2.03506241e-05 9.99920514e-01 -7.42856403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.61862385300003 meters 0.017381772693902658 Centerline is valid? [True, True] Translation: X:290.11, Y:-69.53, Z:-7.43 [[ 9.62916843e-01 2.69524063e-01 1.21627635e-02 2.90113819e+02] [-2.69502190e-01 9.62993654e-01 -3.43376654e-03 -6.95301434e+01] [-1.26381468e-02 2.85402317e-05 9.99920135e-01 -7.42912116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.648623853 meters 0.01734169887069654 Centerline is valid? [True, True] Translation: X:290.14, Y:-69.54, Z:-7.43 [[ 9.63112545e-01 2.68819441e-01 1.22610878e-02 2.90141237e+02] [-2.68797168e-01 9.63190587e-01 -3.46059934e-03 -6.95373343e+01] [-1.27400408e-02 3.72009534e-05 9.99918842e-01 -7.42924591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.67862385300003 meters 0.01806802159176753 Centerline is valid? [True, True] Translation: X:290.17, Y:-69.55, Z:-7.43 [[ 9.63658606e-01 2.66873315e-01 1.18627519e-02 2.90169180e+02] [-2.66852332e-01 9.63731617e-01 -3.34699458e-03 -6.95459287e+01] [-1.23257326e-02 5.97571131e-05 9.99924033e-01 -7.43114705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.708623853 meters 0.018699657249190087 Centerline is valid? [True, True] Translation: X:290.20, Y:-69.55, Z:-7.43 [[ 9.64058219e-01 2.65442428e-01 1.14921177e-02 2.90196055e+02] [-2.65422639e-01 9.64126709e-01 -3.24202304e-03 -6.95545232e+01] [-1.19404281e-02 7.52307518e-05 9.99928708e-01 -7.43299970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.73862385300004 meters 0.047963514009935405 Centerline is valid? [True, True] Translation: X:290.23, Y:-69.53, Z:-7.42 [[ 9.51017255e-01 3.08761208e-01 1.52544029e-02 2.90233998e+02] [-3.08731866e-01 9.51139387e-01 -4.30134691e-03 -6.95277841e+01] [-1.58371525e-02 -6.18865148e-04 9.99874393e-01 -7.42157814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.768623853 meters 0.04772840525221864 Centerline is valid? [True, True] Translation: X:290.26, Y:-69.53, Z:-7.42 [[ 9.51329252e-01 3.07747942e-01 1.62437258e-02 2.90262306e+02] [-3.07714516e-01 9.51467705e-01 -4.58068030e-03 -6.95310242e+01] [-1.68650754e-02 -6.40695053e-04 9.99857569e-01 -7.42123142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.79862385300004 meters 0.04571809174298776 Centerline is valid? [True, True] Translation: X:290.29, Y:-69.54, Z:-7.42 [[ 9.51777005e-01 3.06350747e-01 1.64241179e-02 2.90290544e+02] [-3.06316372e-01 9.51918500e-01 -4.63129148e-03 -6.95391564e+01] [-1.70532213e-02 -6.23019478e-04 9.99854389e-01 -7.42100426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.828623853 meters 0.038041412034954876 Centerline is valid? [True, True] Translation: X:290.32, Y:-69.55, Z:-7.42 [[ 9.52985151e-01 3.02518019e-01 1.73824864e-02 2.90318111e+02] [-3.02478950e-01 9.53143483e-01 -4.89750585e-03 -6.95531378e+01] [-1.80495874e-02 -5.90585876e-04 9.99836918e-01 -7.41895066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.85862385300004 meters 0.036378798415392974 Centerline is valid? [True, True] Translation: X:290.35, Y:-69.56, Z:-7.42 [[ 9.53694392e-01 3.00239404e-01 1.79807519e-02 2.90345277e+02] [-3.00197188e-01 9.53863711e-01 -5.06638549e-03 -6.95610580e+01] [-1.86723153e-02 -5.65987732e-04 9.99825497e-01 -7.41944857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.888623853 meters 0.03504019580882164 Centerline is valid? [True, True] Translation: X:290.37, Y:-69.57, Z:-7.42 [[ 9.54611163e-01 2.97304078e-01 1.81055877e-02 2.90373047e+02] [-2.97260765e-01 9.54782709e-01 -5.10056724e-03 -6.95685809e+01] [-1.88033216e-02 -5.13022434e-04 9.99823070e-01 -7.42000947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.91862385300004 meters 0.03377856086600817 Centerline is valid? [True, True] Translation: X:290.40, Y:-69.58, Z:-7.42 [[ 9.55601087e-01 2.94108287e-01 1.80797764e-02 2.90400344e+02] [-2.94064537e-01 9.55771999e-01 -5.09260924e-03 -6.95765492e+01] [-1.87779226e-02 -4.50118154e-04 9.99823578e-01 -7.42191390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.948623853 meters 0.02354563644961368 Centerline is valid? [True, True] Translation: X:290.43, Y:-69.60, Z:-7.42 [[ 9.57947983e-01 2.86395547e-01 1.76989506e-02 2.90426283e+02] [-2.86352319e-01 9.58111426e-01 -4.98442348e-03 -6.95974572e+01] [-1.83850835e-02 -2.93317130e-04 9.99830937e-01 -7.42220843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.97862385300004 meters 0.020287276794359477 Centerline is valid? [True, True] Translation: X:290.45, Y:-69.61, Z:-7.42 [[ 9.59139844e-01 2.82387036e-01 1.75590929e-02 2.90452686e+02] [-2.82343807e-01 9.59300535e-01 -4.94555580e-03 -6.96104085e+01] [-1.82410080e-02 -2.14221519e-04 9.99833596e-01 -7.42335156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.008623853 meters 0.017742742848681475 Centerline is valid? [True, True] Translation: X:290.48, Y:-69.62, Z:-7.43 [[ 9.60363905e-01 2.78200440e-01 1.74838754e-02 2.90477902e+02] [-2.78156902e-01 9.60523033e-01 -4.92349132e-03 -6.96229620e+01] [-1.81633825e-02 -1.34917276e-04 9.99835023e-01 -7.42518660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.03862385300005 meters 0.015526075447238158 Centerline is valid? [True, True] Translation: X:290.50, Y:-69.64, Z:-7.43 [[ 9.62648242e-01 2.70173949e-01 1.77313332e-02 2.90501874e+02] [-2.70127822e-01 9.62811527e-01 -4.99226087e-03 -6.96427535e+01] [-1.84207108e-02 1.60647433e-05 9.99830324e-01 -7.42536954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.068623853 meters 0.016274517063199146 Centerline is valid? [True, True] Translation: X:290.53, Y:-69.66, Z:-7.42 [[ 9.63663552e-01 2.66494906e-01 1.82489640e-02 2.90528317e+02] [-2.66445404e-01 9.63836323e-01 -5.13705802e-03 -6.96553532e+01] [-1.89580142e-02 8.80429918e-05 9.99820277e-01 -7.42480754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.09862385300005 meters 0.017561427704581085 Centerline is valid? [True, True] Translation: X:290.56, Y:-69.67, Z:-7.42 [[ 9.64610362e-01 2.63034415e-01 1.84322137e-02 2.90555036e+02] [-2.62983299e-01 9.64786439e-01 -5.18770246e-03 -6.96665220e+01] [-1.91476941e-02 1.56747187e-04 9.99816654e-01 -7.42475217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.128623853 meters 0.021842487164265043 Centerline is valid? [True, True] Translation: X:290.58, Y:-69.68, Z:-7.43 [[ 9.66150248e-01 2.57329504e-01 1.83091596e-02 2.90581575e+02] [-2.57278067e-01 9.66323680e-01 -5.15179194e-03 -6.96822580e+01] [-1.90182826e-02 2.66859876e-04 9.99819100e-01 -7.42643606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.15862385300005 meters 0.02318250281617864 Centerline is valid? [True, True] Translation: X:290.61, Y:-69.69, Z:-7.43 [[ 9.66745490e-01 2.55100352e-01 1.80822633e-02 2.90610686e+02] [-2.55049792e-01 9.66914534e-01 -5.08794836e-03 -6.96926228e+01] [-1.87819406e-02 3.06873620e-04 9.99823557e-01 -7.42750555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.188623853 meters 0.0276644352931241 Centerline is valid? [True, True] Translation: X:290.64, Y:-69.71, Z:-7.43 [[ 9.67227289e-01 2.53297639e-01 1.76543875e-02 2.90638067e+02] [-2.53249150e-01 9.67388337e-01 -4.96719920e-03 -6.97077354e+01] [-1.83368284e-02 3.33452003e-04 9.99831811e-01 -7.43044122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.218623853 meters 0.028812608740207125 Centerline is valid? [True, True] Translation: X:290.67, Y:-69.72, Z:-7.43 [[ 9.68014328e-01 2.50312710e-01 1.70823942e-02 2.90667533e+02] [-2.50266829e-01 9.68164967e-01 -4.80734976e-03 -6.97185098e+01] [-1.77419164e-02 3.78426821e-04 9.99842528e-01 -7.43119675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.248623853 meters 0.04177067449222058 Centerline is valid? [True, True] Translation: X:290.70, Y:-69.73, Z:-7.42 [[ 9.68242234e-01 2.49444750e-01 1.68610067e-02 2.90695721e+02] [-2.49399910e-01 9.68388953e-01 -4.74556175e-03 -6.97311519e+01] [-1.75117681e-02 3.89719744e-04 9.99846581e-01 -7.42456089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.278623853 meters 0.033112192657644895 Centerline is valid? [True, True] Translation: X:290.72, Y:-69.74, Z:-7.43 [[ 9.68390070e-01 2.48833134e-01 1.73995225e-02 2.90722878e+02] [-2.48785274e-01 9.68546282e-01 -4.89768754e-03 -6.97407778e+01] [-1.80709497e-02 4.14127028e-04 9.99836621e-01 -7.43280174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.30862385300003 meters 0.030915776000152898 Centerline is valid? [True, True] Translation: X:290.75, Y:-69.75, Z:-7.43 [[ 9.68422133e-01 2.48697516e-01 1.75532667e-02 2.90753565e+02] [-2.48648804e-01 9.68581112e-01 -4.93992489e-03 -6.97463326e+01] [-1.82303096e-02 4.19333837e-04 9.99833726e-01 -7.43204463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.338623853 meters 0.0293723528751331 Centerline is valid? [True, True] Translation: X:290.78, Y:-69.75, Z:-7.43 [[ 9.68289829e-01 2.49183506e-01 1.79551388e-02 2.90784712e+02] [-2.49132612e-01 9.68456196e-01 -5.05348013e-03 -6.97526255e+01] [-1.86480093e-02 4.20022787e-04 9.99826023e-01 -7.43202956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.36862385300003 meters 0.03242402998324097 Centerline is valid? [True, True] Translation: X:290.81, Y:-69.76, Z:-7.43 [[ 9.68213782e-01 2.49505353e-01 1.75826826e-02 2.90814227e+02] [-2.49456592e-01 9.68373334e-01 -4.94917656e-03 -6.97602715e+01] [-1.82614470e-02 4.05744875e-04 9.99833164e-01 -7.42650043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.398623853 meters 0.027372725474748755 Centerline is valid? [True, True] Translation: X:290.85, Y:-69.77, Z:-7.43 [[ 9.68038629e-01 2.50122803e-01 1.84335698e-02 2.90845282e+02] [-2.50069318e-01 9.68214032e-01 -5.18878068e-03 -6.97668584e+01] [-1.91454733e-02 4.13269899e-04 9.99816623e-01 -7.43230644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.42862385300003 meters 0.026291746042470785 Centerline is valid? [True, True] Translation: X:290.88, Y:-69.77, Z:-7.43 [[ 9.67603997e-01 2.51731750e-01 1.93295523e-02 2.90875605e+02] [-2.51673242e-01 9.67796965e-01 -5.44186189e-03 -6.97734970e+01] [-2.00769715e-02 4.00836203e-04 9.99798357e-01 -7.43241728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.458623853 meters 0.02641994505870707 Centerline is valid? [True, True] Translation: X:290.90, Y:-69.78, Z:-7.43 [[ 9.67346755e-01 2.52730350e-01 1.91735418e-02 2.90904480e+02] [-2.52672968e-01 9.67536680e-01 -5.39850174e-03 -6.97816127e+01] [-1.99154702e-02 3.77587443e-04 9.99801596e-01 -7.43333616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.48862385300004 meters 0.02440026777285821 Centerline is valid? [True, True] Translation: X:290.93, Y:-69.79, Z:-7.43 [[ 9.67028079e-01 2.53948879e-01 1.91483894e-02 2.90934649e+02] [-2.53891880e-01 9.67217578e-01 -5.39173572e-03 -6.97865333e+01] [-1.98898841e-02 3.52339245e-04 9.99802115e-01 -7.43424429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.518623853 meters 0.02235578602809676 Centerline is valid? [True, True] Translation: X:290.96, Y:-69.79, Z:-7.44 [[ 9.66326359e-01 2.56647856e-01 1.85807787e-02 2.90964786e+02] [-2.56594683e-01 9.66504938e-01 -5.23198347e-03 -6.97905669e+01] [-1.93011917e-02 2.88074519e-04 9.99813673e-01 -7.43620253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.54862385300004 meters 0.021288176409218654 Centerline is valid? [True, True] Translation: X:290.99, Y:-69.80, Z:-7.44 [[ 9.65908690e-01 2.58237517e-01 1.82698585e-02 2.90992914e+02] [-2.58186395e-01 9.66081426e-01 -5.14435573e-03 -6.97963158e+01] [-1.89786366e-02 2.51949018e-04 9.99819858e-01 -7.43800764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.578623853 meters 0.02009228036194077 Centerline is valid? [True, True] Translation: X:291.02, Y:-69.80, Z:-7.44 [[ 9.65465580e-01 2.59914862e-01 1.79018945e-02 2.91021561e+02] [-2.59866077e-01 9.65631513e-01 -5.04014008e-03 -6.98019405e+01] [-1.85966408e-02 2.13986673e-04 9.99827045e-01 -7.43971918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.60862385300004 meters 0.02009228036194077 Centerline is valid? [True, True] Translation: X:291.05, Y:-69.81, Z:-7.44 [[ 9.65477966e-01 2.59868834e-01 1.79021338e-02 2.91048853e+02] [-2.59820057e-01 9.65643901e-01 -5.03928990e-03 -6.98095299e+01] [-1.85966407e-02 2.13989935e-04 9.99827045e-01 -7.44043167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.638623853 meters 0.01891587570261358 Centerline is valid? [True, True] Translation: X:291.08, Y:-69.81, Z:-7.44 [[ 9.64989458e-01 2.61689357e-01 1.77207894e-02 2.91076266e+02] [-2.61641885e-01 9.65152138e-01 -4.98742541e-03 -6.98147224e+01] [-1.84084139e-02 1.76312187e-04 9.99830535e-01 -7.44186581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.66862385300004 meters 0.016900170343861296 Centerline is valid? [True, True] Translation: X:291.11, Y:-69.82, Z:-7.44 [[ 9.64007584e-01 2.65326812e-01 1.70604826e-02 2.91105022e+02] [-2.65283400e-01 9.64158531e-01 -4.80054898e-03 -6.98159675e+01] [-1.77227242e-02 1.01902812e-04 9.99842935e-01 -7.44425109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.698623853 meters 0.01595842763235697 Centerline is valid? [True, True] Translation: X:291.13, Y:-69.82, Z:-7.44 [[ 9.63500805e-01 2.67158514e-01 1.71034079e-02 2.91133575e+02] [-2.67115193e-01 9.63652595e-01 -4.81145964e-03 -6.98194101e+01] [-1.77671659e-02 6.72651328e-05 9.99842149e-01 -7.44458499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.72862385300004 meters 0.021253047969035897 Centerline is valid? [True, True] Translation: X:291.16, Y:-69.82, Z:-7.44 [[ 9.63008238e-01 2.68947719e-01 1.68005230e-02 2.91161871e+02] [-2.68906204e-01 9.63154776e-01 -4.72548278e-03 -6.98231116e+01] [-1.74524118e-02 3.29139900e-05 9.99847695e-01 -7.44020201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.758623853 meters 0.015800121505678718 Centerline is valid? [True, True] Translation: X:291.19, Y:-69.82, Z:-7.45 [[ 9.61849597e-01 2.73049771e-01 1.70051412e-02 2.91190241e+02] [-2.73007891e-01 9.61999907e-01 -4.78229516e-03 -6.98228436e+01] [-1.76647489e-02 -4.26890710e-05 9.99843965e-01 -7.44722324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.78862385300005 meters 0.01644274371801791 Centerline is valid? [True, True] Translation: X:291.22, Y:-69.83, Z:-7.45 [[ 9.61283788e-01 2.75031789e-01 1.70585310e-02 2.91218777e+02] [-2.74990003e-01 9.61435130e-01 -4.79475202e-03 -6.98263844e+01] [-1.77193802e-02 -8.18080944e-05 9.99842996e-01 -7.44826971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.818623853 meters 0.01726684533020697 Centerline is valid? [True, True] Translation: X:291.25, Y:-69.83, Z:-7.45 [[ 9.60818733e-01 2.76655888e-01 1.69965329e-02 2.91246562e+02] [-2.76614669e-01 9.60969046e-01 -4.77677803e-03 -6.98297498e+01] [-1.76546657e-02 -1.11872491e-04 9.99844138e-01 -7.44873094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.84862385300005 meters 0.017566034112263935 Centerline is valid? [True, True] Translation: X:291.27, Y:-69.83, Z:-7.45 [[ 9.60385581e-01 2.78140482e-01 1.72455439e-02 2.91274673e+02] [-2.78098319e-01 9.60540396e-01 -4.84487102e-03 -6.98348212e+01] [-1.79125964e-02 -1.43012520e-04 9.99839546e-01 -7.44768402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.878623853 meters 0.01952482522963434 Centerline is valid? [True, True] Translation: X:291.30, Y:-69.83, Z:-7.45 [[ 9.59499053e-01 2.81115170e-01 1.83255973e-02 2.91304013e+02] [-2.81068121e-01 9.59674016e-01 -5.14733921e-03 -6.98346422e+01] [-1.90335947e-02 -2.11874099e-04 9.99818822e-01 -7.44669745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.90862385300005 meters 0.021654505070999655 Centerline is valid? [True, True] Translation: X:291.33, Y:-69.84, Z:-7.45 [[ 9.59052485e-01 2.82601577e-01 1.88329221e-02 2.91332176e+02] [-2.82552198e-01 9.59237346e-01 -5.28857091e-03 -6.98361758e+01] [-1.95598007e-02 -2.49266472e-04 9.99808658e-01 -7.44658155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.938623853 meters 0.020419319004333792 Centerline is valid? [True, True] Translation: X:291.36, Y:-69.84, Z:-7.44 [[ 9.58658538e-01 2.83872559e-01 1.97528978e-02 2.91359675e+02] [-2.83818534e-01 9.58861974e-01 -5.54560007e-03 -6.98433691e+01] [-2.05145463e-02 -2.89901642e-04 9.99789513e-01 -7.44492445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.968623853 meters 0.022652117139222862 Centerline is valid? [True, True] Translation: X:291.39, Y:-69.84, Z:-7.45 [[ 9.58077906e-01 2.85804354e-01 2.00648393e-02 2.91389296e+02] [-2.85749058e-01 9.58287930e-01 -5.63192659e-03 -6.98423784e+01] [-2.08375225e-02 -3.37684489e-04 9.99782818e-01 -7.44570615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.998623853 meters 0.024359399961102028 Centerline is valid? [True, True] Translation: X:291.42, Y:-69.85, Z:-7.45 [[ 9.57919932e-01 2.86374816e-01 1.94645773e-02 2.91417754e+02] [-2.86322938e-01 9.58117607e-01 -5.46139218e-03 -6.98450956e+01] [-2.02133594e-02 -3.41578551e-04 9.99795631e-01 -7.44748444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.028623853 meters 0.026153611401921833 Centerline is valid? [True, True] Translation: X:291.45, Y:-69.85, Z:-7.45 [[ 9.57881147e-01 2.86527154e-01 1.91284840e-02 2.91445876e+02] [-2.86477105e-01 9.58072061e-01 -5.36602560e-03 -6.98478023e+01] [-1.98639781e-02 -3.39857961e-04 9.99802634e-01 -7.44979396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.05862385300003 meters 0.023466542998725373 Centerline is valid? [True, True] Translation: X:291.47, Y:-69.86, Z:-7.45 [[ 9.58069352e-01 2.85950192e-01 1.83194919e-02 2.91473309e+02] [-2.85904217e-01 9.58244430e-01 -5.13719558e-03 -6.98564213e+01] [-1.90235332e-02 -3.15830367e-04 9.99818986e-01 -7.45191897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.088623853 meters 0.0249243254095357 Centerline is valid? [True, True] Translation: X:291.50, Y:-69.86, Z:-7.46 [[ 9.58426862e-01 2.84795077e-01 1.75987203e-02 2.91501220e+02] [-2.84752464e-01 9.58588381e-01 -4.93450803e-03 -6.98601608e+01] [-1.82752524e-02 -2.81913913e-04 9.99832954e-01 -7.45543380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.11862385300003 meters 0.021049635210789227 Centerline is valid? [True, True] Translation: X:291.53, Y:-69.87, Z:-7.46 [[ 9.58872010e-01 2.83293881e-01 1.75797120e-02 2.91527750e+02] [-2.83251144e-01 9.59033113e-01 -4.92720648e-03 -6.98725109e+01] [-1.82553734e-02 -2.54913168e-04 9.99833324e-01 -7.45503788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.148623853 meters 0.026767281996458638 Centerline is valid? [True, True] Translation: X:291.56, Y:-69.88, Z:-7.45 [[ 9.59895927e-01 2.79817935e-01 1.73704340e-02 2.91555589e+02] [-2.79775656e-01 9.60053065e-01 -4.86764974e-03 -6.98804596e+01] [-1.80385941e-02 -1.87387389e-04 9.99837274e-01 -7.44960771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.17862385300003 meters 0.0175889069358407 Centerline is valid? [True, True] Translation: X:291.58, Y:-69.89, Z:-7.46 [[ 9.60464134e-01 2.77832560e-01 1.78245598e-02 2.91582516e+02] [-2.77787718e-01 9.60629504e-01 -4.99393161e-03 -6.98888303e+01] [-1.85102749e-02 -1.54951599e-04 9.99828658e-01 -7.45648725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.208623853 meters 0.016871331663138416 Centerline is valid? [True, True] Translation: X:291.61, Y:-69.90, Z:-7.46 [[ 9.61073710e-01 2.75719219e-01 1.77830504e-02 2.91609617e+02] [-2.75674240e-01 9.61238212e-01 -4.98136121e-03 -6.98969633e+01] [-1.84672046e-02 -1.14873618e-04 9.99829460e-01 -7.45797054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.23862385300004 meters 0.015323882852746381 Centerline is valid? [True, True] Translation: X:291.64, Y:-69.91, Z:-7.46 [[ 9.62307344e-01 2.71350932e-01 1.82550777e-02 2.91636217e+02] [-2.71302766e-01 9.62480478e-01 -5.11258781e-03 -6.99090198e+01] [-1.89574614e-02 -3.27722824e-05 9.99820291e-01 -7.45777619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.268623853 meters 0.015097247257594208 Centerline is valid? [True, True] Translation: X:291.66, Y:-69.92, Z:-7.46 [[ 9.62951649e-01 2.69034395e-01 1.85638444e-02 2.91663129e+02] [-2.68984173e-01 9.63130570e-01 -5.19812193e-03 -6.99191225e+01] [-1.92778797e-02 1.21597421e-05 9.99814164e-01 -7.45733018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.29862385300004 meters 0.015358491851024201 Centerline is valid? [True, True] Translation: X:291.69, Y:-69.93, Z:-7.46 [[ 9.63515433e-01 2.66999291e-01 1.86919435e-02 2.91688152e+02] [-2.66948004e-01 9.63696724e-01 -5.23327906e-03 -6.99280910e+01] [-1.94106465e-02 5.25681492e-05 9.99811594e-01 -7.45723994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.328623853 meters 0.015895667121578604 Centerline is valid? [True, True] Translation: X:291.71, Y:-69.94, Z:-7.46 [[ 9.64043382e-01 2.65064194e-01 1.90087128e-02 2.91714548e+02] [-2.65010822e-01 9.64230763e-01 -5.31971296e-03 -6.99370921e+01] [-1.97388511e-02 9.09194714e-05 9.99805166e-01 -7.45775296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.35862385300004 meters 0.017215536478033786 Centerline is valid? [True, True] Translation: X:291.74, Y:-69.95, Z:-7.46 [[ 9.65023747e-01 2.61444609e-01 1.93877412e-02 2.91741592e+02] [-2.61388383e-01 9.65218467e-01 -5.42443838e-03 -6.99465465e+01] [-2.01315960e-02 1.66981523e-04 9.99797325e-01 -7.45756256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.388623853 meters 0.018574893384472057 Centerline is valid? [True, True] Translation: X:291.77, Y:-69.96, Z:-7.46 [[ 9.65482612e-01 2.59758027e-01 1.92118155e-02 2.91767783e+02] [-2.59702502e-01 9.65673717e-01 -5.37426580e-03 -6.99562541e+01] [-1.99483540e-02 1.99403618e-04 9.99800992e-01 -7.45922157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.41862385300004 meters 0.019110732501432064 Centerline is valid? [True, True] Translation: X:291.80, Y:-69.96, Z:-7.46 [[ 9.65991180e-01 2.57896468e-01 1.87203465e-02 2.91795369e+02] [-2.57843423e-01 9.66172530e-01 -5.23551438e-03 -6.99647828e+01] [-1.94373052e-02 2.30542487e-04 9.99811051e-01 -7.46016894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.448623853 meters 0.022880711750504122 Centerline is valid? [True, True] Translation: X:291.82, Y:-69.98, Z:-7.46 [[ 9.66765990e-01 2.55039446e-01 1.78438197e-02 2.91820309e+02] [-2.54990781e-01 9.66930611e-01 -4.98955523e-03 -6.99787495e+01] [-1.85262689e-02 2.73722782e-04 9.99828336e-01 -7.46399766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.47862385300004 meters 0.0228131963384174 Centerline is valid? [True, True] Translation: X:291.85, Y:-69.99, Z:-7.46 [[ 9.67081605e-01 2.53869035e-01 1.74264607e-02 2.91848307e+02] [-2.53822452e-01 9.67238559e-01 -4.87161455e-03 -6.99866885e+01] [-1.80922968e-02 2.88021834e-04 9.99836280e-01 -7.46455289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.508623853 meters 0.023207036113373162 Centerline is valid? [True, True] Translation: X:291.88, Y:-69.99, Z:-7.47 [[ 9.67356229e-01 2.52825234e-01 1.73588086e-02 2.91875847e+02] [-2.52778860e-01 9.67511916e-01 -4.85180301e-03 -6.99946826e+01] [-1.80215124e-02 3.05482017e-04 9.99837553e-01 -7.46530248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.53862385300005 meters 0.02528825315788987 Centerline is valid? [True, True] Translation: X:291.90, Y:-70.00, Z:-7.47 [[ 9.67693627e-01 2.51555550e-01 1.69956004e-02 2.91901829e+02] [-2.51510915e-01 9.67842809e-01 -4.74950292e-03 -7.00042594e+01] [-1.76438334e-02 3.21484716e-04 9.99844284e-01 -7.46772953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.568623853 meters 0.025449017637564974 Centerline is valid? [True, True] Translation: X:291.93, Y:-70.01, Z:-7.47 [[ 9.67918916e-01 2.50697949e-01 1.68377715e-02 2.91929225e+02] [-2.50654028e-01 9.68065301e-01 -4.70429537e-03 -7.00116036e+01] [-1.74794196e-02 3.32921221e-04 9.99847168e-01 -7.46846040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.59862385300005 meters 0.026968154051134556 Centerline is valid? [True, True] Translation: X:291.96, Y:-70.02, Z:-7.47 [[ 9.68121614e-01 2.49931346e-01 1.65789872e-02 2.91955027e+02] [-2.49888672e-01 9.68263500e-01 -4.63093479e-03 -7.00211734e+01] [-1.72102440e-02 3.40406968e-04 9.99851835e-01 -7.47061391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.628623853 meters 0.0269367754926364 Centerline is valid? [True, True] Translation: X:291.98, Y:-70.03, Z:-7.47 [[ 9.68279209e-01 2.49345404e-01 1.61939423e-02 2.91983161e+02] [-2.49304625e-01 9.68414556e-01 -4.52226953e-03 -7.00292638e+01] [-1.68100566e-02 3.41594846e-04 9.99858643e-01 -7.47172238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.65862385300005 meters 0.027903625539222918 Centerline is valid? [True, True] Translation: X:292.01, Y:-70.04, Z:-7.47 [[ 9.68608551e-01 2.48056321e-01 1.62952919e-02 2.92009891e+02] [-2.48014862e-01 9.68745544e-01 -4.54972139e-03 -7.00396235e+01] [-1.69145786e-02 3.65424469e-04 9.99856871e-01 -7.47211094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.688623853 meters 0.028521788483254908 Centerline is valid? [True, True] Translation: X:292.04, Y:-70.05, Z:-7.47 [[ 9.68753039e-01 2.47476054e-01 1.65272975e-02 2.92037157e+02] [-2.47433337e-01 9.68893936e-01 -4.61362154e-03 -7.00489936e+01] [-1.71549592e-02 3.80055516e-04 9.99852771e-01 -7.47278785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.718623853 meters 0.028566752482887994 Centerline is valid? [True, True] Translation: X:292.07, Y:-70.06, Z:-7.47 [[ 9.68830285e-01 2.47159643e-01 1.67329126e-02 2.92065025e+02] [-2.47115825e-01 9.68974695e-01 -4.67014143e-03 -7.00571331e+01] [-1.73680394e-02 3.89606951e-04 9.99849088e-01 -7.47299592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.748623853 meters 0.028549431011703697 Centerline is valid? [True, True] Translation: X:292.09, Y:-70.06, Z:-7.47 [[ 9.68957259e-01 2.46666701e-01 1.66543825e-02 2.92092633e+02] [-2.46623235e-01 9.69100295e-01 -4.64736812e-03 -7.00649428e+01] [-1.72861179e-02 3.95743396e-04 9.99850506e-01 -7.47368526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.778623853 meters 0.029956280127720402 Centerline is valid? [True, True] Translation: X:292.12, Y:-70.07, Z:-7.48 [[ 9.68999630e-01 2.46524804e-01 1.62861078e-02 2.92118891e+02] [-2.46483231e-01 9.69136404e-01 -4.54388035e-03 -7.00742375e+01] [-1.69036391e-02 3.88765923e-04 9.99857048e-01 -7.47539915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.80862385300003 meters 0.03026337928644699 Centerline is valid? [True, True] Translation: X:292.15, Y:-70.08, Z:-7.48 [[ 9.68973433e-01 2.46608983e-01 1.65678998e-02 2.92145998e+02] [-2.46565992e-01 9.69114986e-01 -4.62128825e-03 -7.00824892e+01] [-1.71958512e-02 3.92824881e-04 9.99852063e-01 -7.47615819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.838623853 meters 0.02988422485230489 Centerline is valid? [True, True] Translation: X:292.17, Y:-70.09, Z:-7.48 [[ 9.68821257e-01 2.47198891e-01 1.66757173e-02 2.92174216e+02] [-2.47155442e-01 9.68964685e-01 -4.65041211e-03 -7.00903218e+01] [-1.73077579e-02 3.83923822e-04 9.99850136e-01 -7.47666156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.86862385300003 meters 0.029813287955951177 Centerline is valid? [True, True] Translation: X:292.20, Y:-70.10, Z:-7.48 [[ 9.68780930e-01 2.47344442e-01 1.68593312e-02 2.92201554e+02] [-2.47300063e-01 9.68927541e-01 -4.70106744e-03 -7.00985196e+01] [-1.74982532e-02 3.84990822e-04 9.99846820e-01 -7.47717536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.898623853 meters 0.029885132059909395 Centerline is valid? [True, True] Translation: X:292.23, Y:-70.11, Z:-7.48 [[ 9.68754792e-01 2.47447263e-01 1.68524616e-02 2.92228164e+02] [-2.47402949e-01 9.68901288e-01 -4.69840055e-03 -7.01066549e+01] [-1.74909781e-02 3.82249355e-04 9.99846948e-01 -7.47793250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.92862385300003 meters 0.02934131896899892 Centerline is valid? [True, True] Translation: X:292.26, Y:-70.11, Z:-7.47 [[ 9.68694950e-01 2.47695287e-01 1.66474870e-02 2.92257084e+02] [-2.47652099e-01 9.68837916e-01 -4.64017067e-03 -7.01118282e+01] [-1.72780650e-02 3.72124802e-04 9.99850654e-01 -7.47373652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.958623853 meters 0.029520165081540428 Centerline is valid? [True, True] Translation: X:292.28, Y:-70.12, Z:-7.48 [[ 9.68716229e-01 2.47605335e-01 1.67471256e-02 2.92282166e+02] [-2.47561630e-01 9.68860907e-01 -4.66715170e-03 -7.01234162e+01] [-1.73812470e-02 3.75199870e-04 9.99848864e-01 -7.47962031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.98862385300004 meters 0.02885114234704786 Centerline is valid? [True, True] Translation: X:292.31, Y:-70.13, Z:-7.48 [[ 9.68733147e-01 2.47542163e-01 1.67023148e-02 2.92310154e+02] [-2.47498703e-01 9.68877050e-01 -4.65345945e-03 -7.01310023e+01] [-1.73344169e-02 3.74159165e-04 9.99849678e-01 -7.48074477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.018623853 meters 0.027827429011599725 Centerline is valid? [True, True] Translation: X:292.34, Y:-70.14, Z:-7.48 [[ 9.68801958e-01 2.47264134e-01 1.68289968e-02 2.92337965e+02] [-2.47219985e-01 9.68948039e-01 -4.68790934e-03 -7.01399210e+01] [-1.74655753e-02 3.81191420e-04 9.99847393e-01 -7.48094064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.04862385300004 meters 0.030972154056971856 Centerline is valid? [True, True] Translation: X:292.36, Y:-70.15, Z:-7.48 [[ 9.68835224e-01 2.47118556e-01 1.70507585e-02 2.92363438e+02] [-2.47073228e-01 9.68985175e-01 -4.74887418e-03 -7.01526790e+01] [-1.76954671e-02 3.88090640e-04 9.99843348e-01 -7.48305417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.078623853 meters 0.027499746237317046 Centerline is valid? [True, True] Translation: X:292.39, Y:-70.16, Z:-7.48 [[ 9.68870004e-01 2.46983864e-01 1.70260238e-02 2.92392038e+02] [-2.46938667e-01 9.69019515e-01 -4.74079673e-03 -7.01568896e+01] [-1.76694496e-02 3.88832139e-04 9.99843807e-01 -7.48186301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.10862385300004 meters 0.028676669812026195 Centerline is valid? [True, True] Translation: X:292.42, Y:-70.17, Z:-7.48 [[ 9.68965662e-01 2.46614575e-01 1.69350790e-02 2.92418290e+02] [-2.46569820e-01 9.69113563e-01 -4.71449377e-03 -7.01683412e+01] [-1.75746776e-02 3.92503206e-04 9.99845476e-01 -7.48341279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.138623853 meters 0.03242773026633663 Centerline is valid? [True, True] Translation: X:292.44, Y:-70.18, Z:-7.49 [[ 9.68999679e-01 2.46493141e-01 1.67557095e-02 2.92444049e+02] [-2.46449322e-01 9.69144457e-01 -4.66390569e-03 -7.01820563e+01] [-1.73883238e-02 3.89889860e-04 9.99848736e-01 -7.48610806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.16862385300004 meters 0.030005821161088894 Centerline is valid? [True, True] Translation: X:292.47, Y:-70.19, Z:-7.49 [[ 9.68949005e-01 2.46706433e-01 1.65457350e-02 2.92472687e+02] [-2.46663746e-01 9.69090187e-01 -4.60492178e-03 -7.01878337e+01] [-1.71703733e-02 3.80701398e-04 9.99852506e-01 -7.48655648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.198623853 meters 0.029659334309703682 Centerline is valid? [True, True] Translation: X:292.50, Y:-70.19, Z:-7.48 [[ 9.68851731e-01 2.47121503e-01 1.60401609e-02 2.92501969e+02] [-2.47081458e-01 9.68984433e-01 -4.46325713e-03 -7.01927922e+01] [-1.66456331e-02 3.61008043e-04 9.99861387e-01 -7.48261295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.22862385300004 meters 0.02600704056132977 Centerline is valid? [True, True] Translation: X:292.53, Y:-70.20, Z:-7.49 [[ 9.68332783e-01 2.49143938e-01 1.60909979e-02 2.92529207e+02] [-2.49103923e-01 9.68466412e-01 -4.47708251e-03 -7.02005910e+01] [-1.66990290e-02 3.26975066e-04 9.99860508e-01 -7.48752505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.258623853 meters 0.025004341741170468 Centerline is valid? [True, True] Translation: X:292.56, Y:-70.21, Z:-7.49 [[ 9.68006611e-01 2.50404623e-01 1.61470252e-02 2.92557524e+02] [-2.50364515e-01 9.68141225e-01 -4.49202626e-03 -7.02081657e+01] [-1.67574249e-02 3.05668978e-04 9.99859538e-01 -7.48788115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.28862385300005 meters 0.023903289545017147 Centerline is valid? [True, True] Translation: X:292.59, Y:-70.22, Z:-7.49 [[ 9.67653876e-01 2.51763316e-01 1.61619717e-02 2.92585902e+02] [-2.51723334e-01 9.67788796e-01 -4.49554747e-03 -7.02155237e+01] [-1.67731891e-02 2.81788523e-04 9.99859280e-01 -7.48893172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.318623853 meters 0.021354392561969637 Centerline is valid? [True, True] Translation: X:292.61, Y:-70.22, Z:-7.49 [[ 9.66717749e-01 2.55336918e-01 1.61199469e-02 2.92613407e+02] [-2.55297646e-01 9.66852114e-01 -4.48343661e-03 -7.02203229e+01] [-1.67303916e-02 2.18833243e-04 9.99860013e-01 -7.49003450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.34862385300005 meters 0.019997281306192525 Centerline is valid? [True, True] Translation: X:292.64, Y:-70.23, Z:-7.49 [[ 9.66221107e-01 2.57233838e-01 1.57329463e-02 2.92641817e+02] [-2.57196699e-01 9.66349171e-01 -4.37469815e-03 -7.02260136e+01] [-1.63288400e-02 1.80463838e-04 9.99866659e-01 -7.49099953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.378623853 meters 0.02047380799599055 Centerline is valid? [True, True] Translation: X:292.67, Y:-70.23, Z:-7.49 [[ 9.65717323e-01 2.59109023e-01 1.58923124e-02 2.92668946e+02] [-2.59071393e-01 9.65848069e-01 -4.41827865e-03 -7.02312949e+01] [-1.64943751e-02 1.49564706e-04 9.99863947e-01 -7.48961811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.40862385300005 meters 0.01786272809053406 Centerline is valid? [True, True] Translation: X:292.70, Y:-70.24, Z:-7.49 [[ 9.65171922e-01 2.61154777e-01 1.55352364e-02 2.92696923e+02] [-2.61119102e-01 9.65296934e-01 -4.31792206e-03 -7.02371345e+01] [-1.61237620e-02 1.10990167e-04 9.99869998e-01 -7.49317969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.438623853 meters 0.017068994653539168 Centerline is valid? [True, True] Translation: X:292.72, Y:-70.24, Z:-7.49 [[ 9.64622657e-01 2.63199480e-01 1.51381183e-02 2.92724368e+02] [-2.63165868e-01 9.64741431e-01 -4.20690718e-03 -7.02424221e+01] [-1.57116256e-02 7.42419534e-05 9.99876562e-01 -7.49482165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.468623853 meters 0.016495513940908594 Centerline is valid? [True, True] Translation: X:292.75, Y:-70.25, Z:-7.50 [[ 9.63706826e-01 2.66567125e-01 1.45300009e-02 2.92751817e+02] [-2.66536546e-01 9.63816356e-01 -4.03760128e-03 -7.02450823e+01] [-1.50805443e-02 1.82876731e-05 9.99886282e-01 -7.49661228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.498623853 meters 0.01831882605248748 Centerline is valid? [True, True] Translation: X:292.78, Y:-70.25, Z:-7.49 [[ 9.63260020e-01 2.68181777e-01 1.44453687e-02 2.92779421e+02] [-2.68151768e-01 9.63368327e-01 -4.01187497e-03 -7.02498749e+01] [-1.49921225e-02 -9.07240537e-06 9.99887612e-01 -7.49487629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.528623853 meters 0.01831882605248748 Centerline is valid? [True, True] Translation: X:292.81, Y:-70.26, Z:-7.50 [[ 9.63279126e-01 2.68113126e-01 1.44456537e-02 2.92805947e+02] [-2.68083124e-01 9.63387436e-01 -4.01084855e-03 -7.02570971e+01] [-1.49921224e-02 -9.06928039e-06 9.99887612e-01 -7.49556775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.55862385300003 meters 0.016800857834548405 Centerline is valid? [True, True] Translation: X:292.83, Y:-70.26, Z:-7.50 [[ 9.62734043e-01 2.70068702e-01 1.43547490e-02 2.92834050e+02] [-2.70039314e-01 9.62841054e-01 -3.98427243e-03 -7.02625457e+01] [-1.48973689e-02 -4.05518707e-05 9.99889027e-01 -7.49809330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.588623853 meters 0.018224187981289296 Centerline is valid? [True, True] Translation: X:292.86, Y:-70.27, Z:-7.50 [[ 9.61734508e-01 2.73609007e-01 1.43124722e-02 2.92862960e+02] [-2.73580194e-01 9.61840996e-01 -3.97179634e-03 -7.02652714e+01] [-1.48530418e-02 -9.57953196e-05 9.99889683e-01 -7.49879751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.61862385300003 meters 0.0189931092996818 Centerline is valid? [True, True] Translation: X:292.89, Y:-70.27, Z:-7.50 [[ 9.61189263e-01 2.75520204e-01 1.42764710e-02 2.92891598e+02] [-2.75491758e-01 9.61295273e-01 -3.96108765e-03 -7.02710156e+01] [-1.48152637e-02 -1.25695166e-04 9.99890240e-01 -7.49882348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.648623853 meters 0.020176805570024568 Centerline is valid? [True, True] Translation: X:292.92, Y:-70.28, Z:-7.50 [[ 9.60701593e-01 2.77217176e-01 1.42508503e-02 2.92920072e+02] [-2.77189029e-01 9.60807272e-01 -3.95323244e-03 -7.02764480e+01] [-1.47882245e-02 -1.52302658e-04 9.99890637e-01 -7.49914271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.67862385300003 meters 0.02417802252402973 Centerline is valid? [True, True] Translation: X:292.95, Y:-70.28, Z:-7.50 [[ 9.59886960e-01 2.80022348e-01 1.43006180e-02 2.92949548e+02] [-2.79994327e-01 9.59993461e-01 -3.96627740e-03 -7.02787920e+01] [-1.48391461e-02 -1.96913959e-04 9.99889874e-01 -7.49747710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.708623853 meters 0.024587984591337667 Centerline is valid? [True, True] Translation: X:292.98, Y:-70.28, Z:-7.50 [[ 9.59434955e-01 2.81585117e-01 1.39423594e-02 2.92977932e+02] [-2.81558657e-01 9.59536229e-01 -3.86621236e-03 -7.02847923e+01] [-1.44668669e-02 -2.16212719e-04 9.99895326e-01 -7.49991224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.73862385300004 meters 0.026353045582250188 Centerline is valid? [True, True] Translation: X:293.01, Y:-70.29, Z:-7.50 [[ 9.59127425e-01 2.82641921e-01 1.37159216e-02 2.93005002e+02] [-2.82616430e-01 9.59225465e-01 -3.80285108e-03 -7.02899612e+01] [-1.42315064e-02 -2.28926026e-04 9.99898701e-01 -7.50098615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.768623853 meters 0.033035858579591786 Centerline is valid? [True, True] Translation: X:293.03, Y:-70.30, Z:-7.50 [[ 9.59069456e-01 2.82816405e-01 1.41654423e-02 2.93032277e+02] [-2.82789246e-01 9.59174032e-01 -3.92664298e-03 -7.02957137e+01] [-1.46976435e-02 -2.39911410e-04 9.99891955e-01 -7.49744816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.79862385300004 meters 0.03288071997503483 Centerline is valid? [True, True] Translation: X:293.06, Y:-70.30, Z:-7.50 [[ 9.58590810e-01 2.84477776e-01 1.32685562e-02 2.93060830e+02] [-2.84454124e-01 9.58682603e-01 -3.67681219e-03 -7.02974542e+01] [-1.37663053e-02 -2.49737153e-04 9.99905209e-01 -7.50273575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.828623853 meters 0.03405538611561111 Centerline is valid? [True, True] Translation: X:293.09, Y:-70.30, Z:-7.50 [[ 9.58531070e-01 2.84690262e-01 1.30246571e-02 2.93088278e+02] [-2.84667493e-01 9.58619525e-01 -3.60905259e-03 -7.03045573e+01] [-1.35131527e-02 -2.48307444e-04 9.99908662e-01 -7.50258643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.85862385300004 meters 0.04166517661283314 Centerline is valid? [True, True] Translation: X:293.12, Y:-70.31, Z:-7.50 [[ 9.58613957e-01 2.84381819e-01 1.36477988e-02 2.93116254e+02] [-2.84356813e-01 9.58711070e-01 -3.77995275e-03 -7.03094747e+01] [-1.41592456e-02 -2.57329113e-04 9.99899720e-01 -7.50179028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.888623853 meters 0.038454762449939145 Centerline is valid? [True, True] Translation: X:293.14, Y:-70.32, Z:-7.50 [[ 9.58466070e-01 2.84914442e-01 1.29055832e-02 2.93144487e+02] [-2.84892123e-01 9.58552919e-01 -3.57496029e-03 -7.03164670e+01] [-1.33892422e-02 -2.50220848e-04 9.99910329e-01 -7.50294635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.91862385300004 meters 0.041672487598970576 Centerline is valid? [True, True] Translation: X:293.17, Y:-70.32, Z:-7.51 [[ 9.58635136e-01 2.84343658e-01 1.29367673e-02 2.93172057e+02] [-2.84321228e-01 9.58722391e-01 -3.57996568e-03 -7.03201019e+01] [-1.34207090e-02 -2.46316685e-04 9.99909908e-01 -7.50521493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.948623853 meters 0.04146045477241531 Centerline is valid? [True, True] Translation: X:293.20, Y:-70.33, Z:-7.50 [[ 9.58721908e-01 2.84072896e-01 1.24456149e-02 2.93198667e+02] [-2.84052125e-01 9.58802657e-01 -3.44318786e-03 -7.03312925e+01] [-1.29110050e-02 -2.34143742e-04 9.99916622e-01 -7.50366415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.97862385300004 meters 0.04232950459982985 Centerline is valid? [True, True] Translation: X:293.23, Y:-70.34, Z:-7.50 [[ 9.58786202e-01 2.83858322e-01 1.23884140e-02 2.93226074e+02] [-2.83837727e-01 9.58866206e-01 -3.42702887e-03 -7.03387200e+01] [-1.28516222e-02 -2.30511278e-04 9.99917388e-01 -7.50452406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.008623853 meters 0.046187502228492244 Centerline is valid? [True, True] Translation: X:293.25, Y:-70.34, Z:-7.51 [[ 9.59158443e-01 2.82589195e-01 1.25868600e-02 2.93253420e+02] [-2.82567837e-01 9.59241002e-01 -3.48110285e-03 -7.03441019e+01] [-1.30575542e-02 -2.17712609e-04 9.99914723e-01 -7.50575636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.03862385300005 meters 0.04700237337394143 Centerline is valid? [True, True] Translation: X:293.28, Y:-70.35, Z:-7.51 [[ 9.59238631e-01 2.82314526e-01 1.26395076e-02 2.93281390e+02] [-2.82292988e-01 9.59321876e-01 -3.49389815e-03 -7.03512475e+01] [-1.31117344e-02 -2.16562291e-04 9.99914014e-01 -7.50627661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.068623853 meters 0.05260399351230584 Centerline is valid? [True, True] Translation: X:293.31, Y:-70.36, Z:-7.51 [[ 9.59410137e-01 2.81729775e-01 1.26697332e-02 2.93308462e+02] [-2.81708085e-01 9.59493768e-01 -3.50211130e-03 -7.03562788e+01] [-1.31431791e-02 -2.09205198e-04 9.99913603e-01 -7.50756307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.09862385300005 meters 0.05555640403259578 Centerline is valid? [True, True] Translation: X:293.34, Y:-70.36, Z:-7.51 [[ 9.59557730e-01 2.81209660e-01 1.30418191e-02 2.93336562e+02] [-2.81186655e-01 9.59646332e-01 -3.60310784e-03 -7.03643712e+01] [-1.35287626e-02 -2.09795507e-04 9.99908460e-01 -7.50770832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.128623853 meters 0.0513879460486525 Centerline is valid? [True, True] Translation: X:293.36, Y:-70.37, Z:-7.51 [[ 9.59956071e-01 2.79904752e-01 1.17333507e-02 2.93363743e+02] [-2.79886027e-01 9.60027760e-01 -3.24214505e-03 -7.03721311e+01] [-1.21718342e-02 -1.71684092e-04 9.99925906e-01 -7.51015277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.15862385300005 meters 0.05343958050258447 Centerline is valid? [True, True] Translation: X:293.39, Y:-70.36, Z:-7.50 [[ 9.60441677e-01 2.78446524e-01 4.39532773e-03 2.93394453e+02] [-2.78274171e-01 9.60216574e-01 -2.34012341e-02 -7.03627250e+01] [-1.07364588e-02 2.12524144e-02 9.99716491e-01 -7.50196537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.188623853 meters 0.052685132730070985 Centerline is valid? [True, True] Translation: X:293.42, Y:-70.38, Z:-7.50 [[ 9.60761864e-01 2.77362200e-01 2.61749271e-03 2.93420924e+02] [-2.77316153e-01 9.60710449e-01 -1.14535651e-02 -7.03798865e+01] [-5.69143860e-03 1.02782755e-02 9.99930980e-01 -7.49758041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.218623853 meters 0.05309017869359318 Centerline is valid? [True, True] Translation: X:293.44, Y:-70.41, Z:-7.51 [[ 9.61796458e-01 2.73163845e-01 1.81407648e-02 2.93441163e+02] [-2.73573608e-01 9.61490604e-01 2.63305842e-02 -7.04140703e+01] [-1.02496113e-02 -3.02874971e-02 9.99488676e-01 -7.51440136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.248623853 meters 0.0534962275257321 Centerline is valid? [True, True] Translation: X:293.48, Y:-70.39, Z:-7.50 [[ 9.62793285e-01 2.70232269e-01 1.90030796e-03 2.93477351e+02] [-2.70074264e-01 9.62428218e-01 -2.81392442e-02 -7.03934958e+01] [-9.43304180e-03 2.65790511e-02 9.99602207e-01 -7.50299089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.278623853 meters 0.0532761834125831 Centerline is valid? [True, True] Translation: X:293.50, Y:-70.42, Z:-7.50 [[ 9.63156247e-01 2.68876244e-01 5.96742433e-03 2.93499202e+02] [-2.68851005e-01 9.63170281e-01 -4.70597372e-03 -7.04185277e+01] [-7.01297031e-03 2.92823995e-03 9.99971121e-01 -7.50191887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.30862385300003 meters 0.05470420114929865 Centerline is valid? [True, True] Translation: X:293.53, Y:-70.43, Z:-7.50 [[ 9.65461920e-01 2.60540501e-01 1.38828310e-03 2.93529975e+02] [-2.60515013e-01 9.65419816e-01 -9.82381109e-03 -7.04276538e+01] [-3.89977668e-03 9.12284693e-03 9.99950781e-01 -7.50011813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.338623853 meters 0.055956551500003136 Centerline is valid? [True, True] Translation: X:293.55, Y:-70.44, Z:-7.50 [[ 9.64764587e-01 2.63102868e-01 -2.48431947e-03 2.93554979e+02] [-2.63113416e-01 9.64745537e-01 -6.11387221e-03 -7.04437101e+01] [ 7.88158811e-04 6.55210518e-03 9.99978224e-01 -7.49521308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.36862385300003 meters 0.0569381004471093 Centerline is valid? [True, True] Translation: X:293.58, Y:-70.46, Z:-7.50 [[ 9.67021581e-01 2.54554819e-01 8.43249167e-03 2.93583900e+02] [-2.54625963e-01 9.66999287e-01 8.83160175e-03 -7.04587731e+01] [-5.90608665e-03 -1.06874808e-02 9.99925445e-01 -7.50207379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.398623853 meters 0.05832057526041581 Centerline is valid? [True, True] Translation: X:293.61, Y:-70.46, Z:-7.50 [[ 9.66643260e-01 2.56119231e-01 1.93593802e-03 2.93608016e+02] [-2.56102148e-01 9.66627893e-01 -6.49666509e-03 -7.04629229e+01] [-3.53525255e-03 5.78415964e-03 9.99977022e-01 -7.50097703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.42862385300003 meters 0.05909074838341391 Centerline is valid? [True, True] Translation: X:293.63, Y:-70.49, Z:-7.52 [[ 9.66258719e-01 2.57315929e-01 1.15152844e-02 2.93627203e+02] [-2.57557383e-01 9.65731888e-01 3.20330418e-02 -7.04903652e+01] [-2.87806549e-03 -3.39180524e-02 9.99420473e-01 -7.51965193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.458623853 meters 0.06195398449438428 Centerline is valid? [True, True] Translation: X:293.67, Y:-70.47, Z:-7.50 [[ 9.68549808e-01 2.48809848e-01 -2.21991030e-03 2.93667679e+02] [-2.48748025e-01 9.68017867e-01 -3.26470515e-02 -7.04691591e+01] [-5.97399509e-03 3.21724937e-02 9.99464478e-01 -7.50191336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.48862385300004 meters 0.06091017815622172 Centerline is valid? [True, True] Translation: X:293.68, Y:-70.51, Z:-7.52 [[ 9.66655692e-01 2.55867373e-01 1.04240915e-02 2.93682382e+02] [-2.56069075e-01 9.66184177e-01 3.02781157e-02 -7.05076016e+01] [-2.32441033e-03 -3.19378003e-02 9.99487156e-01 -7.52086478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.518623853 meters 0.06087451710913383 Centerline is valid? [True, True] Translation: X:293.71, Y:-70.50, Z:-7.52 [[ 9.66670849e-01 2.56014711e-01 1.98453282e-03 2.93713988e+02] [-2.56014130e-01 9.66672885e-01 -5.45503282e-04 -7.04983255e+01] [-2.05805094e-03 1.92536752e-05 9.99997882e-01 -7.52292756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.54862385300004 meters 0.06993967011885571 Centerline is valid? [True, True] Translation: X:293.74, Y:-70.52, Z:-7.53 [[ 9.68111350e-01 2.47927655e-01 3.59484684e-02 2.93740041e+02] [-2.48316349e-01 9.68655730e-01 6.71327754e-03 -7.05179649e+01] [-3.31572828e-02 -1.54257926e-02 9.99331096e-01 -7.53210440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.578623853 meters 0.06348280076207152 Centerline is valid? [True, True] Translation: X:293.77, Y:-70.50, Z:-7.53 [[ 9.66453349e-01 2.56806461e-01 -4.28555713e-03 2.93772858e+02] [-2.56842120e-01 9.66332915e-01 -1.52585447e-02 -7.05031623e+01] [ 2.22782034e-04 1.58473832e-02 9.99874398e-01 -7.52669727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.60862385300004 meters 0.06488260450988047 Centerline is valid? [True, True] Translation: X:293.80, Y:-70.52, Z:-7.53 [[ 9.66348156e-01 2.57236163e-01 -8.92908308e-04 2.93797598e+02] [-2.57236048e-01 9.66348569e-01 2.42975975e-04 -7.05190549e+01] [ 9.25362873e-04 -5.11118118e-06 9.99999572e-01 -7.52981580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.638623853 meters 0.06570446367942344 Centerline is valid? [True, True] Translation: X:293.83, Y:-70.52, Z:-7.53 [[ 9.65888816e-01 2.58940173e-01 -2.96332794e-03 2.93826395e+02] [-2.58938916e-01 9.65893362e-01 8.06791742e-04 -7.05232999e+01] [ 3.07116958e-03 -1.19501950e-05 9.99995284e-01 -7.53012183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.66862385300004 meters 0.06692501704635115 Centerline is valid? [True, True] Translation: X:293.85, Y:-70.53, Z:-7.53 [[ 9.65834366e-01 2.59151424e-01 -2.12546025e-03 2.93853450e+02] [-2.59150775e-01 9.65836704e-01 5.79715832e-04 -7.05296361e+01] [ 2.20308171e-03 -9.09480179e-06 9.99997573e-01 -7.53210601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.698623853 meters 0.06844599843953036 Centerline is valid? [True, True] Translation: X:293.88, Y:-70.54, Z:-7.54 [[ 9.65546477e-01 2.60203535e-01 -3.75777935e-03 2.93880679e+02] [-2.60201512e-01 9.65553789e-01 1.02609855e-03 -7.05352236e+01] [ 3.89533256e-03 -1.29659676e-05 9.99992413e-01 -7.53670109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.72862385300004 meters 0.06880060401235263 Centerline is valid? [True, True] Translation: X:293.91, Y:-70.54, Z:-7.54 [[ 9.65313601e-01 2.61057509e-01 -4.31602309e-03 2.93909346e+02] [-2.61054850e-01 9.65323250e-01 1.17844590e-03 -7.05404410e+01] [ 4.47399958e-03 -1.08510979e-05 9.99989992e-01 -7.53552255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.758623853 meters 0.07110300966109191 Centerline is valid? [True, True] Translation: X:293.94, Y:-70.54, Z:-7.54 [[ 9.64847769e-01 2.62745426e-01 -5.79860558e-03 2.93937114e+02] [-2.62740658e-01 9.64865193e-01 1.58298372e-03 -7.05428204e+01] [ 6.01079443e-03 -3.80886259e-06 9.99981935e-01 -7.53925723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.78862385300005 meters 0.07409533398776523 Centerline is valid? [True, True] Translation: X:293.97, Y:-70.55, Z:-7.54 [[ 9.64464044e-01 2.64150729e-01 -5.78798767e-03 2.93965162e+02] [-2.64146028e-01 9.64481411e-01 1.57595782e-03 -7.05466839e+01] [ 5.99869692e-03 8.91929796e-06 9.99982008e-01 -7.53958700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.818623853 meters 0.07257188490429793 Centerline is valid? [True, True] Translation: X:293.99, Y:-70.55, Z:-7.54 [[ 9.64131889e-01 2.65345738e-01 -6.42961299e-03 2.93992659e+02] [-2.65339952e-01 9.64153327e-01 1.75238217e-03 -7.05498258e+01] [ 6.66411991e-03 1.65056706e-05 9.99977794e-01 -7.54115930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.84862385300005 meters 0.07481313270721868 Centerline is valid? [True, True] Translation: X:294.02, Y:-70.55, Z:-7.55 [[ 9.63324299e-01 2.68257540e-01 -6.64736171e-03 2.94021549e+02] [-2.68251420e-01 9.63347233e-01 1.81240457e-03 -7.05484204e+01] [ 6.88990870e-03 3.72308577e-05 9.99976264e-01 -7.54665651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.878623853 meters 0.07544458391731815 Centerline is valid? [True, True] Translation: X:294.05, Y:-70.55, Z:-7.55 [[ 9.63089702e-01 2.69060906e-01 -8.02842214e-03 2.94050355e+02] [-2.69052036e-01 9.63123162e-01 2.18545010e-03 -7.05531303e+01] [ 8.32037851e-03 5.52788343e-05 9.99965384e-01 -7.54652947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.90862385300005 meters 0.07650604064036909 Centerline is valid? [True, True] Translation: X:294.08, Y:-70.56, Z:-7.55 [[ 9.62944578e-01 2.69552021e-01 -8.91338024e-03 2.94078776e+02] [-2.69541099e-01 9.62985827e-01 2.42740819e-03 -7.05575392e+01] [ 9.23777162e-03 6.50627517e-05 9.99957329e-01 -7.54794895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.938623853 meters 0.07831924781553903 Centerline is valid? [True, True] Translation: X:294.11, Y:-70.56, Z:-7.55 [[ 9.62618301e-01 2.70631717e-01 -1.11570937e-02 2.94108996e+02] [-2.70614656e-01 9.62682951e-01 3.04025921e-03 -7.05604091e+01] [ 1.15635345e-02 9.26639188e-05 9.99933136e-01 -7.54786469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.968623853 meters 0.07997334840395176 Centerline is valid? [True, True] Translation: X:294.14, Y:-70.56, Z:-7.56 [[ 9.62581870e-01 2.70710401e-01 -1.23297056e-02 2.94136306e+02] [-2.70689597e-01 9.62660827e-01 3.35777605e-03 -7.05630870e+01] [ 1.27783095e-02 1.05388703e-04 9.99918349e-01 -7.55640869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.998623853 meters 0.08034972751754967 Centerline is valid? [True, True] Translation: X:294.16, Y:-70.57, Z:-7.55 [[ 9.62539126e-01 2.70833701e-01 -1.29436589e-02 2.94164703e+02] [-2.70810846e-01 9.62626144e-01 3.52030943e-03 -7.05702160e+01] [ 1.34133229e-02 1.16847655e-04 9.99910031e-01 -7.54944855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.028623853 meters 0.08227662870850752 Centerline is valid? [True, True] Translation: X:294.19, Y:-70.57, Z:-7.56 [[ 9.62583951e-01 2.70666999e-01 -1.30962881e-02 2.94192271e+02] [-2.70643579e-01 9.62673030e-01 3.56236922e-03 -7.05743298e+01] [ 1.35716592e-02 1.15346851e-04 9.99907894e-01 -7.55693847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.05862385300003 meters 0.0859614354297923 Centerline is valid? [True, True] Translation: X:294.22, Y:-70.58, Z:-7.56 [[ 9.62854280e-01 2.69671426e-01 -1.37461458e-02 2.94219522e+02] [-2.69645528e-01 9.62952393e-01 3.73877947e-03 -7.05780638e+01] [ 1.42451260e-02 1.06686922e-04 9.99898527e-01 -7.55832759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.088623853 meters 0.08698612531712743 Centerline is valid? [True, True] Translation: X:294.25, Y:-70.59, Z:-7.56 [[ 9.63009447e-01 2.69048008e-01 -1.50324193e-02 2.94246837e+02] [-2.69016970e-01 9.63126761e-01 4.08801960e-03 -7.05859687e+01] [ 1.55779989e-02 1.07174402e-04 9.99878650e-01 -7.55561527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.11862385300003 meters 0.0880282802245534 Centerline is valid? [True, True] Translation: X:294.27, Y:-70.59, Z:-7.56 [[ 9.63326754e-01 2.67851591e-01 -1.60340201e-02 2.94274459e+02] [-2.67816200e-01 9.63460179e-01 4.35515381e-03 -7.05935600e+01] [ 1.66146747e-02 9.87341359e-05 9.99861962e-01 -7.55750226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.148623853 meters 0.08974073345490825 Centerline is valid? [True, True] Translation: X:294.30, Y:-70.60, Z:-7.56 [[ 9.64031080e-01 2.65208642e-01 -1.75628510e-02 2.94301524e+02] [-2.65165712e-01 9.64191046e-01 4.77205509e-03 -7.06021586e+01] [ 1.81995340e-02 5.66564718e-05 9.99834373e-01 -7.55827157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.17862385300003 meters 0.09093397984462659 Centerline is valid? [True, True] Translation: X:294.38, Y:-70.58, Z:-7.54 [[ 9.63117989e-01 2.67909566e-01 -2.50639939e-02 2.94381254e+02] [-2.69075894e-01 9.59395613e-01 -8.46062756e-02 -7.05760997e+01] [ 1.37945514e-03 8.82299426e-02 9.96099179e-01 -7.53611552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.208623853 meters 0.09165600253012417 Centerline is valid? [True, True] Translation: X:294.40, Y:-70.64, Z:-7.54 [[ 9.63974463e-01 2.65973000e-01 3.40572627e-03 2.94395684e+02] [-2.65994773e-01 9.63901500e-01 1.18608402e-02 -7.06411545e+01] [-1.28121421e-04 -1.23394524e-02 9.99923858e-01 -7.53670601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 5406.48 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%| | 0/10307 [00:00